WO2018142594A1 - Système de spécification d'objet à transporter, procédé de spécification d'objet à transporter et programme de spécification d'objet à transporter - Google Patents

Système de spécification d'objet à transporter, procédé de spécification d'objet à transporter et programme de spécification d'objet à transporter Download PDF

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Publication number
WO2018142594A1
WO2018142594A1 PCT/JP2017/004096 JP2017004096W WO2018142594A1 WO 2018142594 A1 WO2018142594 A1 WO 2018142594A1 JP 2017004096 W JP2017004096 W JP 2017004096W WO 2018142594 A1 WO2018142594 A1 WO 2018142594A1
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WO
WIPO (PCT)
Prior art keywords
tag
identification information
information
reading
time
Prior art date
Application number
PCT/JP2017/004096
Other languages
English (en)
Japanese (ja)
Inventor
雄治 内田
雅一 佐藤
Original Assignee
日本パレットレンタル株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日本パレットレンタル株式会社 filed Critical 日本パレットレンタル株式会社
Priority to KR1020187021792A priority Critical patent/KR102101670B1/ko
Priority to CN201780008568.XA priority patent/CN108698761B/zh
Priority to PCT/JP2017/004096 priority patent/WO2018142594A1/fr
Priority to JP2018530171A priority patent/JP6552744B2/ja
Publication of WO2018142594A1 publication Critical patent/WO2018142594A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers

Definitions

  • the present invention relates to a conveyance object identification system, a conveyance object identification method, and a conveyance object identification program.
  • the physical distribution container is an object to be transported in physical distribution, for example, a pallet on which articles are placed.
  • RFID tags are attached to the pallets, and when the pallets are transported by, for example, transport means such as a forklift, the pallets are transported through a gate provided with an RFID reader. The RFID tag of the pallet that was being read was being performed.
  • a structure that physically shields radio waves around the gate or read RFID Only things that were moving from the tag were extracted by software.
  • an object of the present invention is to accurately specify a transport object being transported by a transport means.
  • a transport object specifying system is a transport target specifying system that specifies a transport target that is attached with an RFID tag and transported by a transport means,
  • Reading frequency, reading time interval, and continuation of reading within the predetermined reading time for each RFID tag to be identified Based on at least one of them, a specifying unit that specifies identification information of an RFID tag provided on the object to be transported that is transported by the transport means, wherein the continuity of the reading is the predetermined reading
  • a specifying unit that indicates a degree of uniformity of reading frequency from the start to the end of time, and an output unit that outputs identification information of the RFID tag specified by the specifying unit.
  • a transport object specifying method is a transport object specifying method in a transport object specifying system for specifying a transport object attached with an RFID tag and transported by a transport means, the transport means
  • the acquisition step of acquiring tag information including identification information of an RFID tag read during a predetermined reading time by an RFID reader provided in and a reading time indicating the time of reading the reading of the tag information includes: It is performed at least a plurality of times during a predetermined reading time, and the predetermined reading time includes at least the time during which the transport means is moving, and is identified by the identification information based on the tag information acquired in the acquisition step.
  • a transport object specifying program is a transport object specifying program for causing a computer to function as a transport object specifying system that specifies a transport target attached with an RFID tag and transported by a transport unit.
  • An acquisition function for acquiring, in the computer, tag information including identification information of an RFID tag read during a predetermined reading time by an RFID reader provided in the transport means, and a reading time indicating the time of reading.
  • the tag information is read at least a plurality of times in a predetermined reading time, and the predetermined reading time includes at least the time during which the transport unit is moving, and the tag acquired by the acquisition function Within the predetermined reading time for each RFID tag identified by the identification information based on the information
  • the identification information of the RFID tag provided on the object to be conveyed being conveyed by the conveying means is specified based on at least one of the frequency of reading, the interval between the reading times, and the continuity of reading.
  • An identification function wherein the continuity of the reading indicates a degree of uniformity in frequency of reading from the start to the end of the predetermined reading time, and the RFID specified by the specific function And an output function for outputting tag identification information.
  • the RFID tag attached to the object to be conveyed is read during the predetermined reading time by the RFID reader provided in the conveying means.
  • the predetermined reading time includes a time during which the conveying unit is moving.
  • the RFID reader also reads RFID tags attached to objects to be transported other than the object being transported. However, while the transport means is moving, it is being transported in terms of the frequency of reading, the interval between reading times, and the continuity of reading. There is a significant difference from the RFID tag attached to the transport object. Therefore, in the above embodiment, the identification information of the RFID tag provided on the conveyance object conveyed by the conveyance means is specified based on at least one of the reading frequency, the reading time interval, and the reading continuity. Therefore, it becomes possible to specify the conveyance target object in conveyance accurately.
