WO2020059236A1

WO2020059236A1 - Article management system

Info

Publication number: WO2020059236A1
Application number: PCT/JP2019/025036
Authority: WO
Inventors: 悠一福井
Original assignee: 日本電産株式会社
Priority date: 2018-09-19
Filing date: 2019-06-25
Publication date: 2020-03-26

Abstract

[Problem] To manage articles with better efficiency than by the prior art when arranging articles in a storage device. [Solution] An embodiment of the present invention is a management system for managing articles to which are attached RFID article tags in which article information is recorded, using a shelf in which a plurality of sections are provided for accommodating the articles. This system is provided with: an RFID tag as a position tag which is installed in a groove and in which position information of the position thereof in the plane of the installation position is recorded; a vehicle which can move in the groove and which is provided with a vehicle body and a retaining part provided so as to be able to be raised and lowered relative to the vehicle body while retaining an article; an RFID reader attached to the vehicle body; an air pressure sensor attached to the retaining part; and a control device for determining, inter alia, the section in which an article is accommodated from among the plurality of sections, on the basis of the article information of an article tag read by the RFID reader, the position information of a position tag read by the RFID reader, and the detection value of the air pressure sensor.

Description

Goods management system

The present invention relates to an article management system.

A system for attaching an RFID (Radio Frequency Identification) tag (also referred to as a wireless tag) to an article and managing the article by reading information recorded on the RFID tag by wireless communication between the RFID reader and the RFID tag is known. (For example, Patent Documents 1 and 2). In the cited document 1, a member ID is recorded on an RFID tag attached to a member placed in each place, and a position management is configured so that a tag reader acquires a member ID of a member whose position is to be specified. The system has been described. In the cited document 2, a plurality of interrogators of RFID and a position tag with known position information are installed, the transmission output of the interrogation wave from the plurality of interrogators is changed, and the position newly detected by the fluctuation of the transmission output is set. An article search system that stores tags and article tag detection results is described. This article search system specifies an article tag and a position tag for which duplicate detection of the detection result is detected, and specifies an article position using the position information of the position tag.

JP 2012-47572 A JP 2007-85826A

In a factory or a warehouse, articles are sometimes transported by a transport device such as a forklift and placed in a facility having a plurality of sections such as shelves. In that case, a process of associating the information for specifying the article with the information for specifying the section for accommodating the article is required. At this time, the RFID tag is attached to each section of the article and the facility, the RFID tag is detected by the RFID reader, and the article and the specific section of the facility are associated with each other based on the detected RFID tag. There is a method of managing the sections. However, in the above method, it is necessary to attach an RFID tag to each of a plurality of sections of equipment that can be arranged at various places, and a large number of RFID tags are required, resulting in an increase in cost.

Therefore, an object of the present invention is to manage articles more efficiently than in the past when articles are placed in a storage device.

An exemplary first invention of the present application is an article provided with an article tag, which is an RFID tag on which article information is recorded, using a shelf provided on a premises and provided with a plurality of sections for accommodating articles. A management system that manages the information, a position tag that is an RFID tag that is installed in the premises and records positional information on the plane of the installation position, and is movable in the premises, and a vehicle body and an article A vehicle provided with a holding portion provided to be capable of ascending and descending with respect to the vehicle body while holding, an RFID reader attached to the vehicle body, a pressure sensor attached to the holding portion, and the RFID reader Based on the read article information of the article tag, the position information of the position tag read by the RFID reader, and the detection value of the air pressure sensor, Of image, partitions the article is accommodated, or, wherein the article and a control device for determining the compartment is retrieved, a management system of goods.

ADVANTAGE OF THE INVENTION According to this invention, when arrange | positioning an article in a storage apparatus, an article can be managed more efficiently than before.

FIG. 1 is a diagram illustrating an application example of the management system according to the embodiment. FIG. 2 is a diagram illustrating a part of a shelf in which luggage is stored in the management system according to the embodiment. FIG. 3 is a diagram illustrating a vehicle in the management system according to the embodiment. FIG. 4 is a diagram schematically illustrating a principle of estimating a vehicle position in the management system according to the embodiment. FIG. 5 is a block diagram illustrating a configuration of the management system according to the embodiment. FIG. 6 is a diagram illustrating a data configuration example of the inventory database. FIG. 7 is a sequence chart illustrating the information processing of the management system according to the embodiment when the luggage is stored on the shelf. FIG. 8 is a sequence chart illustrating information processing of the management system according to the embodiment when the package is taken out of the shelf.

