JP6329225B2 - Luggage monitoring system in warehouse using drone - Google Patents

Description

  The present invention relates to a technique for monitoring the state of luggage in a multi-stage rack warehouse or a flat warehouse.

  In logistics, luggage is transported on a pallet and stored in a warehouse or the like with the pallet placed on the pallet. A wireless tag is provided on the pallet or rack as a system for managing items in the warehouse. A method of managing the position of a package by reading an identification signal transmitted by the wireless tag using a wireless tag reader installed on a forklift or the like has been proposed (for example, Patent Documents 1 and 2).

  For example, in Patent Document 1, a wireless tag having identification information corresponding to the position of a rack or a load is installed on the bottom rack of a multistage rack or the floor of a flat warehouse, and a wireless tag reader installed on a forklift is wirelessly connected. By receiving the identification information transmitted by the tag, the position of the luggage stored in the multistage rack or the luggage placed flat is managed.

  In Patent Document 2, a wireless tag is installed for each storage area of a multi-stage rack, and a wireless tag is installed on a pallet on which a load is placed. The identification information of the tag and the identification information of the wireless tag in the storage area are read and stored in association with each other, thereby managing the position of the luggage stored in the multistage rack.

  However, the management systems of Patent Documents 1 and 2 can manage the position of the load, but if the load is skewed and tilted on the multi-level rack due to an earthquake or other factors, It is impossible to detect an abnormal state of the load such as when the loaded load is tilted. In particular, it is often difficult to constantly monitor the status of all packages in a multi-tier rack warehouse or a flat warehouse in which a huge number of packages are loaded in multiple stages.

JP 2007-112523 A JP 2014-131933 A

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a system capable of monitoring the state of luggage in a multistage rack warehouse or a flat warehouse.

  In order to solve the above-described problem, the present invention provides a luggage monitoring system in a warehouse utilizing a drone in a warehouse in which a pallet on which a luggage is placed is accommodated, and the drone includes the warehouse A collision avoiding means for avoiding a collision with an obstacle inside, an imaging means for acquiring image information including a pallet on which the load is placed, and a transmitting means for transmitting the image information, , Flying in the warehouse while avoiding a collision with an obstacle in the warehouse by the collision avoiding means, acquiring the image information by the imaging means, and using the image information acquired by the imaging means The condition of the package is monitored.

  In addition, the drone may include an impact mitigation structure for mitigating an impact when colliding with an obstacle in the warehouse.

  Further, the drone acquires a plurality of pieces of image information by flying along a predetermined route in the warehouse at a predetermined time, and compares the plurality of pieces of image information to thereby detect the abnormality of the luggage. The state may be detected.

  Also, a wireless tag that is installed on the pallet and transmits a wireless tag reader connected to a beacon signal including unique identification information, and a wireless tag reader that receives a beacon signal transmitted by the wireless tag connected to the wireless tag reader. And a wireless tag management device that receives information on the wireless tag from the wireless tag reader and manages the wireless tag in the warehouse, wherein the wireless tag transmits the beacon signal, An inclination detection means for detecting the inclination of the wireless tag, and when the inclination of the wireless tag is detected, the beacon signal including inclination information of the wireless tag is transmitted to the wireless tag reader, The wireless tag identification information and the inclination information are associated with each other and transmitted to the wireless tag management device, and the wireless tag management device Identity and managed in association with the tilt information, based on the image information may identify the location of the luggage is tilted.

  In addition, the drone includes an activation signal transmission unit that transmits an activation signal for activating the wireless tag, and when flying in the warehouse, the drone transmits the activation signal at a predetermined timing, acquires the image information, and The image information is transmitted to the wireless tag reader, and the wireless tag includes activation signal detection means for detecting the activation signal transmitted from the activation signal transmission means of the drone existing in the vicinity, and the activation signal is transmitted to the wireless tag reader. When detected, an activation response signal including the unique identification information is transmitted to the wireless tag reader, and the wireless tag reader receives the identification information of the wireless tag and the received image information included in the received activation response signal. The RFID tag management device transmits the RFID tag identification information, the tilt information, the activation response signal information, and the image information. The association managed, on the basis of the said position and the image information of drone of the warehouse which corresponds to the activation response signal may specify the position of the wireless tag which is inclined.