  • the transport object may be a physical distribution container used for transporting goods.
  • the acquiring unit acquires the tag information during the predetermined reading time, and the specifying unit identifies the same each time tag information is acquired by the acquiring unit. Whether the identification information included in the tag information is identification information of an RFID tag provided on the object to be transported being transported by the transporting unit based on the reading time interval of the tag information including information
  • the output unit may output the identification information of the RFID tag specified by the specifying unit during the predetermined reading time.
  • the tag information is acquired during the predetermined reading time when the RFID tag is being read, and the transport is carried by the transport means based on the read time interval of the tag information including the same identification information. Whether or not the identification information of the RFID tag provided on the object is identified. Then, since the identification information specified during the predetermined reading time is output, for example, the output unit outputs to the display device, so that information relating to the object to be conveyed can be sent in real time to the person who is conveying Can present.
  • the specifying unit has the same identification information as the reading time of the first tag information acquired by the acquiring unit and the identification information of the first tag information.
  • the identification included in the first tag information when the interval between the reading time of the second tag information read immediately before the time when the first tag information was read is within a predetermined interval time
  • the information is specified as identification information of an RFID tag provided on an object to be conveyed being conveyed by the conveying means, and an interval between the reading time of the first tag information and the reading time of the second tag information is When it is not within a predetermined interval time, the identification information included in the first tag information is discarded, and each time the tag information is acquired by the acquisition unit, the tag information is used as the first tag information. 1 tag information It is also possible to carry out the specific or the destruction of the identification information included in the.
  • the identification information included in the acquired tag information is identified as the identification information of the RFID tag provided on the conveyance object being conveyed by the conveyance means, and the identification information is It is preferable to specify and discard that the identification information is not the identification information of the RFID tag provided on the conveyance object conveyed by the conveyance means.
  • the specifying unit when the interval between the reading time of the first tag information and the reading time of the second tag information is not within a predetermined interval time,
  • the identification information included in the first tag information is specified as temporary discard identification information, and the identification information of the first tag information corresponds to the identification information previously specified as temporary discard identification information.
  • Identification information included in the first tag information is conveyed by the conveying means when the interval between the reading time of the tag information and the reading time of the second tag information is within a predetermined interval time.
  • the identification information of the RFID tag provided on the object to be transported is specified, the identification information of the first tag information corresponds to the identification information previously specified as temporary discard identification information, and the reading of the first tag information is performed.
  • the identification is performed when the interval between the taking time and the reading time of the second tag information is not within a predetermined interval time and the number of times that the identification information is specified as the temporary discard identification information exceeds a predetermined number of times. Information may be discarded.
  • the interval between the read time of the acquired tag information and the read time of the tag information including the same identification information as the identification information included in the acquired tag information is not within a predetermined interval time.
  • the identification information is specified as provisional discard identification information.
  • a tag including the same identification information is used to specify whether or not the identification information is the identification information of an RFID tag provided on the object to be conveyed being conveyed by the conveying means. Since it is appropriately implemented based on the reading time interval when the information is acquired, even if an accidental fluctuation occurs in reading of the RFID tag, the object to be conveyed being conveyed by the conveying means The identification information of the provided RFID tag is appropriately specified.
  • the specifying unit is configured to transfer the identification information of the RFID tag read within a predetermined time from the start of the predetermined reading time by the transport means. It is good also as specifying as identification information of the RFID tag provided in the conveyance target object.
  • the RFID tag provided on the object to be transported that is transported to the transport means is more likely to be read by the RFID reader from the start of the predetermined reading time than the RFID tags that exist in the vicinity. According to this aspect, it is possible to efficiently specify the identification information of the RFID tag provided on the conveyance object being conveyed by the conveyance means.
  • the specifying unit is the latest reading time of the identification information previously specified as the identification information of the RFID tag provided on the transport object being transported by the transport means. If the interval between the current time and the current time exceeds a predetermined time, the identification information may be discarded as not being the identification information of the RFID tag provided on the transport object transported by the transport means. Good.
  • the RFID tag provided on the object to be transported that is transported by the transport means is more likely to be continuously read by the RFID reader during a predetermined reading time than the RFID tags that exist in the vicinity. According to this aspect, even if it is specified as identification information of an RFID tag provided on an object to be transported that is transported by the transport means, the identification information of the RFID tag that is no longer read by the RFID reader is discarded. Therefore, the specific accuracy of the identification information of the RFID tag provided on the conveyance object being conveyed by the conveyance means is improved.