In the present invention, the “RFID tag” refers to an information medium that incorporates a semiconductor memory, holds identification information written by an electromagnetic field or radio waves, and is readable and writable in a non-contact manner. The RFID tag is not limited to a passive tag that operates using an electric wave from an RFID reader as an energy source, and may be an active tag with a built-in battery. In the present invention, the “RFID reader” means a reading device that performs short-range wireless communication in order to read identification information of a semiconductor memory of an RFID tag in a non-contact manner by an electromagnetic field or a radio wave, and is limited to a specific communication method. Not something. The short-range wireless communication used by the RFID reader is not limited to RFID in a narrow sense, but may be NFC (Near Field Communication), and does not limit a wireless communication standard for reading identification information.

(1) Configuration of the Management System 1 of the Embodiment The configuration of the management system 1 of the embodiment will be described below with reference to FIGS. FIG. 1 is a diagram illustrating an application example of a management system 1 according to the present embodiment. FIG. 1 is a diagram schematically illustrating a premises 100 on which a management system 1 according to the present embodiment is mounted, from above. FIG. 2 is a diagram illustrating a part of a shelf in which luggage is stored in the management system 1 according to the embodiment. FIG. 3 is a diagram illustrating a vehicle in the management system 1 of the present embodiment.

In the following description, it is assumed that identification information for specifying an attachment target is written in the RFID tag. The fact that the RFID reader / writer has detected the RFID tag means that the RFID reader / writer can wirelessly communicate with the RFID tag. The fact that wireless communication with the RFID tag is possible means that the RSSI (Received Signal Intensity Indicator) of the signal received from the RFID tag is equal to or greater than a predetermined threshold value, and that the signal is recorded in the RFID tag by wireless communication. Means that at least one of the read data is readable.

The management system 1 according to the present embodiment is a system for managing a package to which a package tag, which is an RFID tag in which package information (an example of article information) is recorded, is attached. In the example shown in FIG. Is implemented in the premises 100 to be installed. As shown in FIG. 1, the management system 1 includes a plurality of location tags TF11 to TF16, TF21L to TF26L, TF21R to TF26R, TF31 to TF36, a vehicle 2 for transporting a load, and a plurality of shelves SH1 capable of storing the load. SH 3, an access point AP that performs wireless communication with the control device 3, and an information processing device 5.

In the following description, when a plurality of location tags TF11 to TF16, TF21L to TF26L, TF21R to TF26R, and TF31 to TF36 are commonly referred to, they may be described as “position tags TF”. The position tag TF is an RFID tag that is installed in the premises 100 and records positional information of the installation position on a plane. The position information is, for example, information on a position defined by two-dimensional coordinates with a predetermined reference position on the plane of the premises 100 as an origin. When the management system 1 is mounted on the premises 100, a position tag TL is installed on the premises 100 because a positioning method based on GPS (Global Positioning System) cannot be adopted.

In the example of the present embodiment, each of the shelves SH1 to SH3 is composed of a plurality of areas, and each area is composed of three vertical sections as shown in FIG. Absent. The number of shelves arranged in the premises 100, the number of areas included in each shelf, and the number of steps in each area can be arbitrarily set. FIG. 2 shows an area SC11 of the shelf SH1 as an example. Area SC11 includes three stages of sections SC11-1, SC11-2, and SC11-3. In the example shown in FIG. 2, the luggage P10 is stored in the section SC11-1, and the luggage P11 is stored in the section SC11-3. Luggage tags TP10 and TP11 are attached to the luggage P10 and P11, respectively.

In the following description, when referring to a plurality of luggage and a plurality of luggage tags in common, they may be referred to as “luggage P” and “luggage tag TP”, respectively. (4) Package information is recorded in the package tag TP. The package information is not limited, but is, for example, a shipping source, a shipping destination, a code for identifying the contents, a serial number, a lot number, and the like.

As shown in FIG. 3, the vehicle 2 is a vehicle such as a forklift, for example, and transports a load P in the premises 100. In the example illustrated in FIG. 3, a driver for performing operations such as driving is on board the vehicle 2, but this is not a limitation. The vehicle 2 may be an automatic guided vehicle (AGV).