  The drone flies along a predetermined route in the warehouse so that the position in the warehouse at a predetermined time can be specified, and the warehouse is based on reception time information of the activation response signal in the wireless tag reader The position of the drone in the inside may be specified.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the system which can monitor the condition of the load in a multistage rack warehouse or a flat warehouse.

FIG. 1 is an example of a configuration diagram of a luggage monitoring system according to a reference embodiment of the present invention. FIG. 2 is an example of a functional block diagram of the drone according to the reference embodiment of the present invention. FIG. 3 is an example of an impact mitigation structure in a drone according to a reference embodiment of the present invention. FIG. 4 is a diagram for explaining an operation for monitoring the state of a load by a drone according to a reference embodiment of the present invention. Figure 5 is an example of a configuration diagram of a load monitoring system according to the first embodiment of the present invention. FIG. 6 is an example of a functional block diagram of the wireless tag, the wireless tag reader, and the exciter that constitute the package monitoring system according to the first embodiment of the present invention. FIG. 7 is an example of the operation mode of the wireless tag in the first embodiment of the present invention. FIG. 8 is a diagram for explaining the activation operation of the wireless tag by the drone in the first embodiment of the present invention. FIG. 9 is a diagram for explaining the operation of the wireless tag according to the first embodiment of the present invention. FIG. 10 is an example of operation state management data of the wireless tag in the first embodiment of the present invention. FIG. 11 is an example of an operation sequence in the luggage monitoring system according to the first embodiment of the present invention. FIG. 12 is an example of an operation flowchart in the wireless tag according to the first embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

< Reference form>
<Configuration of luggage monitoring system>
FIG. 1 is an example of a configuration diagram of a luggage monitoring system according to a reference embodiment of the present invention.
In the luggage monitoring system of FIG. 1, the pallets 3 on which the luggage 5 carried into the warehouse 1 by the forklift 2 is placed are loaded in a plurality of stages in the flat warehouse 1.

  The luggage monitoring system further includes an unmanned air vehicle (drone) flying in the warehouse 1. The drone 4 includes a sensor 41 that is a collision avoidance unit for avoiding a collision with an obstacle in the warehouse, and a camera 41 that is an imaging unit for acquiring image information including the pallet 3 on which the luggage 5 is placed. With. The drone flies in the warehouse while avoiding a collision with an obstacle in the warehouse by the sensor, and acquires image information by the imaging means. By transmitting the acquired image information to the external device 70, the state of the luggage in the warehouse can be monitored.

  In FIG. 1, the luggage monitoring system will be described by taking as an example a flat warehouse in which a plurality of pallets 3 on which loads 5 are loaded are stacked. However, the pallets 3 on which loads 5 are loaded are accommodated in a multi-level rack. This system can be applied to a multi-stage rack warehouse.

<Drone>
FIG. 2 is an example of a functional block diagram of the drone according to the reference embodiment of the present invention. The drone 4 acquires image information including a sensor 48 that is a collision avoidance means for avoiding a collision between the drone main body 40 and an obstacle in the warehouse 1, and the pallet 3 on which the cargo 5 is placed. The camera 41 is an image pickup means.

  As the sensor 48 for avoiding a collision with an obstacle in the warehouse 1, an ultrasonic sensor or a laser sensor that measures a distance from the obstacle using an ultrasonic wave or a laser can be used. Instead, an image sensor or the like that measures the distance from the obstacle using a plurality of cameras may be used. The sensor 48 is installed so as to detect at least the distance from the top and bottom, left and right, and front and rear obstacles of the drone 4.

  The drone body 40 includes a propeller (not shown) for flying, a motor 42 for rotating the propeller, a battery 43 for driving the motor 42, and an I / F unit 44 for receiving image information from the camera 41. A wireless unit 45 for transmitting image information to the external terminal 70, a central processing unit 46 for performing processing such as control of the motor 42 and transmission / reception of image information, and a memory 47 for storing image information and the like. The drone main body 40 can be programmed to fly along a route for a predetermined time in addition to a remote operation by a human using a control signal from the external terminal 70.

  The camera 41 can acquire image information including the pallet 3 on which the luggage 5 is placed while the drone 4 is flying. The acquired image information can be stored in the memory 47 of the drone main body 40, transmitted to the external terminal 70 via the wireless unit 45, and monitored by the external terminal 70.