  • the acquisition unit acquires all the tag information read during the predetermined reading time at a predetermined timing, and the output unit performs the predetermined timing and thereafter.
  • identification information of the RFID tag specified by the specifying unit may be output.
  • all the tag information read during the predetermined reading time is acquired at a predetermined timing in a lump, and then the identification information of the RFID tag provided on the transport object transported by the transport means is stored. Since specific processing is performed and sequential processing during a predetermined reading time becomes unnecessary, the processing load is reduced.
  • the specifying unit is configured such that the number of identification information specified as identification information of an RFID tag provided on the transport target transported by the transport means is the transport When the means exceeds the maximum number of loads that is the number of objects to be conveyed, the identification information having a number equal to or less than the maximum number of loads is selected from the identified identification information according to a predetermined standard, and is conveyed
  • the identification information of the RFID tag provided on the conveyance object may be further specified.
  • the acquisition unit may acquire only the tag information read while the transport unit is moving.
  • the tag information read during the movement is suitable for use in specifying whether or not the RFID tag is provided on the object to be conveyed being conveyed by the conveying means. According to this aspect, since only the tag information read during the movement is acquired and the specific processing of the identification information is performed, the amount of data required for the processing is reduced and the processing load is also reduced. Is done.
  • FIG. 1 is a diagram schematically illustrating the principle of a conveyance object specifying system.
  • the transport object specifying system specifies the transport object being transported by the transport means.
  • the transport object specifying system of the present embodiment specifies a pallet that is a kind of physical distribution container transported by a transport means.
  • a pallet to which an RFID tag is attached will be described as an example of a conveyance object.
  • the conveyance target object in this invention is not limited to a pallet, What kind of thing can be conveyed by a specific conveyance means may be sufficient.
  • the transport object may be, for example, a product or a physical distribution container other than a pallet.
  • the transport object specifying system specifies the pallet Pl transported by a forklift FL which is an example of a transport unit.
  • the forklift FL conveys the pallets Pl1 to Pl6 from the position ML1 to the position ML4 along the flow line ML.
  • RFID tags are attached to the pallets Pl1 to Pl6.
  • the forklift FL has an RFID reader 20.
  • the RFID reader 20 reads the RFID tag at a predetermined frequency during a predetermined reading time while the pallets Pl1 to Pl6 are conveyed along the flow line ML.
  • the RFID reader 20 can read the RFID tags attached to the pallets Pl1 to Pl6.
  • pallets Pl11 and Pl12 exist in the vicinity of the flow line ML, and RFID tags are also attached to these pallets Pl11 and Pl12. Therefore, at the position ML2, the RFID reader 20 may read not only the RFID tags of the pallets Pl1 to P1-6 on which the forklift FL is loaded, but also the RFID tags of the pallets Pl11 and Pl12.
  • pallets Pl13 and Pl14 exist near the flow line ML, and these pallets Pl13 and Pl14 are also attached with RFID tags. Therefore, at the position ML3, the RFID reader 20 may read not only the RFID tags of the pallets Pl1 to Pl6 loaded with the forklift FL but also the RFID tags of the pallets Pl13 and Pl14. At the position ML4, the RFID reader 20 is likely to read only the RFID tags attached to the loaded pallets Pl1 to Pl6.
  • the transport object specifying system of the present embodiment specifies the pallet being transported based on the following characteristics in reading the RFID tag attached to the pallet being transported.
  • the number of times the RFID tag of the pallet being read is read in a predetermined reading time while the pallet is being conveyed is significantly larger than the number of times the RFID tag other than the RFID tag of the pallet being conveyed is read.
  • the frequency of reading the RFID tag of the pallet being transported during the predetermined reading time is significantly higher than the frequency of reading the RFID tag other than the RFID tag of the pallet being transported.
  • the time interval for reading the RFID tag of the pallet being conveyed in the predetermined reading time is significantly shorter than the time interval for reading the RFID tag other than the RFID tag of the pallet being conveyed.
  • the RFID tag of the pallet being conveyed is continuously read from the start to the end of the predetermined reading time.
  • FIG. 2 is a block diagram showing a functional configuration of the transport object specifying system 1.
  • the transport object specifying system 1 includes a transport object specifying device 10.
  • the conveyance object specifying system 1 can include an RFID reader 20, a speed sensor 30, and a display device 40.
