WO2022249275A1 - Shipping-item location management system and shipping-item location management method - Google Patents

Abstract

The present invention makes it possible to keep costs down and stably manage actual movement location information for shipping items that are moved and installed at prescribed locations in an off-site storage facility having strict storage conditions. This shipping-item location management system installs and manages a coil (5a) (shipping item) at an off-site storage facility along with shipment. A forklift (7) (movement device) is provided to move and install the coil (5a) to the off-site storage facility. The installation location of the coil (5a) is set by using the location information of the forklift (7) acquired via GNSS by a coordinate information receptions terminal (24) provided to the forklift (7). A terminal-side arithmetic device (20) is provided to transmit the set installation location to an off-site movement location management server (30).

Description

SHIPMENT POSITION MANAGEMENT SYSTEM AND SHIPMENT POSITION MANAGEMENT METHOD

The present invention relates to a shipment position management system and a shipment position management method for managing the installation position of shipments that have been moved to an off-site storage location.

In the steelworks, shipments may be stored outside the premises before shipment or before transportation to the next process. Shipments are, for example, products such as coiled steel products, H-shaped steel, rails, and slabs that are intermediate products. A steel material obtained by packing the sheet product into a coil is hereinafter also referred to as a coil.
In the case of coils before shipment, for example, the coils are moved to an off-site storage location provided immediately before loading onto a ship or the like. The coil is then placed at a predetermined location, for example, in an off-site storage location. The coils are then stored until shipment is ready and loading instructions are given.

To move these products (shipments) to such an off-site storage location, a moving device suitable for the products to be moved is used. The moving device is a forklift, a straddle carrier, or the like.
For example, a forklift is used as a moving device for moving shipments such as coils. Forklifts are often used with a guiding operator called a sakite. A guidance operator confirms the installation position of the shipment moved by the forklift. The guidance operator registers the confirmed installation position as a real-time actual movement position and inputs it to a predetermined terminal device. As a result, the confirmed installation position is transmitted to the host server for storage management. The transmitted actual movement position (confirmed installation position) is used for overall shipping management in the steelworks.

When a forklift carries out movement work with the first mover, it is necessary for the first mover to work in the vicinity of the forklift. Therefore, there is a safety concern because the first mover may come into contact with the forklift. In addition, if even a slight erroneous input occurs in the registration work of the actual movement position by the first party, a serious problem such as a delay in the downstream shipping work and delivery delay occurs. For this reason, it is necessary to take countermeasures such as double checking to avoid erroneous input. However, this poses a problem that the management cost for quality assurance increases.

For example, Japanese Unexamined Patent Application Publication No. 2002-200001 and Japanese Unexamined Patent Application Publication No. 2002-200022 disclose technologies for moving shipments in consideration of safety and cost without taking the initiative.
Patent Literature 1 discloses a warehouse management system in which a forklift is equipped with an IC tag. In Patent Literature 1, RFID communication is used to monitor changes in the current position of a forklift.
Further, Patent Document 2 discloses that a position information collecting device that receives radio signals from a GPS (Global Positioning System) is enclosed inside a packing material of an object to be transported. Patent Literature 2 discloses a technique for acquiring the location of an object to be transported based on a received radio signal.

However, in the case of Patent Document 1, only the case where the forklift moves within the warehouse is assumed. Therefore, it is difficult to stably use the IC tag exposed to wind and rain when it is moved to a storage place where environmental conditions are severe, from the viewpoint of durability and the like. Severe environmental conditions refer to cases where a protective structure or equipment such as a container is not used, such as an off-site storage place immediately before a loading site.
Further, in the case of Patent Document 2, it is necessary to attach a position information collecting device to each transport object, that is, each shipment. For this reason, in the case of Patent Document 2, the burden of the mounting work increases as the number of objects to be conveyed increases. Moreover, in the case of Patent Document 2, there is a problem that the parts cost and the maintenance cost increase.

JP 2007-246250 A JP 2006-151698 A

The present invention has been made with a focus on the above points. It is another object of the present invention to stably manage, at a reduced cost, actual movement position information of a shipment that is moved and placed at a predetermined position in an off-site storage area with strict storage conditions.

In order to solve the problem, one aspect of the present invention provides coordinate information for receiving position information from navigation satellites constituting a satellite positioning system when installing and managing a shipment at a planned moving position in an off-site storage location. The shipment is moved to the off-site storage location by a mobile device provided with a receiving terminal, and the installation position of the shipment is determined by the position information of the mobile device acquired by the coordinate information receiving terminal. 1, and transmits the set installation position to an off-site movement position management server that manages the movement position of the shipment in the off-site storage location.

According to one aspect of the present invention, it is possible to stably manage the actual movement position information of shipments at a reduced cost. At this time, the goods to be shipped are those to be moved to a predetermined position in an off-site storage place where the storage conditions are severe.

1 is a block diagram schematically illustrating an outline of a configuration of a shipment position management system according to an embodiment of the present invention; FIG. It is a figure explaining the structure of a shipment guidance apparatus. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view (bird's-eye view) schematically illustrating the overall configuration of a steel plant having an off-site storage location to which the off-site storage location management process according to the embodiment of the present invention is applied; It is a figure explaining typically the coil to which shipping conditions were applied. FIG. 5(a) is a diagram schematically illustrating a state in which coils to which shipping conditions are applied are loaded on a ship, viewed from the side where the coil through-holes appear from the front in a cross section of the hold. FIG. 5(b) is a plan view of a state in which the coils to which the shipping conditions are applied are loaded. FIG. 6(a) is a diagram schematically illustrating a state in which coils to which the shipping conditions are not applied are loaded, viewed from the side where the through-holes of the coils appear from the front in a cross-section of the hold. FIG. 6(b) is a plan view of a state in which the coils to which the shipping conditions are applied are loaded. 1 is a block diagram schematically illustrating an outline of a configuration of a terminal-side arithmetic device included in a shipment position management system according to an embodiment of the present invention; FIG. FIG. 2 is a block diagram schematically illustrating the outline of the configuration of an off-site moving position management server included in the shipment position management system according to the embodiment of the present invention; 4 is a flowchart (part 1) for explaining a shipment storage location management process executed by the shipment position management system according to the embodiment of the present invention; FIG. 10 is a flow chart (part 2) illustrating a shipment storage location management process executed by the shipment position management system according to the embodiment of the present invention; FIG.

Embodiments of the present invention will be described below with reference to the drawings.
In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. Each drawing is schematic, and each device, each member, etc. is different from the actual one. Further, the embodiments shown below are examples of configurations for embodying the technical idea of the present invention. The technical concept of the present invention is not limited to the shapes, structures, etc. of the components described below. Various modifications can be made to the technical idea of the present invention within the technical scope defined by the claims.

<Shipment location management system>
The shipment position management system according to the present embodiment is a computer system that includes a shipment guidance device 26 and an off-site movement position management server 30, as shown in FIGS. The shipment guiding device 26 has a terminal-side arithmetic device 20 . The off-site moving position management server 30 is connected to the terminal-side arithmetic device 20 via a wireless communication line.
The shipment guiding device 26 is provided in the forklift 7 for loading and unloading the coil 5a as the shipment. The shipment guiding device 26 includes a coordinate information receiving terminal 24 and an error correction signal receiving terminal 25, which are connected to the terminal-side arithmetic device 20, respectively. The coordinate information receiving terminal 24 and the error correction signal receiving terminal 25 are connected to an antenna 7b mounted on the forklift 7. FIG.