The drone 4 can fly while avoiding obstacles in the warehouse by the mounted sensor. In preparation for a collision with an obstacle, the drone 4 has an impact mitigation structure that mitigates the impact when colliding with the obstacle in the warehouse. May be provided. FIG. 3 is an example of an impact mitigation structure in a drone according to a reference embodiment of the present invention.

  The examples shown in FIGS. 3A and 3B alleviate the impact when colliding with an obstacle by a three-dimensional structure in which a plurality of circular frames are three-dimensionally combined. With this shock relaxation structure, the drone can be prevented from coming into direct contact with surrounding obstacles, and even if the drone comes into contact with the obstacles, it is possible to avoid damage to the drone and damage to the luggage. The shock relaxation structure is not limited to the illustrated structure, and may be a structure in which the drone does not directly contact an obstacle in the peripheral direction of the drone.

<Luggage monitoring by drone>
With reference to FIG. 4, an operation for monitoring the state of a load by a drone according to a reference embodiment of the present invention will be described. In FIG. 4, a drone is taken as an example in a case where a part of a plurality of stacked packages 5 is tilted in a flat warehouse 1 in which a plurality of stacked pallets 3 on which packages 5 are mounted are stored. However, the monitoring operation can be applied to the case where the pallet 3 accommodated in the multi-stage rack is tilted.

  The drone 4 flies in the warehouse 1 while avoiding obstacles, and acquires image information to monitor the state of the luggage. FIG. 4 illustrates the case where the drone 4 flies in the direction from the load # 1 to the load # 3. In FIG. 4, the load 5 and the pallet 3 of the load # 3 are tilted, and when the drone 4 approaches the load # 3, the camera mounted on the drone 4 acquires image information, thereby tilting the load. # 3 luggage 5 can be found.

  When the drone is allowed to fly indoors, such as the warehouse 1, the risk of colliding with an obstacle is higher than when the drone is allowed to fly outdoors. In particular, when the drone 4 flies in the warehouse 1 in which the luggage 5 is accommodated, if the drone 4 collides with an obstacle in the warehouse 1, such as a ceiling, a wall, or a luggage, the drone 4 may crash, There is a risk that the luggage 5 may be damaged by parts such as the propeller of the drone 4. In order to avoid this, the drone 4 measures the distance from the obstacle in the warehouse 1 by the sensor 48, and flies in the warehouse while autonomously avoiding the collision with the obstacle based on the measured distance.

  When the drone 4 approaches the baggage # 1, the sensor 48 detects that it has approached the baggage 5 of the baggage # 1 and the baggage 5 of the adjacent baggage # 2, and the baggage of the baggage # 1 and the baggage # 2 Fly while avoiding a collision with 5, and acquire image information of luggage # 1. When the drone 4 moves further and approaches the baggage # 2, the sensor 48 detects that it has approached the ceiling of the warehouse 1, and flies while avoiding a collision between the ceiling and the baggage 5 of the baggage # 2. Image information of # 2 is acquired. When the drone 4 further moves and approaches the baggage # 3, the drone 4 flies while avoiding a collision with the baggage 5 of the baggage # 2 and the baggage 5 of the baggage # 3, and the image information of the baggage # 3 is displayed. get. From the image information of the package # 3, it can be found that the package 5 of the package # 3 is tilted.

  In addition, the drone operation in the warehouse 1 may be remotely operated by a human by a control signal from the external terminal 70, but the flight is performed along a predetermined route in the warehouse 1 at a predetermined time. The drone control may be programmed. In addition, the drone is programmed to fly regularly along a predetermined route in the warehouse 1, and a plurality of pieces of image information acquired at the time of each flight are compared, so that abnormalities such as the inclination of the baggage are detected. You may make it detect a state.

Thus, according to the reference form of the present invention, the drone can fly while avoiding obstacles in the warehouse by the mounted sensor and acquire image information, so that the luggage in the warehouse is not damaged. An abnormal condition can be discovered.