  • the transport object specifying device 10 includes an acquisition unit 11, a specifying unit 12, an output unit 13, and a tag information storage unit 15. Each of the functional units 11 to 13 of the transport object specifying device 10 can access the tag information storage unit 15.
  • FIG. 3 is a hardware configuration diagram of the transport object specifying device 10.
  • the transport object specifying device 10 physically includes a CPU 101, a main storage device 102 configured by a memory such as a RAM and a ROM, an auxiliary storage device 103 configured by a hard disk, a network card, and the like.
  • a computer system including an input device 105 for inputting information, an output device 106 such as a display, and the like.
  • Each function shown in FIG. 2 communicates under the control of the CPU 101 by loading predetermined computer software (conveying object specifying program) on hardware such as the CPU 101 and the main storage device 102 shown in FIG. This is realized by operating the control device 104, the input device 105, and the output device 106, and reading and writing data in the main storage device 102 and the auxiliary storage device 103. Data and databases necessary for processing are stored in the main storage device 102 and the auxiliary storage device 103.
  • the conveyance object specifying device 10 is mounted on, for example, a forklift FL.
  • the conveyance object specifying device 10 may be provided in a place where the RFID reader 20, the speed sensor 30, and the display device 40 provided in the forklift FL can communicate wirelessly.
  • the display device 40 may not be provided on the forklift FL.
  • the RFID reader 20 is a device that transmits and receives information by wireless communication with an RFID tag in which identification information is embedded.
  • various methods well known to those skilled in the art can be applied to the communication of information with the RFID tag by the RFID reader 20.
  • the RFID reader 20 is, for example, continuously or intermittently from the start to the end of a predetermined reading time while the forklift FL is moving along the flow line ML, based on an instruction from an application that configures the conveyance object specifying device 10.
  • the RFID tag is read.
  • the RFID reader 20 transmits a radio wave including a signal that can be reacted by an RFID tag having a tag ID in a predetermined range, and receives a radio wave (including tag information) from the RFID tag according to the signal. With such transmission and reception of radio waves as one round, a plurality of rounds are performed within a predetermined reading time. It can be determined that the forklift FL is moving based on the value detected by the speed sensor 30.
  • the speed sensor 30 is a device that detects the speed of the moving object to which the sensor is attached.
  • the speed sensor 30 is provided in a forklift FL that is an example of a conveying unit, and detects the speed of the forklift FL.
  • the conveyance object specifying device 10 determines that the forklift FL is moving based on the detection value of the speed sensor 30. In the present embodiment, it is determined that the forklift FL is moving based on the speed sensor 30, but the detection value of the acceleration sensor may be used, or other sensors that can detect movement. The determination may be made based on the detected value.
  • the speed sensor 30 sends the detected speed information to the conveyance object specifying device 10.
  • the display device 40 is a display that displays various information, and displays information output from the output unit 13, for example.
  • the display device 40 can present the information output from the output unit 13 to the driver of the forklift FL.
  • the acquisition unit 11 includes tag information that is identification information of an RFID tag read during a predetermined reading time by an RFID reader 20 provided in a forklift FL that is a conveying unit, and tag information that includes a reading time that indicates the reading time. To get. As described above, the tag information is read at least a plurality of times in a predetermined reading time.
  • the predetermined reading time includes at least the time during which the forklift FL is moving with the pallet loaded.
  • the acquisition unit 11 may acquire tag information during a predetermined reading time. That is, the acquisition unit 11 may acquire tag information in real time during a predetermined reading time.
  • the specifying unit 12 can specify the pallet being conveyed by the forklift FL in real time
  • the output unit 13 can output the tag ID of the specified pallet in real time during a predetermined reading time.
  • the identifying unit 12 identifies the tag ID of the RFID tag provided on the pallet Pl transported by the forklift FL based on the tag information acquired by the acquiring unit 11.
  • the specifying unit 12 is based on at least one of reading frequency, reading time interval, and reading continuity within a predetermined reading time for each RFID tag identified by the tag ID.
  • the tag ID of the pallet Pl conveyed by the forklift FL is specified.
  • the continuity of reading of the RFID tag indicates the degree of uniformity of reading frequency from the start to the end of the predetermined reading time. Details of the tag ID specifying process by the specifying unit 12 will be described later with reference to FIGS.
  • the output unit 13 outputs the tag ID of the RFID tag specified by the specifying unit 12. Specifically, the output unit 13 causes the display device 40 to display the identified tag ID, for example.
  • the output unit 13 may write the identified tag ID into a file and store it in a predetermined storage unit.