The coordinate information receiving terminal is a terminal that receives position information (navigation information) from navigation satellites that constitute GNSS and other satellite positioning systems. GNSS is Global Navigation Satellite System. In the following example, it is assumed that the satellite positioning system is GNSS.
The off-site movement position management server is a server that manages the movement position of the shipment in the off-site storage location.
In the shipment position management system according to the present embodiment, a case where the "shipment" is the coil 5a of the steel product as described above will be described as an example. The coil 5a is a coil product called a so-called "hot-rolled coil". A "hot-rolled coil" is a coil product with black rust (scale) attached to the surface after being manufactured in a hot-rolling plant. The coiled product is bound by a string-like member such as a binding band 6a that is wrapped around the exposed surface.

The forklift 7 corresponds to a "moving device" and is equipped with a rod-shaped ram 7a provided via a mast so as to project horizontally in front of the operator. The ram 7a is slid vertically by an operator's operation while maintaining a horizontal state. The forklift 7 advances close to the coil 5a, adjusts the height of the ram 7a, and inserts the ram 7a into the central cavity of the cylindrical coil 5a. Then, the ram 7a is brought into contact with the inner peripheral surface of the coil 5a. In this state, the coils 5a are stacked by sliding the entire ram 7a upward. And the coil 5a can be supported in the air as it is.

The forklift 7 moves to a predetermined position in the steelworks while supporting the coil 5a. After that, the forklift 7 slides the entire ram 7a downward, lowering the lower surface of the coil 5a so as to contact the ground, and installs it. The forklift 7 then retreats away from the coil 5a and pulls the ram 7a out of the cavity of the coil 5a. When the coil 5a is lowered to the ground, the settings are as follows. That is, the central position M in the longitudinal direction of the ram 7a of the forklift 7 is set as the position (installation position) of the coil 5a installed after the movement. In FIG. 1, the central position M of the ram 7a is schematically illustrated by a dot.

The forklift 7 also includes an antenna 7b for receiving coordinate information (navigation signals) from navigation satellites forming the satellite positioning system illustrated in the upper part of FIG. Via the antenna 7b, coordinate information defining the longitude and latitude indicating the current position of the forklift 7 on the ground is received at predetermined sampling intervals. The received coordinate information is input to the terminal-side arithmetic device 20 via the coordinate information receiving terminal 24 . Examples of the coordinate information transmitted from navigation satellites constituting the satellite positioning system in FIG. 1 include signals received from GPS. GPS is one of the global positioning satellite systems (GNSS).
The satellite positioning system to be used is not limited to GPS, and may be GLONASS, Galileo, or the like. Hereinafter, the acquired coordinate information of the current position, which is the first position information, is also referred to as "GNSS coordinate information".

The terminal-side arithmetic device 20 of the shipment position management system according to this embodiment can also use a technique for minimizing errors in coordinate information. The technique corrects the coordinate information acquired by the coordinate information receiving terminal 24 using a plurality of GNSS (multi-GNSS) or the like. Techniques for minimizing such errors obtain augmentation information for positioning signals from a specific information providing server. The information may be obtained directly from the same or other satellites or via the Internet. For example, the use of services using the quasi-zenith satellite "MICHIBIKI" can be mentioned. In this embodiment, as shown in FIG. 1, the positioning augmentation signal receiver 12 is exemplified as a receiver that receives the positioning augmentation signal from the outside. The positioning augmentation signal receiver 12 is a receiver different from the coordinate information receiving terminal 24 . As mentioned above, the positioning augmentation signal may be received via the Internet.

A first error correction signal is generated from the positioning augmentation signal received by the positioning augmentation signal receiver 12 . The generated first error correction signal is sent to the forklift 7 . The transmitted first error correction signal is received via the antenna 7 b of the forklift 7 . The received first error correction signal is input to the terminal side arithmetic device 20 via the error correction signal receiving terminal 25 of the shipment guiding device 26 .

Furthermore, in the shipment position management system according to the present embodiment, a fixed station 13 as a reference station on the ground is installed at a specific position. Further, in this embodiment, additional error correction is performed using this fixed station 13 . A coordinate information receiving terminal 14 having the same configuration as the coordinate signal receiving terminal provided on the forklift 7 is installed in the fixed station 13 . The coordinate information receiving terminal 14 receives the coordinate information of the current position of the fixed station 13 . With regard to the GNSS coordinate information of the current position of the observed forklift 7, the error (offset) of the observation time can be accurately grasped. This is done based on the precise location of the fixed station 13 on the ground.
In general, the accuracy of coordinate information acquired by a satellite positioning system such as GNSS changes under the influence of the position of the satellite, climate, conditions of the ionosphere, and the like. Therefore, position information of fixed stations within a range that can be regarded as the same conditions as forklifts that receive signals from navigation satellites is used. As a result, the error caused by the above influence can be obtained accurately. Error correction using this fixed station can minimize the error of coordinate information acquired from GNSS to the cm order.

Also, the first error correction signal generated by the positioning augmentation signal receiver 12 is simultaneously transmitted to the fixed station 13 together with the transmission to the forklift 7 . The fixed station 13 uses the received GNSS coordinate information of the current position of the fixed station 13 and the information of the first error correction signal. The fixed station 13 then generates a second error correction signal for correcting errors in the GNSS coordinate information of the current position of the forklift 7 . The generated second error correction signal is received via the forklift 7 antenna 7b. The received second error correction signal is input to the terminal side arithmetic device 20 via the error correction signal receiving terminal 25 of the shipment guiding device 26 . The terminal-side arithmetic device 20 performs a process of correcting the first position information with the first error correction signal and the second error correction signal. The first position information is coordinate information acquired from the coordinate information receiving terminal 24 .

The terminal-side arithmetic device 20 can be realized by a computer's central processing unit (CPU), processor, or the like. An input device 21 is connected to the terminal-side arithmetic device 20 . The input device 21 is a device for an operator to input an input signal. The input signal is a trigger signal for transmitting the installation position and coordinate information of the coil 5a to the off-site movement position management server 30 side. A data storage device 22 is connected to the terminal-side arithmetic device 20 . The data storage device 22 stores coordinate information as the installation position of the coil 5 a and the current position of the forklift 7 . The terminal-side arithmetic device 20 is configured to be able to access data stored inside the data storage device 22 .

A display device 23 is also connected to the terminal-side arithmetic device 20 . The display device 23 displays to the operator the initial movement instruction received by the terminal-side arithmetic device 20 from the off-site movement position management server 30 side. The display device 23 also displays a determination signal from the off-site movement position management server 30 side. The determination signal is a signal indicating whether or not the installation position transmitted from the terminal-side arithmetic device 20 side matches the preset planned movement position. The initial movement instruction and determination signal can be received via the antenna 7b of the forklift 7, for example. For that reception, another dedicated antenna for receiving data from the off-site mobile position management server 30 side may be provided. Further, the antenna 7b of the forklift 7 may be provided with a function as a transmitting antenna to perform transmission. Alternatively, a separate dedicated antenna may be provided. The transmitting antenna is for transmitting the installation position from the terminal-side arithmetic device 20 to the off-site moving position management server 30 side. Map information and guidance information (navigation information) are schematically illustrated and displayed on the display device 23 . The map information is the current position of the forklift 7 and the map information around the forklift 7 . The guidance information includes a mark such as an arrow indicating the direction in which the forklift 7 should travel.