< First Embodiment>
<Configuration of luggage monitoring system>
Figure 5 is an example of a configuration diagram of a load monitoring system according to the first embodiment of the present invention. In the luggage monitoring system of FIG. 5, the pallet 3 on which the luggage 5 carried by the forklift 2 is placed is stacked in a plurality of levels in the flat warehouse 1, and the wireless tag 10 and the wireless tag installed on the pallet 3 are loaded. 10 includes a wireless tag reader 30 that receives a beacon signal transmitted from the wireless tag reader 10 and a wireless tag management device 50 that is connected to the wireless tag reader 30 via a network 60 and manages the state of the wireless tag 10 in the warehouse 1. Similar to FIG. 1, the present system can also be applied to a multi-stage rack warehouse in which the pallet 3 on which the cargo 5 is placed is housed in a multi-stage rack.

The drone 4 in the luggage monitoring system according to the first embodiment is an exciter that is an activation signal transmitting unit that transmits an activation signal for activating the wireless tag 10 installed on the pallet 3 in addition to the camera 41 and the sensor 48. 20 is installed.

  The wireless tag 10 installed on the pallet 3 transmits a beacon signal including unique identification information for identifying the wireless tag 10, and the wireless tag reader 30 transmits a response signal when receiving the beacon signal from the wireless tag 10. Thus, the wireless tag 10 can be connected to the subordinate. Further, the wireless tag reader 30 can grasp the state of the wireless tag 10 by receiving sensor information of the sensor provided in the wireless tag 10 included in the beacon signal. The wireless tag 10 is an active tag that operates with a built-in battery, and is activated intermittently at predetermined intervals in order to transmit a beacon signal and receive a response signal from the wireless tag reader 30.

  The wireless tag 10 installed on the pallet 3 can be forcibly activated by an activation signal from an external device in addition to the function of intermittent activation to transmit a beacon signal. This forced activation is performed when a passive element incorporated in the wireless tag 10 receives the activation signal. This passive element is an element that operates by radio waves transmitted from an external device, and does not require power supplied from the power source for its operation, but the reception range of radio waves is limited to the vicinity of the passive elements. Therefore, although it cannot start from the external apparatus installed in the distance, it can start by transmitting a starting signal from the external apparatus which exists in the vicinity.

  When the drone 4 equipped with the exciter 20 approaches the wireless tag 10 and the passive element of the wireless tag 10 receives the activation signal from the exciter 20, the activation response signal is transmitted in response to the activation signal. Since the passive element of the wireless tag 10 detects only the activation signal transmitted by the exciter 20 existing in the vicinity, the activation signal is transmitted while the drone 4 equipped with the exciter 20 is flying, and the passive element detects the activation signal. Then, based on the position of the drone 4 when the activation response signal is transmitted, the position of the wireless tag 10 that transmitted the activation response signal can be specified. Moreover, image information is acquired by the camera 41 mounted on the drone 4, and the positions of the luggage 5 and the pallet 3 that are tilted can be specified in more detail based on the image information.

  The wireless tag reader 30 acquires the sensor information of the wireless tag 10 by receiving the beacon signal transmitted from the wireless tag 10, grasps that the wireless tag 10 is tilted, and receives an activation response signal from the wireless tag 10. By receiving, it can be grasped that the wireless tag 10 is activated by the drone 4 existing in the vicinity of the wireless tag 10. Further, the wireless tag reader 30 may receive image information acquired by the camera 41 mounted on the drone 4.

  The wireless tag reader 30 transmits sensor information of the connected wireless tag 10, information indicating that the wireless tag 10 is activated, and received image information to the wireless tag management device 50 via the network 60. The management device 50 manages sensor information, activation information, image information, and the like for each wireless tag 10.

<Wireless tag, wireless tag reader and exciter>
FIG. 6 is an example of a functional block diagram of the wireless tag, the wireless tag reader, and the exciter that constitute the package monitoring system according to the first embodiment of the present invention.

  The wireless tag 10 is an active tag that is operated by a built-in battery 15. The wireless tag 10 transmits a beacon signal including unique identification information and sensor information, and receives a response from the wireless tag reader 30 and the wireless unit 12. A vibration / tilt sensor 13 for detecting the vibration and inclination of the wireless tag 10, a passive element 14 for detecting an activation signal, a central processing unit 16 for controlling each part, and a memory 17. Yes.

  The central processing unit 16 of the wireless tag 10 performs an intermittent operation of starting the wireless tag at a predetermined interval to transmit a beacon signal, and is forcibly activated and activated when an activation signal is received from an external device. Response signal transmission processing is performed. The passive element 14 is for detecting an activation signal transmitted by the exciter 20 mounted on the drone 4.