  • the tag information storage unit 15 stores the tag information acquired by the acquisition unit 11. Further, the tag information storage unit 15 may store a transport tag list temporary discard tag list or the like (see FIGS. 5 to 7) generated in the process during the tag ID specifying process by the specifying unit 12.
  • the tag information storage unit 15 may be configured by the main storage device 102 or the auxiliary storage device 103, or may be configured by other storage media configured inside or outside the transport target object specifying device 10.
  • FIG. 4 is a diagram schematically illustrating an example of tag information acquired by the acquisition unit 11 and stored in the tag information storage unit 15.
  • the tag information storage unit 15 stores a tag ID associated with a reading time and an intensity as tag information.
  • the reading time indicates the time when the tag information is read by the RFID reader 20.
  • the strength indicates the radio wave strength when the tag information is received.
  • the frequency of reading tag information of tag IDs “1” to “6” is the tag information of tag IDs “11” to “14” ( This corresponds to the reading frequency of the palettes Pl11 to Pl14). Further, the interval between the read times of the tag information of the tag IDs “1” to “6” is shorter than the interval of the read times of the tag information of the tag IDs “11” to “14”. Further, the tag information of the tag IDs “1” to “6” is continuously read from the start to the end of the predetermined reading time as compared with the tag information of the tag IDs “11” to “14”. Yes. Based on the characteristics of the read tag information, the specifying unit 12 specifies the tag IDs of the pallets Pl1 to Pl6 transported by the forklift FL by a process described later.
  • FIG. 5 and FIG. 6 are flowcharts showing processing for specifying a conveyance object according to this embodiment.
  • the flowcharts shown in FIGS. 5 and 6 are started in response to an instruction to start processing for specifying a conveyance object.
  • the instruction to start the process may be explicit or implicit, and may be, for example, a start operation by an operator, detection that the forklift lifts the conveyance object, or the like. Moreover, it is good also as starting the various sensors with which the conveyance target object specific apparatus 10 is provided with the start of this process.
  • step S1 the acquisition unit 11 acquires tag information read by the RFID reader 20 during a predetermined reading time.
  • the acquisition unit 11 acquires tag information in real time during a predetermined reading time, and stores the acquired tag information in the tag information storage unit 15.
  • the specifying unit 12 sets the reading time of the tag information including the same tag ID. Based on the interval, a specific process is performed to determine whether or not the tag ID is the tag ID of an RFID tag provided on the pallet being conveyed by the forklift FL.
  • the identifying unit 12 identifies the tag ID of the RFID tag read within a predetermined time from the start of the predetermined reading time as the tag ID of the RFID tag provided on the pallet being conveyed by the forklift FL. That is, in step S2, the specifying unit 12 determines whether or not the reading time of the acquired tag information is within a predetermined fixed time from the start of the predetermined reading time. If it is determined that the reading time is within a certain time from the start of the predetermined reading time, the process proceeds to step S3.
  • the identifying unit 12 records the tag ID of the acquired tag information in a transport tag list for recording candidate tag IDs of RFID tags attached to the pallet being transported.
  • the transport tag list may be stored in the tag information storage unit 15 or may be stored in another storage medium.
  • step S2 determines whether the reading time is within a certain time from the start of the predetermined reading time. If it is not determined in step S2 that the reading time is within a certain time from the start of the predetermined reading time, the process proceeds to step S4. That is, when the tag information is read after a predetermined time has elapsed since the start of the predetermined reading time, the tag ID of the tag information is not recorded in the transport tag list at this time.
  • the RFID tag provided on the pallet transported to the forklift FL is much more likely to be read by the RFID reader from the start of the predetermined reading time than the RFID tags present in the vicinity. Accordingly, the tag ID of the RFID tag provided on the pallet transported by the forklift FL can be efficiently identified by recording the tag ID in the transport tag list by the processes of steps S2 to S3.
  • step S4 the specifying unit 12 determines whether the tag ID of the acquired tag information is recorded in the transport tag list. If it is determined that the tag ID is recorded in the transport tag list, the process proceeds to step S5. On the other hand, if it is not determined that the tag ID is recorded in the transport tag list, the process proceeds to step S6.
  • step S6 the specifying unit 12 discards the acquired tag information. That is, tag information that is not recorded in the transport tag list in the repetition of steps S1 to S3 and is read for the first time after a predetermined time has elapsed from the start of the predetermined read time is a pallet other than the pallet that is transported to the forklift FL. The tag information is not recorded in the transport tag list.