The off-site movement position management server 30 can be realized by a computer CPU, processor, or the like, similar to the terminal-side arithmetic device 20 . A planned movement position database 31 and an actual movement position database 32 are connected to the off-site movement position management server 30 . Also, the off-site movement position management server 30 is connected to a shipping management server, which is an upper server in the steelworks. Shipment information is transmitted from the shipment management server to the off-site movement position management server 30 . The off-site movement position management server 30 transmits shipment information to the terminal-side arithmetic device 20 . The shipment information includes information such as an identification number, planned movement position, and information on a specific section (specific area). The identification number is set for each coil that identifies the coil 5a as the shipment item that has been identified as an object to be shipped. The planned movement position is the movement destination of the coil 5a set in the off-site storage place. A specific section is a section in which it is difficult to use the GNSS coordinate information included in the movement route of the coil 5a.

The planned movement position database 31 stores the shipment information data transmitted from the shipment management server. In the actual movement position database 32, the data of the installation position determined as the actual result is stored as "actual movement position". The installation position data determined as a result is data included in one or more installation position data transmitted from the terminal-side arithmetic device 20 . The off-site movement position management server 30 transmits the actual movement position of the coil 5a after movement to the shipment management server. A shipment position management system according to the present embodiment includes devices such as an arithmetic device, a server, a storage device, and a database. They can be configured with general computers having a CPU, RAM, ROM, HDD, and the like.

Next, the off-site storage place in the steelworks and the facilities on the upstream and downstream sides of the off-site storage place will be described.
As shown in FIG. 3, coils manufactured in the hot rolling plant 1 are first transported to a pre-packing temporary storage site 2 downstream of the hot rolling plant 1 by a carrier pallet car or the like. The conveyed coils are temporarily stored until they are packed in the packing sites 3a to 3c. Then, the stored coils are transported from the pre-packing temporary storage site 2 to one of the three packing sites 3a to 3c. After that, the coils are bound with the binding band 6a and stored at a predetermined location in the packing areas 3a to 3c. The bundled and stored coils 5a are taken out by a forklift 7 when they are identified as shipping targets. That is, the coils are taken out from the storage areas within the packing fields 3a to 3c. Then, the coil is carried to a zone set as a destination within the off-site storage place 4 .

In FIG. 3, of the three packing stations 3a to 3c arranged side by side in the left-right direction, the portion sandwiched between the packing station 3a on the left side and the hot rolling mill 1 is illustrated as a specific area A. Further, in FIG. 3, a specific area A is illustrated as an area including a portion sandwiched between the left packing space 3a and the central packing space 3b. A specific area A is an area in which a plurality of facilities are relatively densely arranged in a steel factory. The specific area A is greatly affected by reflected waves from surrounding facility buildings and multipaths of received signals. Consider a case where a specific area A is included in the movement path of the forklift 7, as exemplified by the U-shaped dashed arrow in FIG. In this case, within the specific area A, the error in the GNSS coordinate information acquired as the current position of the forklift 7 increases.

　The error in the GNSS coordinate information is large in the specific area A. Therefore, in the specific area A, it becomes difficult to calculate the position information of the forklift 7 using the GNSS coordinate information. Besides the specific area A, the GNSS signal cannot be received in principle, for example, inside a building. Therefore, the inside of the building is also set as a specific area. Coils 5a transported by forklifts 7 are received and loaded in buildings such as packing sites 3a to 3c. For this reason, it is difficult to calculate the position information of the forklift 7 using the GNSS signal even in the building, as in the specific area A. A specific region where the error of such GNSS coordinate information is large can be identified before the coil 5a is moved. By investigating in advance, such an area is also set in advance as a specific area. The specific area A and the specific area identified from the position of the building are registered in advance and stored in the data storage device 22 .

The forklift 7 is guided using known autonomous navigation (Dead Reckoning) in specific areas. The forklift 7 is provided with an autonomous navigation device 50 having an acceleration sensor, a gyro sensor, etc. (see FIG. 1). The autonomous navigation device 50 does not use GNSS coordinate information. The autonomous navigation device 50 calculates the current position information from the traveling distance and traveling direction of the forklift 7 with respect to the reference position. That is, coordinate information of the current position of the forklift 7 is created as autonomous navigation information. Here, positional information (first positional information) of the forklift 7 immediately before entering the specific area is input to the autonomous navigation device 50 as will be described later. Based on the input position information, the reference position of the autonomous navigation is updated to improve the accuracy. Here, the GNSS coordinate information corresponds to "first position information". The autonomous navigation information corresponds to "second position information".

The off-site storage place 4 is a storage place where the coil 5a is temporarily installed just before shipment of the coil 5a. Specifically, the off-site storage place 4 is provided, for example, in an area near a loading area (container yard) 9 for loading shipments onto a ship or transport vehicle. Vessels are used for water transportation of shipments such as coils. The transport vehicle is a trailer or the like for land transportation of shipments. A loading dock 9 for shipping and a ship 10 are illustrated at the position on the left side of the wharf in FIG.
A plurality of zones 41 to 46 are provided in the off-site storage place 4 . A plurality of coils 5a are installed in the zones 41 to 46 in a so-called "gun position (vertical position)". The "gun stand (vertical placement)" is installed in the same straight line (row) with a gap between each other in order to increase the storage efficiency. "Gun placement (vertical placement)" is a placement method in which the inner diameter portions (hollow portions) of the coils are aligned and arranged vertically, as shown in zone 43 in FIG. Also, the order of installation within the zone is determined in consideration of the order of loading onto the ship 10 . In FIG. 3, zones 41 to 46 having substantially the same size and having a rectangular planar pattern are exemplified by areas surrounded by dashed lines.

The coils 5a stored in the zones 41 to 46 of the off-site storage location 4 are loaded onto a transport vehicle 8 such as a pallet car by a forklift 7. This is done according to shipping instructions determined via the shipping management server. The loading position of the coils 5a on the transport vehicle 8 is implemented in consideration of the loading sequence and loading position during subsequent shipping. The coils 5a loaded on the transport vehicle 8 are transported to a loading field 9 and unloaded at a predetermined position. After that, the coil 5a is loaded into the hold of the ship 10 by a wharf crane, ship-equipped crane, or the like.

Here, the method of determining the coils to be installed in each zone of the off-site storage place 4 is determined according to the storage plan, which is the cargo plan in the ship. The reason is that it depends on the arrangement and stacking of the coils in the ship. Here is an example.
The following shipping conditions (1) to (3) can be applied to a group of coils 5a collectively installed in a specific zone of the off-site storage location 4.
(1) The delivery destination is the same.
(2) the destination is the same;
(3) Variation of the outer diameters of the plurality of coils 5a is within a certain range.