The vehicle 2 has a main body 21 and a holding part 23 that holds the load P during transportation and is relatively movable in the vertical direction with respect to the main body 21. The main body 21 includes a vehicle main body including a power source, a driving device, a steering device, and the like, and an actuator (not shown) that drives the holding unit 23 up and down. In the example shown in FIG. 2, the holding portion 23 has a fork shape, and moves up and down along the columnar portion 22. The columnar part 22 is a member supported by the main body part 21 and extending vertically in a columnar shape.

As shown in FIG. 3, an RFID reader / writer RW is attached to the main body 21 of the vehicle 2. The RFID reader / writer RW detects the position tag TF and the package tag TP, and receives the position information and the package information, respectively. Since the holding unit 23 of the vehicle 2 moves up and down, when the holding unit 23 is at a high position, the luggage tag TP on the holding unit 23 may not be detected in some cases.

As shown in FIG. 3, the pressure sensor PS is attached to the holding portion 23 of the vehicle 2 and is provided for detecting the pressure. The height of the holding unit 23 can be determined from the detection value of the atmospheric pressure sensor PS.

As shown in FIG. 3, the control device 3 is mounted on a main body 21 of the vehicle 2. The control device 3 is configured to be able to communicate with the RFID reader / writer RW by wire or wirelessly, and to be able to wirelessly communicate with the barometric pressure sensor PS. The control device 3 is based on the detection result of the RFID reader / writer RW and the detection value of the barometric pressure sensor PS, and the section where the package P is stored on the shelf (hereinafter, referred to as “storage section”). , And a section to be taken out when the package P is taken out of the shelf (hereinafter, referred to as a “take-out section”). The control device 3 transmits to the information processing device 5 data in which the baggage information of the baggage P is associated with the information of the accommodation section or the takeout section of the baggage P.

The control device 3 estimates the position of the vehicle 2 in the premises 100 based on the position information from the position tag TF. For example, assume that the vehicle 2 is located at the position shown in FIG. In this case, position tags TF11, TF12, TF21L, TF22L are arranged around the vehicle 2, and the RFID reader / writer RW mounted on the vehicle 2 detects the position tags TF11, TF12, TF21L, TF22L. . The control device 3 estimates the position of the vehicle 2 based on the position information read from the position tags TF11, TF12, TF21L, TF22L. In the example shown in FIG. 4, since the vehicle 2 is located near the position tag TF21L, the RSSI of the signal received by the RFID reader / writer RW from the position tag TF21L is received from the other position tags TF11, TF12, and TF22L. It will be larger than the RSSI of the signal. Therefore, it can be estimated that the vehicle 2 is at the position indicated by the position information from the position tag TF21L.

In order to improve the accuracy of the position of the vehicle 2, when the RFID reader / writer RW detects a plurality of position tags TF, the control device 3 uses the position information recorded in each position tag TF and the position tag TF It is preferable to estimate the position of the vehicle 2 on the basis of the RSSI. For example, as shown in FIG. 4, when receiving signals from the position tags TF11, TF12, TF21L, and TF22L, three position tags having large RSSIs of the received signal are specified, and the position information of the three position tags is specified. And the RSSI, the position of the vehicle 2 can be accurately estimated by the principle of three-point surveying.

The control device 3 specifies an area where the baggage P is stored or taken out based on the estimated position of the vehicle 2. Further, the control device 3 specifies a storage destination section or an extraction destination section of the package P based on the detection value of the atmospheric pressure sensor PS. That is, based on the detection value of the barometric pressure sensor PS indicating the height information, the baggage P is stored in any of a plurality of sections having different heights in the specified area, or the baggage P is transferred from any of the sections. Is determined as to whether構成 The configuration of the control device 3 and the details of the processing executed by the control device 3 will be described later.

Referring to FIG. 1 again, the information processing device 5 is a device for a manager who manages the premises 100 to monitor the stock status of shelves. The information processing device 5, for example, a personal computer, a tablet computer, or the like, is connected to the access point AP by wire or wirelessly. The information processing device 5 has a stock database for managing the stock status of the shelves. The information processing device 5 receives, from the control device 3 via the access point AP, data in which the baggage information of the baggage P is associated with the information of the accommodation section or the takeout section of the baggage P, and Update the inventory database based on.

(2) Configuration of Functional Blocks of Management System 1 Next, the configuration of functional blocks of the management system 1 of the present embodiment will be described with reference to FIG. FIG. 5 is a block diagram illustrating a configuration of the management system 1 according to the present embodiment.