  • step S5 whether or not the interval between the read time of the acquired tag information and the read time of the latest tag information that includes the same tag ID as the tag ID of the acquired tag information is within a predetermined time. judge. If it is determined that the reading time interval is within the predetermined time, the process proceeds to step S7.
  • step S7 the specifying unit 12 updates the tag ID information recorded in the transport tag list.
  • the reading time of the tag ID is updated to the latest time. That is, the acquired tag information has already been recorded in the transport tag list and has been acquired at a short time interval since the most recent acquisition. This means that the tag information is attached to the pallet that the forklift FL is transporting. This means that there is a high possibility that it is tag information of the RFID tag. Therefore, the tag ID of such tag information is updated in the reading time and is continuously left in the transport tag list.
  • step S6 the specifying unit 12 discards the acquired tag information.
  • the acquired tag information is tag information of an RFID tag attached to a pallet or the like other than the pallet being transported to the forklift FL. Therefore, such tag information is included in the transport tag list. Not recorded.
  • step S6 or step S7 the process proceeds to step S11 as indicated by symbol A (see FIG. 6).
  • the identifying unit 12 includes the latest reading time of tag information that includes a tag ID other than the tag ID of the tag information acquired in step S ⁇ b> 1 among the tag IDs recorded in the transport tag list. The interval with the current time is calculated.
  • step S12 the specifying unit 12 deletes the tag ID whose interval calculated in step S11 exceeds a predetermined time from the transport tag list.
  • step S12 After the process of step S12, the process returns to “START”. That is, the processing shown in FIGS. 5 and 6 is repeatedly performed every time tag information is acquired by the acquisition unit 11. Note that the processing in steps S11 to S12 may not be performed every time tag information is acquired, and may return to “START” after the processing in step S7. In that case, the processing in steps S11 to S12 may be performed once every time the tag information is acquired a predetermined number of times, or may be performed once every time a predetermined time elapses. .
  • the flowcharts shown in FIGS. 5 and 6 are terminated in response to an instruction to end the process of specifying the conveyance object.
  • the process end instruction may be explicit or non-explicit, and may be, for example, an end operation by the operator, detection that the forklift has lowered the conveyance object, or the like. Moreover, it is good also as operation
  • the output unit 13 outputs the tag ID of the RFID tag specified by the specifying unit 12 and recorded in the transport tag list according to the flowcharts shown in FIGS. 5 and 6.
  • the tag information is acquired during the predetermined reading time when the RFID tag is read, and the pallet being conveyed by the forklift FL is provided based on the reading time interval of the tag information including the same tag ID. Identification of whether or not the tag ID of the selected RFID tag is performed. Then, since the identified tag ID is output during a predetermined reading time, for example, the output unit 13 outputs the information to the transporting person or the like in real time to the transporting person or the like by outputting to the display device 40. Can present.
  • the tag information is acquired in real time by the acquiring unit 11 during a predetermined reading time, and the tag information is Each time the information is acquired, the specifying unit 12 specifies or discards that the tag ID of the tag information is the tag ID of the RFID tag attached to the pallet being conveyed by the forklift FL.
  • the conveyance object specifying process of the present embodiment is not limited to such a real-time process, and the acquisition unit 11 reads all tag information read during a predetermined reading time at a predetermined timing (for example, The identification unit 12 identifies or discards that the tag ID of the acquired tag information is the tag ID of the RFID tag attached to the pallet being conveyed by the forklift FL. May be performed collectively.
  • the specifying unit 12 reads the tag information that is continuously read from the start to the end of the predetermined reading time and the reading time interval is within the predetermined time used in the determination of step S5.
  • the tag ID is specified as the tag ID of the RFID tag attached to the pallet being conveyed by the forklift FL. In such a processing mode, sequential processing during a predetermined reading time is not necessary, and the processing load on the system is reduced.
  • the maximum load number may be set in the transport object specifying device 10 in advance.
  • the specifying unit 12 Of the tag IDs identified as the tag IDs of the RFID tags provided on the pallet transported by the forklift FL tag IDs equal to or less than the maximum loading number can be selected and further identified according to a predetermined standard.
  • the predetermined criteria for selecting the tag ID can be set based on the frequency of reading tag information during a predetermined reading time, the short time interval, the continuity of reading, the radio wave intensity, and the like.
  • the specification unit 12 determines the maximum ID according to a predetermined standard. Tag IDs equal to or smaller than the number of loads are further specified. Therefore, the accuracy of the output tag ID can be improved.
  • the acquisition unit 11 may acquire only the tag information read while the forklift is moving.