　Shipping conditions (1) and (2) are set to improve the efficiency of loading and unloading work at the unloading port where the shipment is unloaded. Shipping condition (3) is set in consideration of loading efficiency in the hold and prevention of collapse of cargo. For example, there is a method of setting a predetermined range for the width of coils to be installed in a specific zone and collecting coils within the predetermined range. The off-site storage location management process according to the embodiment of the present invention is defined as follows. The outer diameter of the group of coils 5a is defined. That is, when the variation (standard deviation) from the average value is collected within a predetermined range, shipping conditions are determined. An example of the above variation is within 5% of the average value. However, it is not limited to this.

Consider the case of a group of five coils 5a to 5e illustrated in FIG. The coil 5a at the left end and the two coils 5b and 5c on the right side of the coil 5a have substantially the same outer diameters Ra, Rb and Rc and widths wa, wb and wc. The outer diameter Rd of the coil 5d on the right side of the central coil 5c is slightly smaller than the outer diameters Ra, Rb, and Rc of the coils 5a, 5b, and 5c on the left side. In addition, the width wd of the coil 5d on the right side of the central coil 5c is slightly shorter than the widths wa, wb, wc of the coils 5a, 5b, 5c on the left side. Further, the outer diameter Re of the coil 5e on the right end in FIG. 4 is slightly smaller than the outer diameter Rd of the coil 5d on the left side of this coil 5e. However, the width we of the rightmost coil 5e is substantially the same as the width wd of the coil 5d.

FIG. 5 shows an example of an arrangement pattern of the five coils 5a to 5e in the hold of the ship 10. As shown in FIG. As shown in FIG. 5(a), the coils 5a to 5e are arranged side by side in a vertical state in which the respective outer peripheral surfaces are in contact with the floor surface of the hold. In FIG. 5(a), the outer peripheral surfaces of the three coils 5a to 5c adjacent on the left side are in contact with each other. Also, the outer peripheral surfaces of the two coils 5d and 5e adjacent on the right side come into contact with each other. Five coils 5a to 5e form the lowest group in the hold. On top of the five coils 5a to 5e, another five coils are arranged side by side as a second stage group. As a result, as shown in FIG. 5(b), a total of nine coils are stacked vertically in two stages.

Each variation is controlled so that the width and outer diameter of the closely arranged coils are similar. Therefore, when a plurality of coils are vertically stacked in two layers and shipped, the gaps between the coils 5a to 5e arranged side by side can be made smaller. Also, the heights of the upper ends of the five coils 5a to 5e in the lowest stage are not far from each other. Therefore, the second stage coil can be stably arranged on the five coils 5a to 5e. In addition, although not shown, the coils that are vertically and horizontally adjacent are bound with binding bands or the like in order to prevent collapse of the load. However, since the diameter and width of the coils are close, it is possible to bundle them without difficulty, and the load does not collapse. As a whole, the number of coils that can be arranged in the hold can be increased.

On the other hand, in FIG. 6, the outer diameter variation is not controlled within 5% of the average value. FIG. 6 illustrates a group of five coils 15a to 15e with a relatively large variation of about 10%, for example. This illustration is an example arranged in the hold of a ship 10 equivalent to the case of the coils 5a-5e shown in FIG. Consider the bottom group of coils 15a-15e whose variation is not controlled to within 5% of the average value. In this case, as shown in FIG. 6(a), the gaps between the coils 15a to 15e arranged in parallel become larger than in the case shown in FIG. 5(a).

In addition, as shown in FIG. 6(b), the heights of the upper ends of the five coils 15a to 15e adjacent to each other on the lowest stage vary greatly. For this reason, it becomes difficult to stably arrange the coils of the second stage on top of the five coils 15a to 15e when stacking the coils vertically in two stages. Also, the number of coils that can be arranged in the hold is reduced as a whole. Furthermore, bundling adjacent coils is not easy, and there is a possibility that the load may collapse. FIG. 6A illustrates a state in which a total of eight coils are stacked vertically in two stages. Note that the number of coils 5a to 5e arranged at the lowest stage in the hold is not limited to five, and can be changed as appropriate.

Also, the widths wa-we of the coils 5a-5e may be set so that the variation of the widths wa-we falls within a certain range, as in the case of the outer diameters Ra-Re. By controlling not only the outer diameters Ra to Re of the coils 5a to 5e but also the widths wa to we of the coils 5a to 5e as shipping conditions, the loading efficiency in the hold can be further increased.
It should be noted that, as mentioned above, the manner in which the coils are installed on board the ship depends on the stowage plan for the ship's cargo. For this reason, according to other installation methods, the placement restrictions of the coils in each zone will be different, and this application does not exclude them.

As described above, in the present embodiment, cargo handling efficiency is improved by taking into account the packing style in a ship or transport equipment such as a trailer for transporting shipments, or the loading order of shipments to transportation equipment. Plan. For this reason, in this embodiment, the arrangement position of the shipment at the off-site storage place for the shipment is determined. As for the installation position of the shipment, rough divisions such as dividing into multiple zones are set in the off-site storage place for the shipment. However, it is not necessary to define and manage fixed partitions in advance. Depending on the size of the shipment, the installation position is determined each time the shipment is installed in the off-site storage area. A satellite positioning system such as GPS is used for managing the installation position of the shipment at this time. Therefore, the space of the off-site storage area can be effectively used without waste.
Therefore, it is possible to simultaneously improve the cargo handling efficiency of shipment and efficiently operate the off-site storage place for shipments. This is due to the planned positioning of the shipment at the off-site storage location by the off-site location management server and the use of a satellite positioning system such as GPS.

Next, the internal configurations of the terminal-side arithmetic device 20 and the off-site movement position management server 30 will be specifically described with reference to FIGS. 7 and 8. FIG. A wireless communication line such as a mobile phone line network is provided between the terminal-side arithmetic device 20 and the off-site moving position management server 30 . This is so that data can be sent and received respectively.

<Terminal side arithmetic unit>
As shown in FIG. 7, the terminal-side arithmetic device 20 includes a position information processing section 20-1 and a transportation processing section 20D.
The position information processing section 20-1 includes a first position information processing section 20A, an autonomous navigation information creating section 20B, and an autonomous navigation switching section 20C.
The first position information processing unit 20A is a processing unit that determines first position information.
The first position information processing unit 20A includes a GNSS coordinate information acquisition unit 20Aa, a first error correction information acquisition unit 20Ab, a second error correction information acquisition unit 20Ac, and a GNSS coordinate information correction unit 20Ad.

The GNSS coordinate information acquisition unit 20Aa acquires first position information, which is coordinate information received by the coordinate information receiving terminal 24 at predetermined sampling intervals. The first positional information is coordinate information of the current position of the forklift 7 .
The first error correction information acquisition section 20Ab receives the first error correction signal from the positioning augmentation signal receiver 12 via the error correction signal receiving terminal 35 .
The second error correction information acquisition unit 20Ac receives the second error correction signal from the fixed station 13, which is the reference station, via the error correction signal receiving terminal 35. FIG.

The GNSS coordinate information correction unit 20Ad corrects the error of the first positional information and updates the first positional information based on the first error correction signal and the second error correction signal. The first error correction signal and the second error correction signal are received by the first error correction information acquisition section 20Ab and the second error correction information acquisition section 20Ac. The first position information before update is the coordinate information received by the GNSS coordinate information acquisition unit 20Aa.
The autonomous navigation information creation unit 20B uses the position information acquired from the autonomous navigation device 50 as autonomous navigation information (second position information).
Also, the autonomous navigation information creating unit 20B determines movement from the non-specific area to the specific area based on the determination by the autonomous navigation switching unit 20C. When the autonomous navigation information generating unit 20B determines that the movement has occurred, the autonomous navigation information generator 20B outputs the first position information to the autonomous navigation device 50 as a reference position for autonomous navigation. The first position information is information obtained by the first position information processing section 20A immediately before the transition to the specific area.
The autonomous navigation device 50 calculates the position information of the forklift 7 based on the input reference position.