  The wireless tag reader 30 is a device that connects the wireless tag 10 under the wireless tag reader 30 and receives a beacon signal and an activation response signal transmitted by the wireless tag 10. To receive a beacon signal or activation response signal from the wireless tag 10 and transmit / receive a signal via the antenna 31 and the wireless unit 32 and the wireless tag management device 50 and the network 60 for transmitting a response or the like to the wireless tag 10 The I / F unit 33 includes a central processing unit 34 and a memory 35 for performing transmission / reception control of each signal. The wireless tag reader 30 may be configured to receive image information acquired by the camera 41 mounted on the drone 4.

  In addition to the configuration of FIG. 2, the drone 4 includes an exciter 20 for starting the wireless tag 10. The exciter 20 includes an antenna 21 and a wireless unit 22 for transmitting an activation signal, an I / F unit 23 for transmitting and receiving signals to and from the camera 41, a central processing unit 24 and a memory 25 for performing transmission and reception control of each signal, and the like. It is comprised including. Further, the image information acquired by the camera 41 may be transmitted to the wireless tag reader 30 by the antenna 21 and the wireless unit 22.

  The configuration of the drone body 40 is the same as the configuration of FIG. You may make it supply the electric power for driving the exciter 20 from the battery 43 of the main body 40 of the drone 4. FIG.

  As in FIG. 2, the camera 41 acquires image information including the pallet 3 on which the luggage 5 is placed while the drone 4 is flying. In conjunction with the activation signal transmitted from the exciter 20, the camera 41 is operated to acquire image information including the pallet 3 on which the luggage 5 is placed, and the acquired image information is transmitted to the wireless tag reader 30 via the exciter 20. You may make it transmit to.

<Operation mode of wireless tag>
A beacon signal transmission operation in the wireless tag will be described with reference to FIG. In the first embodiment of the present invention, the transmission interval and transmission frequency of the beacon signal are set for each predetermined operation mode. The wireless tag changes the operation mode based on a response from the wireless tag reader and information from a sensor provided in the wireless tag, and transmits a beacon signal at a transmission interval and a transmission frequency set for each operation mode. Low power consumption is achieved by intermittently starting a wireless tag for performing a beacon signal transmission operation and a response signal reception standby operation.

  In the example of FIG. 7, the wireless tag is a mode in which a pallet is searching for a wireless tag reader connected in the warehouse (“association mode”), and a mode in which the pallet is connected to the wireless tag reader in the warehouse (“depot mode”). , The pallet is moving up and down ("vibration mode"), and the pallet is moving up and down for a long time ("movement mode"). The transmission interval and transmission frequency are set.

<Activation of wireless tag>
The activation operation of the wireless tag 10 by the drone 4 in the first embodiment of the present invention will be described with reference to FIG. FIG. 8 shows an example of a flat warehouse 1 in which pallets 3 on which loads 5 are placed are stored in a state where they are stacked in a plurality of stages. The activation operation can be applied as in FIG.

  The drone 4 equipped with the exciter 20 and the camera 41 transmits an activation signal and acquires image information at a predetermined timing while flying in the warehouse 1. FIG. 8 illustrates the case where the drone 4 flies in the direction from the load # 1 to the load # 3. In FIG. 8, the pallet 3 of the load # 2 is inclined, and the vibration / tilt sensor 13 of the wireless tag 10 installed on the pallet 3 detects the inclination of the wireless tag 10 and sends a beacon signal including sensor information to the wireless tag reader. 30.

By receiving the sensor information, the wireless tag reader 30 can grasp that there is a wireless tag 10 tilted in the warehouse 1, but only with this sensor information, the position of the tilted wireless tag 10 in the warehouse 1 can be determined. It cannot be specified. Therefore, in the first embodiment of the present invention, the position of the tilted wireless tag 10 is specified based on the position of the drone 4 that flew in the warehouse 1.

  When the drone 4 approaches the luggage # 1, the wireless tag 10 of the luggage # 1 receives the activation signal and transmits an activation response signal to the wireless tag reader 30. The wireless tag 10 of the adjacent luggage # 2 Since it is away from the drone 4, the activation signal cannot be received.