  • the acquisition unit 11 can determine that the forklift FL is moving based on the detection value of the speed sensor 30 as described above.
  • the tag information read during movement is suitable for use in identifying whether or not the RFID tag is provided on a pallet being conveyed by a forklift. According to this aspect, only the tag information read while the forklift is moving is acquired and the specific processing of the tag ID is performed, so that the amount of data required for processing is reduced and the processing load is reduced.
  • step S21 to S25 and S27 in the flowchart of FIG. 7 are the same as the processing contents of steps S1 to S5 and S7 in the flowchart of FIG.
  • step S24 if it is not determined in step S24 that the tag ID is recorded in the transport tag list, the process proceeds to step S31.
  • step S26 the specifying unit 12 deletes the tag ID that is the tag ID of the acquired tag information and is recorded in the transport tag list from the transport tag list, and records the tag ID in the temporary discard tag list. To do. In addition, the specifying unit 12 records the tag ID in the temporary discard tag list and increases the temporary discard count related to the tag ID by one.
  • the provisional discard tag list accidentally does not satisfy the condition regarding the reading time interval.
  • the tag ID of the tag information is temporarily recorded without being immediately discarded.
  • the temporary discard tag list may be configured in the tag information storage unit 15 or may be configured in another recording medium.
  • the temporary discard count is an attribute value of the tag ID for recording the number of times that the acquired tag information satisfies the condition for recording in the temporary discard tag list.
  • step S31 the specifying unit 12 determines whether or not the tag ID of the acquired tag information is recorded in the temporary discard tag list. If it is determined that the tag ID is recorded in the temporary discard tag list, the process proceeds to step S32. On the other hand, if it is not determined that the tag ID is recorded in the temporary discard tag list, the process proceeds to step S33.
  • step S33 the specifying unit 12 discards the acquired tag information. That is, in this case, since the tag ID of the acquired tag information is not recorded in either the transport tag list or the temporary discard tag list, the pallet to which the RFID tag having the tag ID is attached is the forklift. There is a high possibility that it was not transported by the FL but was present in the vicinity of the flow line ML.
  • step S ⁇ b> 32 the specifying unit 12 determines that the interval between the read time of the acquired tag information and the read time of the tag information that is most recently acquired including the same tag ID as the tag ID of the acquired tag information is within a predetermined time. It is determined whether or not there is. If it is determined that the reading time interval is within the predetermined time, the process proceeds to step S34.
  • step S34 the specifying unit 12 deletes the tag ID that is the tag ID of the acquired tag information and is recorded in the temporary discard tag list, and records the tag ID in the transport tag list.
  • the temporary discard count related to the tag ID is reset. That is, the acquired tag information has already been recorded in the temporary discard tag list and has been acquired at a short time interval from the most recent acquisition time. This means that the tag information read time interval is accidentally long.
  • the tag information is likely to be tag information of the RFID tag attached to the pallet that the forklift FL is carrying Means.
  • step S32 determines whether or not the reading time interval is not within the predetermined time. If it is determined in step S32 that the reading time interval is not within the predetermined time, the process proceeds to step S35.
  • step S35 the specifying unit 12 determines whether or not the temporary discard count related to the tag ID of the acquired tag information is within a predetermined number of times. If it is determined that the temporary discard count is within the predetermined number of times, the process proceeds to step S36. In step S36, the specifying unit 12 increases the temporary discard count related to the tag ID by one.
  • step S35 determines whether the temporary discard count is within the predetermined number of times. If it is not determined in step S35 that the temporary discard count is within the predetermined number of times, the process proceeds to step S37. In this case, since the tag information satisfies the provisional discard condition more than a predetermined number of times, the pallet to which the RFID tag having the tag information is attached is not transported by the forklift FL. Probability is high. Therefore, in step S37, the specifying unit 12 discards the tag ID of the tag information and deletes it from the temporary discard tag list.
  • the tag ID is specified as the temporarily discarded tag ID in consideration of the possibility that the interval of the reading time has accidentally exceeded the predetermined interval time.
  • tag information including whether or not the tag ID of the RFID tag provided on the pallet being conveyed by the forklift is the same tag ID later Is appropriately implemented based on the reading time interval when the RFID tag is acquired, so that even if accidental fluctuations occur in reading the RFID tag, the RFID provided on the pallet being conveyed by the forklift
  • the tag ID of the tag is appropriately specified.
  • the conveyance object specifying program p10 includes a main module m10, an acquisition module m11, a specifying module m12, and an output module m13.