The autonomous navigation switching unit 20C switches the coordinate information of the current position of the forklift 7 used by the guidance information creation unit 20Da to create guidance information. The autonomous navigation switching unit 20C performs the switching according to whether the current position of the forklift 7 is within a preset specific area or a non-specific area.
That is, the autonomous navigation switching unit 20C selects the second position information when determining that the current position of the forklift 7 is within the predetermined specific region. The second position information is obtained by the autonomous navigation information creation unit. When the autonomous navigation switching unit 20C determines that the current position of the forklift 7 is within a non-specific area other than the specific area, it selects the first position information. The first position information is obtained by the first position information processing section 20A. The autonomous navigation switching unit 20C outputs the selected position information to the transportation processing unit 20D.

The position information processing section 20-1 outputs the selected position information to the transportation processing section 20D at a predetermined sampling period. As a result, the transport processing section 20D can always use the latest position information of the forklift 7 .
Further, the transport processing section 20D includes a guidance information creating section 20Da, a loading completion signal generating section 20Db, a loading/unloading completion signal generating section 20Dc, and an installation position setting section 20Dd.
The guidance information creation unit 20Da creates guidance information for the forklift 7 to move in the steel factory using the coordinate information of the current position of the forklift 7 . The coordinate information of the current position is obtained by the position information processing section 20-1. The coordinate information of the current position is updated at predetermined sampling intervals, as described above.

The loading completion signal generator 20Db generates a loading completion signal. The loading completion signal indicates that the coil 5a has been suspended from the ram 7a of the forklift 7 and loaded onto the forklift 7. FIG.
The loading/unloading completion signal generator 20Dc generates a loading/unloading completion signal. The unloading completion signal indicates that the coil 5a has been removed from the ram 7a of the forklift 7 and has been unloaded from the forklift 7.
The installation position setting unit 20Dd calculates the center position M by using the correction value for the coordinate information of the forklift 7. FIG. The correction value is a preset value for calculating the center position M of the ram 7a. The installation position setting unit 20Dd sets the calculated center position M as the installation position of the coil 5a. The installation position setting unit 20Dd transmits the calculated installation position to the off-site movement position management server 30 as information on the installation position of the shipment.

<Off-site movement position management server>
As shown in FIG. 8, the off-site movement position management server 30 includes an initial movement instruction generation unit 30a, an installation position determination unit 30b, an actual movement position setting unit 30c, and a determination signal generation unit 30d.
The initial movement instruction generator 30 a generates an initial movement instruction for the operator of the forklift 7 . The generation is performed for each coil 5a stored in the packing sites 3a-3c. The generated initial movement instruction is transmitted to the terminal-side arithmetic device 20 .

Among the shipment information included in the initial movement instruction, the planned movement position includes data specifying the zones 41 to 46 within the off-site storage location 4 . The off-site storage place is the destination of the target coil 5a. A planned movement position is set for each coil 5a set by the shipping management server. That is, it is set according to shipping information such as delivery destination, destination, and delivery date for each coil 5a, and shipment information regarding specifications such as dimensions for each coil 5a. The initial movement instruction also includes data specifying the position where the specified coil 5a to be shipped is currently stored in the packing fields 3a to 3c.

In addition, in the initial movement instruction, it is sufficient if the specific zone to be moved to and the arrangement order of the group of coils 5a installed together with the specific zone are determined. It is not necessary to set the installation position within the zone as an initial movement instruction. A group of coils 5a are arranged one by one from the far side to the front side in the traveling direction of the forklift 7 in a row at predetermined intervals. For this reason, it is not essential for the operator of the forklift 7 to indicate the installation position within the zone. However, this does not preclude additional installation positions within the zone from being set by the off-site movement position management server 30 . It does not prevent the set installation position from being set as the planned movement position.

The installation position determination unit 30b determines whether the installation position transmitted from the terminal-side arithmetic device 20 matches the planned movement position.
The actual movement position setting section 30c sets based on the determination by the installation position determination section 30b. When the installation position matches the planned movement position, the actual movement position setting unit 30c sets the matching installation position as the actual movement position. The actual movement position can be displayed by combining the "zone number" and the "installation order within the zone". For example, when five coils are arranged in a row in the zone 43, the following settings can be made. That is, if the coil is installed on the farthest side in the traveling direction of the forklift, it can be set as (43, 1). If the coil is placed in the center of the row among the five coils, it can be set as (43, 3).

The determination signal generator 30d generates a determination signal for the operator of the forklift 7. The determination signal is a signal for notifying a determination result as to whether or not the transmitted installation position matches the planned movement position. If they match, an "OK" determination signal is generated. Also, in the case of mismatch, an "error" determination signal is generated to notify that the coil 5a should be moved again for correction. The generated determination signal is transmitted to the terminal-side arithmetic device 20 .

It should be noted that the order of installation of each of the multiple coils as actual movement positions within a specific zone can be uniformly set. It can be uniformly set by following the number of all coils scheduled to be moved within a specific zone and the order in which they are placed by the forklift 7 . For example, the installation order by the forklift 7 is as follows. First, the off-site moving position management server 30 stores the time when the installation position corresponding to the generation of the "OK" determination signal was transmitted. Storage is for each of the multiple coils within a particular zone. Then, it can be determined by comparing the respective times and rearranging them.

<Management processing of off-site storage location for shipments>
Next, an example of the out-of-yard storage location management process using the shipment position management system according to the present embodiment will be described.
First, in step S10 of FIG. 9, the off-site movement position management server 30 generates an initial movement instruction including a planned movement position. The planned movement position is for the coil 5a to be shipped by the initial movement instruction generator 30a. The off-site movement position management server 30 transmits the generated initial movement instruction to the terminal-side arithmetic device 20 . The terminal-side arithmetic device 20 stores the received initial movement instruction in the data storage device 22 . The instructions are also displayed on the display device 23 . As a result, the initial movement instruction is presented to the operator (shipping worker) of the forklift 7 on the screen of the display device 23 or by voice.

Next, in step S11, the guidance information creating section 20Da creates guidance information for forklift guidance using the position information obtained by the position information processing section 20-1.
The guidance information including the latest current position information is updated at predetermined sampling intervals and presented to the shipping operator.
In this embodiment, the forklift 7 waits in the non-specific area before receiving the coil 5a to be shipped. Therefore, in the guidance information created at the start of the process, the first position information is selected and presented as the coordinate information of the current position of the forklift 7 .

The created guidance information is displayed on the display device 23 . After confirming the initial movement instruction and the guidance information via the display device 23, the operator operates the forklift 7 according to the guidance of the guidance information. This is done to receive the coil 5a to be shipped. Specifically, the operator operates the forklift 7 based on the presented current position of the forklift 7 and the like. That is, the forklift 7 is operated toward the storage place in the packing fields 3a to 3c where the coil 5a is stored.
Note that the display by the display device 23 may include presentation of guidance by voice.