As shown in FIG. 5, the RFID reader / writer RW attached to the main body 21 of the vehicle 2 detects the position tag TF and the baggage tag TP, and obtains position information and baggage information from each tag. The pressure sensor PS is communicable with the control device 3 via the access point AP, and transmits a detection value to the control device 3 in response to a notification from the control device 3.

As shown in FIG. 5, the control device 3 includes a control unit 31, a storage 32, and a communication unit 33. The control unit 31 includes a microprocessor, a storage device such as a ROM and a RAM, an input / output interface, and a bus connecting these components. The microprocessor of the control unit 31 executes at least the following processes (i) to (vi) by executing a predetermined program.

(i) Process of acquiring data received by RFID reader / writer RW (ii) Process of calculating RSSI of received signal of RFID reader / writer RW (iii) Process of estimating position of vehicle 2 (iv) Detection of pressure sensor PS A process of acquiring a value {(v)} a process of estimating the height of the holding unit 23 of the vehicle 2 based on a detection value of the atmospheric pressure sensor PS {(vi)} a process of specifying a storage destination section and an extraction destination section {

The control unit 31 temporarily records, in the storage 32, data in which the baggage information of the baggage P is associated with the information of the accommodation section or the takeout section of the baggage P. Further, the control unit 31 transmits the data to the information processing device 5 via the communication unit 33. The method of wireless communication performed between the communication unit 33 and the access point AP may be any method, for example, a method based on IEEE 802.11.

As illustrated in FIG. 5, the information processing device 5 includes a control unit 51, a storage 52, and a communication unit 53. The control unit 51 includes a microprocessor, a storage device such as a ROM and a RAM, an input / output interface, a bus connecting these components, and the like.

The storage 52 is a nonvolatile memory, and may be, for example, an SSD such as a flash memory or a hard disk device. In this embodiment, the storage 52 stores an inventory database. The control unit 51 accesses the storage 52 and writes or deletes data in the inventory database. As illustrated in FIG. 6, the inventory database is a database that includes data on inventory status for each section of each area on each shelf. When the luggage information (for example, p10, p11, etc.) is written in the field of the stock status, it means that the luggage P corresponding to the luggage information is stored in the section corresponding to the luggage information. When the baggage information corresponding to the section is not written, it means that the baggage P is not stored in the section. (4) The communication unit 53 communicates with the control device 3 via the access point AP. For example, the communication unit 53 receives, from the control device 3, data in which baggage information is associated with a storage destination section or an extraction destination section.

(3) Information Processing in Management System 1 Next, information processing in the management system 1 of the present embodiment will be described with reference to FIGS. FIG. 7 is a sequence chart showing information processing of the management system 1 when luggage is stored on a shelf. FIG. 8 is a sequence chart showing information processing of the management system 1 when taking out a package from a shelf.

(3-1) When Luggage is Stored on Shelf (FIG. 7) In the management system 1 of the present embodiment, the condition that the control device 3 does not detect the luggage tag TP after detecting the luggage tag TP (the first condition) If the condition (example) is satisfied, it is determined that the package P is stored in any of the plurality of sections.

That is, since the RFID reader / writer RW is provided in the main body 21, the RFID reader / writer RW is attached to the baggage P while the baggage P is held by the holder 23 and the holder 23 is at the lowest position. The package tag TP is detected (step S10: YES). When the RFID reader / writer RW no longer detects the package tag TP after the detection (step S12: NO), the holding unit 23 is raised to store the package P on a shelf, and the package tag TP is transmitted from the RFID reader / writer RW. It is considered that detection became impossible because of the distance. In that case, it is determined that the package P is stored on the shelf (step S14).

When it is determined that the package P is stored on the shelf, the control device 3 specifies the storage destination section as follows. First, the control device 3 estimates the position of the vehicle 2 in the premises 100 based on the position information from the plurality of position tags TF detected by the RFID reader / writer RW. Based on the estimated position of the vehicle 2, the control device 3 specifies an area where the baggage P is stored (a position on the plane of the storage section) (step S <b> 16). Next, the control device 3 transmits a notification for requesting transmission of the detection value to the barometric pressure sensor PS via the access point AP (step S18). Upon receiving the notification, the pressure sensor PS sends the detected value to the control device 3 after the fluctuation amount of the detected value has become equal to or less than the predetermined threshold for a predetermined time (step S20: YES, step S22: YES). The data is transmitted via the AP (step S24). When the fluctuation amount of the detection value is large, it is considered that the holding unit 23 is rising, so the pressure sensor PS does not transmit the detection value, and transmits it after the detection value is stabilized. (4) Upon receiving the detection value from the atmospheric pressure sensor PS, the control device 3 specifies the accommodation section of the baggage P (step S26). That is, it specifies which of the plurality of sections having different heights the baggage P is stored in the storage destination area specified in step S16.

