WO2022249275A1 - Système de gestion d'emplacements d'articles d'expédition et procédé de gestion d'emplacements d'articles d'expédition - Google Patents

Système de gestion d'emplacements d'articles d'expédition et procédé de gestion d'emplacements d'articles d'expédition Download PDF

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Publication number
WO2022249275A1
WO2022249275A1 PCT/JP2021/019772 JP2021019772W WO2022249275A1 WO 2022249275 A1 WO2022249275 A1 WO 2022249275A1 JP 2021019772 W JP2021019772 W JP 2021019772W WO 2022249275 A1 WO2022249275 A1 WO 2022249275A1
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WIPO (PCT)
Prior art keywords
shipment
information
site
forklift
coil
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PCT/JP2021/019772
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English (en)
Japanese (ja)
Inventor
健太郎 鈴木
高輝 岸田
伸一 入江
直人 小倉
研二 鈴木
Original Assignee
Ｊｆｅスチール株式会社
株式会社日立製作所
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Application filed by Ｊｆｅスチール株式会社, 株式会社日立製作所 filed Critical Ｊｆｅスチール株式会社
Priority to PCT/JP2021/019772 priority Critical patent/WO2022249275A1/fr
Publication of WO2022249275A1 publication Critical patent/WO2022249275A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations

Definitions

  • 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.
  • 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.
  • 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.
  • a moving device suitable for the products to be moved is used.
  • the moving device is a forklift, a straddle carrier, or the like.
  • 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.
  • 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.
  • Patent Literature 1 discloses a warehouse management system in which a forklift is equipped with an IC tag.
  • RFID communication is used to monitor changes in the current position of a forklift.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 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.
  • 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. 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.
  • 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.
  • FIG. 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
  • the shipment position management system 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.
  • 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.
  • the off-site movement position management server is a server that manages the movement position of the shipment in the off-site storage location.
  • 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.
  • 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.
  • 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 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.
  • the use of services using the quasi-zenith satellite "MICHIBIKI” can be mentioned.
  • 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 .
  • 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 .
  • 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 .
  • 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.
  • the accuracy of coordinate information acquired by a satellite positioning system 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.
  • 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.
  • 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 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 .
  • 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.
  • 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 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the reference position of the autonomous navigation is updated to improve the accuracy.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • the delivery destination is the same.
  • the destination is the same;
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the outer peripheral surfaces of the three coils 5a to 5c adjacent on the left side are in contact with each other.
  • 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.
  • another five coils are arranged side by side as a second stage group.
  • 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.
  • 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.
  • 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.
  • the bottom group of coils 15a-15e whose variation is not controlled to within 5% of the average value.
  • the gaps between the coils 15a to 15e arranged in parallel become larger than in the case shown in FIG. 5(a).
  • FIG. 6(b) 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.
  • 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.
  • 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.
  • 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.
  • the arrangement position of the shipment at the off-site storage place for the shipment is determined.
  • rough divisions such as dividing into multiple zones are set in the off-site storage place for 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.
  • 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.
  • FIG. 7 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.
  • 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.
  • 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.
  • the autonomous navigation information generator 20B 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.
  • 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.
  • the transport processing section 20D can always use the latest position information of the forklift 7 .
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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 .
  • 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 .
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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 .
  • the operator 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.
  • the display by the display device 23 may include presentation of guidance by voice.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • the process proceeds to step S14.
  • step S14 the movement of the forklift 7 is continued by the guidance of the guidance information using the current coordinate information.
  • 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.
  • step S18 of FIG. 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.
  • 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.
  • the coil 5a 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.
  • the off-site movement position management server 30 side recognizes that the coil 5a is installed in a specific zone.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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 .
  • 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.
  • 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.
  • the out-of-yard storage location management process 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.
  • the transmitted information will be used for shipping management of the entire steelworks.
  • 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 .
  • the shipment is a black-skinned coil like the coil 5a shown in FIGS.
  • 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.
  • the antenna 7b for receiving coordinate information acquired from GNSS or other satellite positioning systems is used.
  • 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.
  • the shipment position management method according to the present embodiment is extremely advantageous compared to IC tags and the like.
  • GPS which is an example of GNSS
  • 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.
  • GNSS is very excellent in outdoor position resolution. Therefore, the GNSS coordinate information can be obtained instantaneously with high accuracy.
  • 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.
  • the actual movement position of the coil 5a is automatically transmitted to the shipment position management system without manual intervention.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the current position of the forklift 7 is set using autonomous navigation.
  • the GNSS coordinate information acquired immediately before entering the specific area is used as a reference.
  • 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.
  • 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.
  • 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.
  • the installation positions are individually determined in consideration of the stacking order.
  • 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.
  • the terminal to be installed on the transport equipment side can be composed of inexpensive computing equipment and communication equipment.
  • the satellite positioning system is not limited to the illustrated GPS, and other satellite positioning systems such as GLONASS may be employed.
  • the case of multi-GNSS using a plurality of satellite positioning systems has been described as an example.
  • 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.
  • a forklift 7 is exemplified as a moving device for the coil.
  • 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.
  • 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.
  • the off-site movement position management server 30 of the shipment position management system which is a computer system, is the main component.
  • 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.
  • equivalent processing may be configured as follows.
  • 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.
  • the shipment off-site storage location management process 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 .
  • 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 .
  • 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.
  • the steps executed in the shipment off-site storage location management process 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.
  • 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.
  • 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.