Next, in step S12, the shipping operator who has arrived at the storage place suspends the target coil 5a from the ram 7a and loads it onto the forklift 7. FIG.
Next, in step S<b>13 , the shipping worker inputs to the terminal-side arithmetic device 20 via the input device 21 that the loading work has been completed. The loading completion signal generator 20Db of the terminal-side arithmetic device 20 generates a loading completion signal. The loading completion signal generator 20Db transmits a loading completion signal to the off-site movement position management server 30 side. The coil 5a is supported by the forklift 7 by the loading completion signal. Further, the off-site movement position management server 30 side recognizes that it is ready to move from the packing sites 3a to 3c by the loading completion signal.

Next, in step S14, the shipping operator operates the forklift 7 to move the target coil 5a toward a specific zone within the off-site storage location 4 designated as the planned movement position. This is done with the forklift 7 supporting the coil 5a. Moreover, it is executed based on the presented current position of the forklift 7 and the like.
Here, as the forklift 7 moves, either the first positional information or the second positional information is presented to the shipping worker in real time and used. The first position information or the second position information is obtained by the position information processing section 20-1 at predetermined sampling intervals. That is, while the forklift 7 is traveling in the specific area, the second positional information based on the autonomous navigation is presented at predetermined sampling intervals. While the forklift 7 is traveling in the non-specific area, the first position information by the satellite positioning system is presented at predetermined sampling intervals.

In step S<b>15 , the terminal-side arithmetic device 20 determines whether or not the forklift 7 has arrived at the off-site storage location 4 . When it is determined that the forklift 7 has not arrived at the specific zone of the off-site storage area 4, the process proceeds to step S14. In step S14, the movement of the forklift 7 is continued by the guidance of the guidance information using the current coordinate information.
On the other hand, if it is determined in step S15 that the forklift 7 has arrived at the specific zone where the coils of the off-site storage location 4 are installed, the off-site storage location management process proceeds to step S16. At step S16, the use of the guidance information by the shipping operator is stopped. The guidance information such as the position information of the forklift 7 may be continuously presented, or the presentation itself may be canceled or interrupted.
Then, in step S17, the guidance information is not used until the coil 5a installation position is reached from the specific zone. The shipping operator uses his/her own judgment to move the forklift 7 toward the planned movement position for installation of the coil 5a in the specific zone.

　Next, in step S18 of FIG. Then, the coil 5a is unloaded on the ground, removed from the ram 7a of the forklift 7, and installed in a specific zone. However, this does not prevent the shipping operator from using the guidance information until the final coil installation position.

Next, in step S19, the shipping worker stops operating the forklift 7 when the coil 5a is installed at the target position. Then, the movement of the forklift 7 in the front-rear direction is stopped. Then, while the forklift 7 is stopped, the shipping worker inputs to the terminal-side arithmetic device 20 via the input device 21 that the loading and unloading work is completed. The loading/unloading completion signal generator 20Dc of the terminal-side arithmetic device 20 generates a loading/unloading completion signal. Then, a loading/unloading completion signal is transmitted to the off-site movement position management server 30 side. When the loading/unloading completion signal is transmitted, the coil 5a is in contact with the ram 7a of the forklift 7 at the inner peripheral surface of the through hole. On the other hand, it is also in contact with the ground on the lower side. Therefore, the load of the coil 5a on the ram 7a is almost eliminated. By the loading/unloading completion signal, the off-site movement position management server 30 side recognizes that the coil 5a is installed in a specific zone.

Next, in step S20, the installation position setting unit 20Dd of the terminal-side arithmetic device 20 sets the calculated center position M of the ram 7a as the installation position after the target coil 5a is moved. Next, in step S21, the terminal-side arithmetic device 20 transmits the set installation position of the coil 5a to the off-site movement position management server 30 side.
Here, the process of transmitting the loading/unloading completion signal in step S19 and the process of transmitting the installation position in step S21 can be executed almost simultaneously. The off-site movement position management server 30 forms a set of the transmitted unloading completion signal and the installation position data corresponding to this unloading completion signal.

Next, in step S22, the installation position determination unit 30b of the off-site movement position management server 30 determines whether or not the installation position matches the planned movement position in the initial movement instruction. The installation position is the installation position transmitted from the terminal-side arithmetic device 20 side. For example, consider a case where the planned movement position of the target coil 5a is specified as zone 43. FIG. If the coordinate data of the installation position transmitted from the terminal-side arithmetic device 20 is included in the preset coordinate data group, it can be determined that they match. A preset coordinate data group configures an area inside the zone 43 .

Conversely, if the transmitted coordinate data of the installation position is not included in the preset area data, it can be determined that they do not match. As a specific determination method, other than the setting of the coordinate data group forming the inner side of the zones 41 to 46 can be appropriately adopted.
In step S22, when the determination result is coincidence, the process proceeds to step S23. The actual movement position setting unit 30c of the off-site movement position management server 30 sets the matching installation position as the actual movement position of the coil 5a. The set actual movement positions are stored in the actual movement position database 32 .

Then, in step S24, the determination signal generation unit 30d of the off-site movement position management server 30 generates an "OK" determination signal. The determination signal generator 30 d transmits the determination signal to the shipping operator of the forklift 7 . It is assumed that, in step S25, the shipping operator of the forklift 7 who has moved the coil 5a is requested to move another next coil. In this case, the process proceeds to step 10 and the processes of the subsequent steps are repeated.

On the other hand, if the determination result in step S22 is inconsistent, the process proceeds to step S26. The determination signal generator 30d of the off-site movement position management server 30 generates an "error" determination signal. Then, it presents the “error” determination information to the shipping operator of the forklift 7 . In other words, the transmitted “error” determination signal is notified to the shipping operator via the display device 23 of the terminal-side arithmetic device 20 . The shipping operator recognizes that it is necessary to move the coil 5a again to another position and correct the installation position. Then, the shipping operator proceeds to step S12, and the subsequent steps are repeated.
It is assumed that, in step S25, the shipping operator of the forklift 7 is not requested to move another next coil. In this case, the out-of-yard storage location management process according to the present embodiment ends. The actual movement position for each coil 5a stored in the actual movement position database 32 is transmitted to the shipping management server above the off-site movement position management server 30. FIG. The transmitted information will be used for shipping management of the entire steelworks.

<Other effects>
According to the shipment position management system according to the present embodiment, the following are performed.
The installation position of the shipment is set by the coordinate information receiving terminal 24 provided on the forklift 7 using the GNSS position information of the forklift 7 . Here, it is assumed that the shipment is a black-skinned coil like the coil 5a shown in FIGS. Also, assume the case of so-called bare packaging in which the packaging is simply bound with the binding band 6a. In this case, there is no package covering the entire coil 5a. For this reason, it is impossible to put IC tags, RFIDs, etc. in the package and manage them. It is possible to forcibly attach an IC tag or the like to the binding band 6a. However, when a black-skinned coil is stored outdoors without using a storage facility such as a container, the coil is exposed to the outdoors. Therefore, it is exposed to wind and rain. Therefore, it is very difficult to stably manage the position of the IC tag or the like, which has low durability, and the maintenance cost increases.