Next, the control device 3 transmits the luggage information of the luggage tag TP detected in step S10 and the information of the accommodation section specified in step S26 to the information processing device 5 via the access point AP (step S28). . The information processing device 5 updates the inventory database based on the received luggage information and the information of the accommodation section (step S29). Specifically, the information processing device 5 performs a process of writing the received package information in the field of the stock status of the corresponding section in the stock database (see FIG. 6).

(3-2) When removing the package from the shelf (FIG. 8) {in the management system 1 of the present embodiment, the control device 3 determines that the RFID reader / writer RW does not detect the package tag TP and the RSSI variation from the position tag TF Is less than or equal to a predetermined threshold value, and the condition that the position of the vehicle 2 is near the shelf (an example of the second condition) is satisfied, the luggage P takes out the luggage P from any of a plurality of partitions. to decide.

When the baggage P is taken out of the shelf, the distance between the RFID reader / writer RW and the baggage tag TP is large because the holding unit 23 of the vehicle 2 is at a high position, and the RFID reader / writer RW does not detect the baggage tag TP. Therefore, if the RFID reader / writer RW does not detect the luggage tag TP (that is, there is no luggage in the holding unit 23) (step S30: NO), and the vehicle 2 is located near the shelf and does not move. When determining, it can be determined that the package P is taken out of the shelf.

Here, the control device 3 satisfies the following conditions (i) and 、 (ii), that is, the RSSI variation of the signal obtained from the {(i)} position tag TF is equal to or less than a predetermined threshold for a predetermined time ( (Step S32: YES and Step S34: YES) and {(ii)} the position (current position) of the vehicle 2 estimated based on the position information received from the position tag TF is any one of the shelves SH1 to SH3. By satisfying the condition that it is near the shelf (step S36: YES), it is determined that the vehicle 2 is located near the shelf and has not moved, and it is determined that the package P is taken out of the shelf (step S38). .

The control device 3 specifies an area from which the package P is to be taken out (the position on the plane of the take-out section) based on the estimated position of the vehicle 2 (step S40). Next, the control device 3 transmits a notification for requesting transmission of the detection value to the barometric pressure sensor PS via the access point AP (step S42). Upon receiving the notification, the pressure sensor PS sends the detected value to the control device 3 for a predetermined time after the amount of change in the detected value has become equal to or less than the predetermined threshold (step S44: YES, step S46: YES). The data is transmitted via the AP (step S48). When the fluctuation amount of the detection value is large, it is considered that the holding unit 23 is rising, so the pressure sensor PS does not transmit the detection value, and transmits it after the detection value is stabilized. (4) Upon receiving the detection value from the atmospheric pressure sensor PS, the control device 3 specifies the destination section of the baggage P (step S50). That is, it is specified which of the plurality of sections having different heights in the storage area specified in step S40 contains the package P.

Next, the control device 3 waits until the holding unit 23 of the vehicle 2 descends and the RFID reader / writer RW detects the luggage tag TP of the luggage P that has been taken out (step S52: NO). If the luggage tag TP is detected (step S52: YES), the control device 3 associates the luggage information received from the luggage tag TP with the information on the destination section specified in step S50, and associates the access point with the access point. The information is transmitted to the information processing device 5 via the AP (step S54). The information processing device 5 updates the inventory database based on the received luggage information and the information on the take-out destination section (step S56). Specifically, the information processing device 5 performs a process of deleting the package information in the field of the stock status of the corresponding section in the stock database (see FIG. 6).

As described above, according to the management system 1 of the present embodiment, the package information of the package tag TP read by the RFID reader / writer RW, the position information of the position tag TF read by the RFID reader / writer RW, and the air pressure Based on the detection value of the sensor PS, a storage destination section or a take-out destination section of the package P is determined from the plurality of sections. Therefore, there are the following advantages.