  Next, when the drone 4 further moves and approaches the baggage # 2, the wireless tag 10 of the baggage # 2 can receive the activation signal, is forcibly activated, and transmits an activation response signal. On the other hand, since the wireless tags 10 of the adjacent packages # 1 and # 3 are separated from the exciter 20, they cannot receive the activation signal. Therefore, when the drone 4 is located near the package # 2, only the wireless tag 10 of the package # 2 can detect the activation signal and transmit the activation response signal.

  Thus, since the wireless tag 10 receives only the activation signal from the drone 4 existing in the vicinity by the passive element 14, it can be determined that the drone 4 exists in the vicinity of the wireless tag 10 that transmitted the activation response signal. If the position of the drone 4 at that time is known, the position of the wireless tag 10 that has transmitted the activation response signal can be specified. Furthermore, if the image information including the pallet 3 on which the luggage 5 is placed is acquired in conjunction with the transmission of the activation signal, the position of the tilted wireless tag 10 can be specified in more detail using the image information. Can do.

  In order to grasp the position of the drone 4 when the wireless tag 10 transmits the activation response signal, the drone 4 is caused to fly while monitoring the activation response signal in real time. The position may be confirmed, or an activation signal is transmitted while the drone 4 is flying along a predetermined route in the warehouse 1 so that the position in the warehouse 1 at a predetermined time can be specified. The position of the drone 4 in the warehouse 1 may be specified based on the reception time information. Furthermore, the position of the wireless tag 10 that is tilted can be specified in more detail using the image information acquired in response to the activation signal.

<Operation of wireless tag>
Next, the operation of the wireless tag according to the first embodiment of the present invention will be described with reference to FIG. As described above, the wireless tag transmits a beacon signal including unique identification information (ID1) at a transmission interval and a transmission frequency determined for each operation mode. FIG. 9 shows a case where the wireless tag is connected to the wireless tag reader and operates in the depot mode. The wireless tag reader receives sensor information included in a beacon signal transmitted by the wireless tag.

  When the vibration / tilt sensor detects the inclination of the wireless tag, the wireless tag transmits a beacon signal including sensor information, and the wireless tag reader that receives the beacon signal receives the sensor information included in the beacon signal, thereby It is possible to grasp that it is tilted.

  Next, in order to specify the position of the wireless tag that is transmitting the sensor information, the wireless tag is activated by transmitting an activation signal while flying the drone. The drone transmits an activation signal by the exciter and acquires image information by the camera while flying in the warehouse.

  When the wireless tag receives the activation signal from the exciter, the wireless tag transmits an activation response signal including identification information to the wireless tag reader. The wireless tag reader can recognize that the wireless tag has been activated by receiving the activation response signal from the wireless tag. Here, since the wireless tag is activated by the activation signal from the exciter of the drone that exists in the vicinity of the wireless tag, based on the position of the drone when the activation response signal is received and the image information acquired when the activation signal is transmitted The position of the wireless tag can be specified. Note that the activation response signal may be identified by using a transmission frequency (F1) different from the transmission frequency (F2) of the beacon signal in the depot mode.

<Operation status management data>
FIG. 10 is an example of operation state management data of the wireless tag in the first embodiment of the present invention. This operation state management data is recorded in the wireless tag management device.

  The wireless tag management device manages the operation mode and sensor information of the wireless tag based on information included in the beacon signal transmitted by the wireless tag. In this operation state management data, the operation mode and sensor information included in the beacon signal transmitted by the wireless tag are managed for each identification information of the wireless tag. When an activation response signal is received from the wireless tag, information indicating that the activation response signal has been received, for example, presence / absence of reception of the activation response signal and reception time information are managed in association with identification information and sensor information.

  Further, the operation state management data may include image information acquired by a camera mounted on the drone. Image information can be associated with an activation response signal based on the acquisition time. By flying the drone along a predetermined route in the warehouse so that the position in the warehouse at a predetermined time can be specified, based on the information on the reception time of the activation response signal, the drone The position of the existing wireless tag can be specified, and further, the position of the wireless tag that has transmitted the activation response signal can be specified in more detail based on the corresponding image information.

<Operation sequence>
FIG. 11 is an example of an operation sequence in the luggage monitoring system according to the first embodiment of the present invention.