In addition, it is assumed that equipment such as partition plates that prevent contact between coils is not used outdoors. In this case, the closely arranged black coils are likely to contact or collide with each other during stacking or unloading. Therefore, a large force is applied to a small and light IC tag or the like from the relatively heavy black-skinned coil. As a result, there is a concern that the IC tag or the like may break down or come off. In addition, it is troublesome to manually attach an IC tag or the like to each item to be shipped. As a result, the work load increases, and additional work is required to check for mounting errors in terms of quality assurance. Therefore, there is a problem that the cost is further increased.

In this regard, according to the shipment position management method according to the present embodiment, the antenna 7b for receiving coordinate information acquired from GNSS or other satellite positioning systems is used. This eliminates the need to attach a receiver/transmitter such as an IC tag to the coil 5a itself. In addition, sufficient durability can be ensured against environments such as wind and rain. Therefore, the actual movement position information of the coil 5a can be stably managed at a reduced cost. In particular, when the shipment is a black-skinned coil and is stored outdoors in severe environmental conditions, the shipment position management method according to the present embodiment is extremely advantageous compared to IC tags and the like.

In addition, GPS, which is an example of GNSS, is widely available and easy to obtain in the market. Therefore, the shipment position management system according to this embodiment can be constructed at low cost. In addition, GNSS is very excellent in outdoor position resolution. Therefore, the GNSS coordinate information can be obtained instantaneously with high accuracy. Moreover, the planned movement position of the coil can be set using the acquired GNSS coordinate information. Therefore, the off-site storage area 4 can be effectively utilized by minimizing the gaps between the group of coils arranged in a specific zone.

Also, the actual movement position of the coil 5a is automatically transmitted to the shipment position management system without manual intervention. As a result, real-time implementation of the entire shipping system and high accuracy of the actual movement position of the coil can be promoted. This is in comparison with the conventionally frequently used method of manually inputting actual movement position information by the first mover. In addition, labor costs at the off-site storage location 4 can be suppressed as a whole due to labor saving. Therefore, the cost load can be reduced. In addition, the forklift 7 can move efficiently by itself without having to consider contact with the forklift. Therefore, the operating rate of the forklift 7 can be improved. Also, the transmitted installation position is not simply set as the actual movement position as it is. Since the actual movement position is set only when it matches the planned movement position, the accuracy of the actual movement position is enhanced.

Also, the forklift 7 is guided using GNSS coordinate information. Therefore, the burden of searching for a route until reaching the off-site storage place 4 is reduced. Further, in a specific area in the movement path of the coil 5a, the current position of the forklift 7 is calculated using the autonomous navigation information, and the forklift 7 is guided. In a non-specific area other than the specific area A, the current position of the forklift 7 is calculated using the GNSS coordinate information, and the forklift 7 is guided. Coordinate information for calculating the current position of the forklift 7 in each of the specified area A and the non-specified area is obtained by switching. Therefore, even if the accuracy of coordinate information acquired by GNSS cannot be sufficiently ensured, the accuracy of the current position used for guidance can be improved.

It is also assumed that the current position of the forklift 7 is set using autonomous navigation. In this case, the GNSS coordinate information acquired immediately before entering the specific area is used as a reference. Also, post-entry autonomous navigation information is calculated so as to be continuous with this GNSS coordinate information. Therefore, the continuity of the current position of the forklift 7 before and after entering the specific area and before and after exiting the specific area can always be accurately ensured, and the forklift 7 can be smoothly guided.

Furthermore, in the shipment position management method according to the present embodiment, both the first error correction information by multi-GNSS and the second error correction information by the fixed station 13 are used. The GNSS coordinate information is superimposedly corrected by correction using both of them. Therefore, the accuracy of the GNSS coordinate information that serves as a reference is high. Therefore, the accuracy of the autonomous navigation information used within the specific area A is also improved. This is in comparison to autonomous navigation simply combined with only the first error correction information from multi-GNSS.

Thus, in this embodiment, the installation locations of the shipments in the off-site storage area are classified into zones. This is based on the delivery destination, the destination (unloading area), the size (coil diameter, width), etc. in consideration of the cargo before loading the cargo on the side of the shipping server that manages the cargo. In addition, the installation positions are individually determined in consideration of the stacking order. In addition, specific management of the location of shipments is carried out by a carrier device equipped with a receiving terminal for a satellite positioning system such as GPS, which guides the shipments to a predetermined installation position. The position management of the storage place of the shipment is also performed by transmitting the position information (first position information) acquired by this satellite positioning system to the host server.
Therefore, the terminal to be installed on the transport equipment side can be composed of inexpensive computing equipment and communication equipment. In addition, it is not necessary to install a storage facility that enables special position management outside the site. For this reason, it is possible to suppress excessive equipment investment and to manage accurate position information of the shipment.

(Other embodiments)
Although the present invention has been described by the embodiments disclosed above, the statements and drawings forming part of this disclosure should not be construed as limiting the invention. It should be considered that various alternative embodiments, implementations and operational techniques will become apparent to those skilled in the art from this disclosure. For example, the packing specification of the coil 5a is not limited to the specification of just binding with the binding band 6a. The present invention can also be applied to shipments such as coils 5a that are packed with wrapping paper.

Also, the satellite positioning system is not limited to the illustrated GPS, and other satellite positioning systems such as GLONASS may be employed. Also, in the present embodiment, the case of multi-GNSS using a plurality of satellite positioning systems has been described as an example. However, it is not excluded that the first position information is acquired only by a single satellite positioning system without using the first error correction signal and the second error correction signal.
Also, a forklift 7 is exemplified as a moving device for the coil. However, other transport devices such as trucks, trailers, pallet tractors, etc. are also acceptable. The off-site storage place 4 can be installed by using a crane mounted on a truck or a separate forklift.

Also, in the shipment position management system according to the present embodiment, the case where the coil 5a is used as the shipment has been described as an example. However, the present embodiment is not limited to this, and can be applied to any other steel products such as plate-shaped products such as steel plates, tubular products such as pipes, shaped steel products such as H-shaped steel, and the like. Further, shipments are not limited to steel products from steel mills. It can also be applied to other various shipments such as automobile products, home electric appliances, furniture, etc. regardless of the industrial field.

Also, in this embodiment, the off-site movement position management server 30 of the shipment position management system, which is a computer system, is the main component. Also, the case where the out-of-yard storage location management processing for shipments is partially performed via the terminal-side arithmetic device 20 has been exemplified. However, in place of the terminal-side arithmetic device 20 and the off-site movement position management server 30, equivalent processing may be configured as follows. In other words, the manual operation of the shipping operator and the shipping manager of the forklift 7 can constitute a method of managing the position of the shipment that is mainly performed by humans.

In addition, the shipment off-site storage location management process according to this embodiment has the following configuration. That is, the completion of loading and unloading of the coil 5a by the shipping operator of the forklift 7 is taken as an event. Then, the loading completion signal and the unloading completion signal are transmitted by inputting to the terminal side arithmetic device 20 . However, the process of transmitting the loading completion signal and the unloading completion signal may be executed without the intervention of the shipping operator. It can also be configured to be automatically executed using the terminal-side arithmetic device 20 .