  • the main module m10 is a part that comprehensively controls the conveyance object specifying process.
  • the functions realized by executing the acquisition module m11, the identification module m12, and the output module m13 are the same as the functions of the acquisition unit 11, the identification unit 12, and the output unit 13 of the conveyance object identification device 10 illustrated in FIG. It is.
  • the transport object specifying program p10 is provided by a storage medium d10 such as a CD-ROM or a DVD-ROM or a semiconductor memory, for example. Further, the transport object specifying program p10 may be provided via a communication network as a computer data signal superimposed on a carrier wave.
  • the RFID tag attached to the pallet is read by the RFID reader 20 provided on the forklift. It is performed during a predetermined reading time.
  • the predetermined reading time includes a time during which the forklift is moving.
  • the RFID reader also reads RFID tags attached to pallets other than the pallet being transported. However, during the movement of the forklift, it is attached to the pallet being transported in terms of the frequency of reading, the interval between reading times and the continuity of reading. There is a significant difference from the RFID tag. Therefore, in this embodiment, the tag ID of the RFID tag provided on the pallet transported by the forklift is specified based on at least one of the reading frequency, the reading time interval, and the reading continuity.
  • the pallet being conveyed can be specified with high accuracy.
  • the object to be transported that is transported by the transport unit is specified based on at least one of the frequency of reading within a predetermined reading time for each RFID tag, the interval between reading times, and the continuity of reading.
  • the RFID tag attached to the object to be conveyed being conveyed by the conveying means may be specified based on the reflection intensity of the radio wave from the RFID tag or the phase information of the reflected wave. That is, the reflection intensity of the radio wave from the RFID tag attached to the object to be transported being transported by the transport means and the phase of the reflected wave are stably acquired as compared with other RFID tags. It is possible to specify the RFID tag attached to the conveyance object by utilizing such a difference in characteristics.
  • SYMBOLS 1 ... Conveyance object identification system, 10 ... Conveyance object identification apparatus, 11 ... Acquisition part, 12 ... Identification part, 13 ... Output part, 15 ... Tag information storage part, 20 ... RFID reader, 30 ... Speed sensor, 40 ... Display device, FL ... forklift, Pl ... pallet, p10 ... conveying object specifying program, d10 ... storage medium, m10 ... main module, m11 ... acquisition module, m12 ... specifying module, m13 ... output module.

Abstract

La présente invention concerne un système permettant de spécifier un objet à transporter comprenant : une unité d'acquisition qui spécifie une palette à laquelle une étiquette RFID est attachée et qui est transportée par un chariot élévateur à fourche, et acquiert, pendant une période de lecture prescrite comprenant au moins le moment où le chariot élévateur à fourche est en mouvement, des informations d'étiquette qui comprennent au moins un identifiant d'étiquette qui est lu une pluralité de fois par un lecteur RFID disposé sur le chariot élévateur à fourche et un moment de la journée auquel la lecture se produit ; une unité de spécification qui spécifie l'identifiant d'étiquette de l'étiquette RFID fixée à la palette transportée par le chariot élévateur à fourche, la spécification étant réalisée sur la base d'au moins l'une de la fréquence de lecture au cours de la période de lecture prescrite pour chaque étiquette RFID identifiée par un identifiant d'étiquette, l'intervalle entre les moments de la journée auxquels la lecture se produit, et la continuité de lecture ; et une unité de sortie qui émet l'identifiant d'étiquette spécifié.
PCT/JP2017/004096 2017-02-03 2017-02-03 Système de spécification d'objet à transporter, procédé de spécification d'objet à transporter et programme de spécification d'objet à transporter WO2018142594A1 (fr)

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KR1020187021792A KR102101670B1 (ko) 2017-02-03 2017-02-03 반송 대상물 특정 시스템, 반송 대상물 특정 방법 및 반송 대상물 특정 프로그램
CN201780008568.XA CN108698761B (zh) 2017-02-03 2017-02-03 搬运对象物识别系统、搬运对象物识别方法及搬运对象物识别程序
PCT/JP2017/004096 WO2018142594A1 (fr) 2017-02-03 2017-02-03 Système de spécification d'objet à transporter, procédé de spécification d'objet à transporter et programme de spécification d'objet à transporter
JP2018530171A JP6552744B2 (ja) 2017-02-03 2017-02-03 搬送対象物特定システム、搬送対象物特定方法及び搬送対象物特定プログラム

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JPWO2018142594A1 (ja) 2019-02-14
CN108698761A (zh) 2018-10-23

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