Abstract

La présente invention permet de maintenir les coûts bas et de gérer de manière stable des informations d'emplacements de déplacement effectifs pour des articles d'expédition qui sont déplacés et installés à des emplacements prescrits dans une installation de stockage hors site ayant des conditions de stockage strictes. Ce système de gestion d'emplacements d'articles d'expédition installe et gère une bobine (5a) (article d'expédition) à une installation de stockage hors site conjointement avec l'expédition. Un chariot élévateur (7) (dispositif de déplacement) est prévu pour déplacer et installer la bobine (5a) à l'installation de stockage hors site. L'emplacement d'installation de la bobine (5a) est défini à l'aide des informations d'emplacements du chariot élévateur (7) acquises par GNSS par un terminal de réception d'informations de coordonnées (24) disposé sur le chariot élévateur (7). Un dispositif arithmétique côté terminal (20) est prévu pour transmettre l'emplacement d'installation défini à un serveur de gestion d'emplacements de déplacement hors site (30).
PCT/JP2021/019772 2021-05-25 2021-05-25 Système de gestion d'emplacements d'articles d'expédition et procédé de gestion d'emplacements d'articles d'expédition WO2022249275A1 (fr)

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JP2004083161A (ja) * 2002-08-23 2004-03-18 Sankyu Inc 出荷作業ビジュアル管理システム
JP2007026018A (ja) * 2005-07-15 2007-02-01 Toyota Industries Corp 物流用移動体の移動管理方法及び物流用移動体の移動管理システム
JP2009243940A (ja) * 2008-03-28 2009-10-22 Toyota Motor Corp Ｇｎｓｓ受信装置及び測位方法
WO2014061252A1 (fr) * 2012-10-15 2014-04-24 Ｊｆｅスチール株式会社 Système de planification de tâche d'expédition, procédé de planification de tâche d'expédition et procédé de tâche d'expédition
WO2014128871A1 (fr) * 2013-02-20 2014-08-28 株式会社小松製作所 Véhicule industriel, système de gestion de travail de véhicule industriel et chariot élévateur à fourche électrique
WO2015029231A1 (fr) * 2013-08-30 2015-03-05 日立マクセル株式会社 Dispositif terminal et procédé de commande à distance
JP2019045456A (ja) * 2017-09-07 2019-03-22 ヤンマー株式会社 測位システム
JP2019104578A (ja) * 2017-12-11 2019-06-27 国土交通省港湾局長 人工知能を活用した包括的コンテナターミナルシステム及びオペレーション方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004083161A (ja) * 2002-08-23 2004-03-18 Sankyu Inc 出荷作業ビジュアル管理システム
JP2007026018A (ja) * 2005-07-15 2007-02-01 Toyota Industries Corp 物流用移動体の移動管理方法及び物流用移動体の移動管理システム
JP2009243940A (ja) * 2008-03-28 2009-10-22 Toyota Motor Corp Ｇｎｓｓ受信装置及び測位方法
WO2014061252A1 (fr) * 2012-10-15 2014-04-24 Ｊｆｅスチール株式会社 Système de planification de tâche d'expédition, procédé de planification de tâche d'expédition et procédé de tâche d'expédition
WO2014128871A1 (fr) * 2013-02-20 2014-08-28 株式会社小松製作所 Véhicule industriel, système de gestion de travail de véhicule industriel et chariot élévateur à fourche électrique
WO2015029231A1 (fr) * 2013-08-30 2015-03-05 日立マクセル株式会社 Dispositif terminal et procédé de commande à distance
JP2019045456A (ja) * 2017-09-07 2019-03-22 ヤンマー株式会社 測位システム
JP2019104578A (ja) * 2017-12-11 2019-06-27 国土交通省港湾局長 人工知能を活用した包括的コンテナターミナルシステム及びオペレーション方法

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