Since a plurality of position tags TF are arranged in the premises 100 to estimate the position of the vehicle 2 and to specify the position on the plane of the compartment where the baggage P is stored or taken out, tags are provided in each area of the shelf. No need. Therefore, the number of tags for specifying the position can be smaller than in the past. Since the position is estimated based on the RSSIs of the signals received from the plurality of position tags TF, the possibility of erroneously detecting the position between adjacent areas is low. Since the control device 3 installed in the main body 21 of the vehicle 2 and the pressure sensor PS installed in the holding unit 23 of the vehicle 2 transmit and receive data by wireless communication, the main unit 21 and the holding unit 23 are connected. No wiring is required. Therefore, if the main body 21 and the holding part 23 as a movable part are connected by wiring, the wiring becomes complicated, but this embodiment does not have such a problem. Therefore, according to the management system 1 of the present embodiment, when the package P is arranged on the shelf, the package P can be managed efficiently.

Although the embodiment of the article management system of the present invention has been described above, the present invention is not limited to the above embodiment. Further, the above-described embodiment can be variously improved or changed without departing from the gist of the present invention.

For example, the number and arrangement of the position tags TF shown in FIG. 1 are merely examples. The number and arrangement of the position tags TF can be appropriately changed according to the arrangement and configuration of shelves on the premises.

Although the management system according to the above-described embodiment includes the access point AP and the information processing device 5, a configuration in which information from a plurality of vehicles 2 is integrally managed by the information processing device 5 has been described, but the present invention is not limited thereto. For example, when the control device 3 manages data in which the luggage information is associated with the position information of the vehicle 2, the access point AP and the information processing device 5 are not required.

DESCRIPTION OF SYMBOLS 1 ... Management system, 2 ... Vehicle, 3 ... Control device, 5 ... Information processing device, 51 ... Control part, 52 ... Storage, 53 ... Communication part, 21 ... Body part, 22 ... Column part, 23 ... Holding part, 31 ... Control unit, 32 ... Storage, 33 ... Communication unit, 100 ... Premise, AP ... Access point, P10, P11 ... Package, RW ... RFID reader / writer, PS ... Barometric pressure sensor TF (TF11 ~ TF16, TF21L ~ TF26L, TF21R ~) TF26R, TF31 to TF36) position tag, TP (TP10, TP11) ... luggage tag, SH1 to SH3 ... shelf, SC11 to SC16, SC21 to SC26, SC31 to SC36 ... area, SC11-1 to SC11-3 ... section

Claims

A management system that manages an article to which an article tag, which is an RFID tag in which article information is recorded, is installed using a shelf provided with a plurality of sections for accommodating articles and installed on the premises, A position tag, which is an RFID tag that is installed on the premises and records positional information on the plane of the installation position, and {movable in the premises, and moves up and down with respect to the vehicle body while holding the vehicle body and articles. A vehicle provided with a holding section provided so as to be capable of being provided; an RFID reader attached to the vehicle body; 気圧 an atmospheric pressure sensor attached to the holding section; article information of the article tag read by the RFID reader. Based on position information of the position tag read by the RFID reader and a detection value of the pressure sensor, Compartment goods are accommodated, or, and a control unit for determining a compartment wherein the article is taken out, the management system of the article.
The article management system according to claim 1, wherein the control device wirelessly acquires the detection value from the air pressure sensor.
When the RFID reader detects a plurality of position tags, the control device estimates the position of the vehicle based on the position information recorded on each position tag and the received signal strength from each position tag, An article management system according to claim 1.
The control device determines that the article is stored in any of the plurality of sections when the first condition is satisfied after the article tag is no longer detected after detecting the article tag. The article management system according to any one of claims 1 to 3, wherein a height of a section in which the article is stored is specified based on a detection value of the air pressure sensor.
The control device according to claim 4, wherein when the first condition is satisfied, the control device specifies a position on a plane of the section in which the article is stored, based on position information of the position tag detected by the RFID reader. The goods management system.
The control device may be configured such that the RFID reader does not detect the article tag, the amount of change in received signal strength from the position tag is equal to or less than a predetermined threshold, and that the position of the vehicle is near the shelf. If the second condition is satisfied, it is determined that the article is to be removed from any of the plurality of sections, and the height of the section from which the article is to be removed is determined based on the detection value of the air pressure sensor. Item management system according to any one of claims 1 to 5.
The control device according to claim 6, wherein, when the second condition is satisfied, the control device specifies a position on the plane of the section from which the article is taken out, based on position information of the position tag detected by the RFID reader. , Goods management system.