For example, a load sensor is attached to the ram 7a of the forklift 7. Then, the terminal-side arithmetic device 20 is caused to sequentially detect the magnitude of the load applied from the shipment suspended on the ram 7a. After the detected load suddenly decreases, if the load does not increase by a predetermined amount or more for a predetermined period of time, the loading and unloading operation of the coil 5a is completed. It can be assumed that the coil 5a is not suspended on the ram 7a. In this manner, the terminal-side arithmetic device 20 is configured to automatically generate and transmit a loading/unloading completion signal using physical quantities that can be detected by the mobile device. In this case, it is possible to execute the out-of-yard storage location management process in which the input process by the shipping operator is labor-saving.

Also, the steps executed in the shipment off-site storage location management process according to this embodiment may be performed as follows. A program to be executed by each of the terminal-side arithmetic device 20 and the off-site movement position management server 30 is configured. This constitutes a shipment off-site storage location management program. The following configuration may be used to execute the out-of-shipment storage location management program. For example, it is assumed that the terminal-side arithmetic device 20 and the off-site movement position management server 30 each have main storage devices (not shown). A program including corresponding processing is stored in the main storage device. Also, the stored program is appropriately read from the main storage device and executed. The terminal-side arithmetic device 20 and the off-site movement position management server 30 cooperate with each other. Then, the out-of-ship storage location management process is executed through the exchange of data transmission and reception.

As described above, the present invention includes various embodiments and the like that are not described in the specification and drawings. In addition, the technical scope of the present invention is defined only by the matters specifying the invention according to the scope of claims that are valid from the above description.

1 Hot rolling plant 2 Temporary storage area before packing 3a-3c Packing area 4 Off-site storage area 5a-5j Coil 6a Binding band 7 Forklift 7a Ram 7b Antenna 8 Transport vehicle 9 Loading area 10 Ship 11 Satellite 12 Positioning augmentation signal receiver 13 Fixed station 14 Coordinate information receiving terminals 15a to 15e Coil 20 Terminal side arithmetic device 20-1 Position information processing unit 20A First position information processing unit 20Aa GNSS coordinate information acquisition unit 20Ab First error correction information acquisition unit 20Ac Second Error correction information acquisition unit 20Ad GNSS coordinate information correction unit 20B Autonomous navigation information creation unit 20C Autonomous navigation switching unit 20D Transport processing unit 20Da Guidance information creation unit 20Db Loading completion signal generation unit 20Dc Loading/unloading completion signal generation unit 20Dd Installation position setting unit 21 Input device 22 Data storage device 23 Display device 24 Coordinate information receiving terminal 25 Error correction signal receiving terminal 26 Shipment guidance device 30 Off-site movement position management server 30a Initial movement instruction generation unit 30b Installation position determination unit 30c Actual movement position setting unit 30d Determination Signal generator 31 Planned movement position database 32 Actual movement position database 41-46 Zone 50 Autonomous navigation device A Specific area M Center position Ra-Re Outer diameter wa-we Width

Claims (15)

1. A method of installing and managing a shipment at a planned transfer position in an off-site storage area,
   a step of moving and installing the shipment to the off-site storage location by a mobile device provided with a coordinate information receiving terminal that receives position information from a navigation satellite that constitutes a satellite positioning system;
   a step of setting an installation position of the shipment using first position information, which is position information of the mobile device acquired by the coordinate information receiving terminal;
   a step of transmitting the set installation position to an off-site movement position management server that manages the movement position of the shipment at the off-site storage location;
   A shipment position management method, characterized in that a computer executes a process including:
2. The moving device is provided with a shipment guiding device for guiding the shipment by movement of the moving device,
   2. The shipment location of claim 1, further comprising guiding the mobile device using the obtained first location information of the mobile device via the shipment guidance device. Management method.
3. further comprising a step in which the off-site mobile position management server identifies in advance the shipment to be shipped, and transmits the identified shipment as shipment information to the mobile device;
   3. The shipment according to claim 1 or 2, wherein the specified shipment is loaded onto the moving device, and the loaded shipment is moved to the off-site storage location by the movement of the moving device. Location management method.
4. the off-site movement position management server determining in advance the planned movement position within the off-site storage location of the shipment to be shipped, and transmitting the determined planned movement position as shipment information to the mobile device; further includes
   4. The shipment position management method according to any one of claims 1 to 3, wherein the shipment is moved toward the planned movement position within the off-site storage location by the moving device.
5. 5. The method according to claim 4, further comprising a step of setting the installation position at that time as an actual movement position when it is determined that the set installation position of the shipment matches the planned movement position. Shipment position management method.
6. A first error correction signal based on a signal received from a navigation satellite of the satellite positioning system or another satellite positioning system by a receiving device different from the coordinate information receiving terminal for the first position information from the satellite positioning system and a second error correction signal from a fixed station as a reference station.
7. In a specific region where the movement route of the shipment by the mobile device is set in advance, second position information, which is the position information of the mobile device, is calculated using autonomous navigation, and the calculated second position information is used. further comprising guiding the mobile device using
   Position information of the mobile device in each of the specific region and the non-specific region, so as to guide the mobile device using the first position information obtained by the satellite positioning system in the non-specific region other than the specific region. 7. The shipment location management method according to any one of claims 1 to 6, wherein the information is acquired by switching between .
8. The process of calculating the second position information using the autonomous navigation includes:
   8. The shipment position management method according to claim 7, wherein the position information is calculated based on the first position information obtained by the satellite positioning system immediately before entering the specific area.
9. The off-site storage location has a plurality of zones according to shipping conditions including the destination of the shipment,
   said installation within said off-premises storage location of said shipment according to said first location information of said mobile device at the time said shipment was installed within said particular zone selected from said plurality of zones; 9. The shipment location management method according to any one of claims 1 to 8, wherein the location is set.
10. The shipment position management method according to claim 9, wherein a plurality of shipments to which the common shipping conditions are applied are installed in the specific zone.
11. said shipment is a coil of steel products,
    11. The shipment position management method according to claim 10, wherein, as said shipping condition, variations in the outer diameters of the plurality of coils installed in the same zone are controlled within a predetermined range.
12. The planned movement position at the off-site storage location of the shipment is determined based on the arrangement position of the shipment including the ship within the transportation equipment and/or the cargo handling efficiency of loading the shipment into the transportation equipment (further including step ), the shipment location management method according to any one of claims 1 to 11.
13. The shipment position management method according to any one of claims 1 to 12, wherein the moving device is a forklift.
14. A method of installing and managing shipments in an off-site storage location along with shipment,
    a step of moving and installing the shipment to the off-site storage location by a mobile device provided with a coordinate information receiving terminal for receiving position information from navigation satellites constituting a satellite positioning system;
    setting the installation position of the shipment using the position information of the mobile device acquired by the coordinate information receiving terminal;
    a step of transmitting the set installation position to an off-site movement position management server that manages the movement position of the shipment at the off-site storage location;
    , wherein at least one of the steps is performed by a shipping operator.
15. A system that installs and manages shipments in an off-site storage location along with shipment,
    a mobile device that is provided with a coordinate information receiving terminal that receives position information from navigation satellites that constitute a satellite positioning system, and that moves and installs the shipment to the off-site storage location;
    The installation position of the shipment is set using the position information of the mobile device acquired by the coordinate information receiving terminal, and the set installation position is used as the off-site storage location for managing the movement position of the shipment. a terminal-side computing device that transmits to the movement location management server;
    A shipment location management system comprising:

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