  When the pallet on which the parcel is placed is carried into the warehouse, the operation mode of the wireless tag installed on the pallet is changed, and a beacon signal including identification information (ID1) is transmitted in a predetermined transmission mode. Sent at intervals. When the wireless tag reader installed in the warehouse receives the beacon signal and the wireless tag receives the response signal transmitted by the wireless tag reader, the operation mode is further changed. When the identification information of the wireless tag received by the wireless tag reader is transmitted to the wireless tag management device, it can be confirmed that the wireless tag is installed in the warehouse.

  When the wireless tag detects the inclination of the wireless tag by the built-in vibration / tilt sensor, the wireless tag transmits a beacon signal including sensor information to the wireless tag reader. When the wireless tag reader receives the beacon signal including the sensor information, the wireless tag reader transmits the sensor information in association with the identification information of the wireless tag to the wireless tag management device, and the wireless tag management device associates the sensor information with the identification information of the wireless tag. Manage information. The wireless tag management device can grasp that the wireless tag specified by the identification information is tilted by receiving the sensor information.

<Identification of wireless tag location>
There are several methods for specifying the position of the wireless tag. First, at the timing when it is recognized that there is a wireless tag that is tilted in the warehouse, the drone equipped with the camera is allowed to fly in the warehouse, and the wireless tag is activated using the activation signal transmitted by the exciter installed in the drone. Thus, the position of the inclined wireless tag can be specified.

  By monitoring the activation response signal transmitted by the activated radio tag in real time, the drone is allowed to fly, thereby identifying the position of the tilted radio tag based on the position of the drone when the activation response signal is received. it can. Based on the sensor information transmitted by the wireless tag, the identification information of the inclined wireless tag is grasped, and therefore the activation response signal is received from the wireless tag having the same identification information as the identification information of the inclined wireless tag. If it is possible, the position of the wireless tag that has received the activation response signal is the position of the inclined wireless tag.

  The drone may be allowed to fly along a predetermined route in the warehouse so that the position in the warehouse at a predetermined time can be specified. If the flight route and time in the drone warehouse are determined in advance, the position of the drone in the predetermined route in the warehouse can be specified based on the reception time of the activation response signal, so based on the specified drone position The position of the inclined wireless tag can be specified. Further, it is possible to specify a more detailed position of the slanted baggage based on the image information acquired in conjunction with the transmission of the activation signal.

<Operation flow of wireless tag>
FIG. 12 is an example of an operation flowchart in the wireless tag according to the first embodiment of the present invention. FIG. 12 is an operation flowchart of the wireless tag in the embodiment in which the wireless tag is activated by the activation signal.

  When the pallet on which the wireless tag is installed moves (S1-1) and is installed in the warehouse (S1-2), the operation mode is changed from the movement mode to the association mode (S1-3). Further, when the wireless tag is connected to the wireless tag reader (S1-4), the operation mode is changed from the association mode to the depot mode (S1-5), and a beacon signal is transmitted at the transmission interval and the transmission frequency determined in the depot mode. (S1-6).

  Thereafter, when the inclination of the wireless tag is detected by the vibration / inclination sensor of the wireless tag (S1-7), a beacon signal including sensor information is transmitted (S1-8). When the activation signal is received by the passive element while the inclination is detected (S1-9), the activation response signal is transmitted (S1-10). Here, a frequency ch (F1) different from the depot mode may be used for transmitting the activation response signal. On the other hand, when the activation signal is received by the passive element in the state where the inclination is not detected (S1-11), the activation response signal is transmitted (S1-12).

As described above, according to the first embodiment of the present invention, the inclination of the wireless tag is detected by the wireless tag sensor installed on the pallet, and the wireless tag is attached using the activation signal transmitted by the exciter mounted on the drone. By starting, the position of the inclined wireless tag can be specified.

<Other embodiments>
In the first embodiment , the inclination of the wireless tag is detected by the wireless tag sensor installed on the pallet, and the wireless tag is activated by using the activation signal transmitted by the exciter mounted on the drone. Although the position of the wireless tag is specified, the position of the inclined wireless tag may be specified using only image information acquired by a drone equipped with a camera, as in the reference embodiment. In this case, when the inclination of the RFID tag is detected by the RFID tag sensor installed on the pallet, the drone is allowed to fly while monitoring the image in the warehouse in real time with the camera, so that the position of the inclined luggage can be determined. Can be identified.

  DESCRIPTION OF SYMBOLS 1 ... Warehouse, 2 ... Forklift, 3 ... Pallet, 4 ... Drone, 5 ... Baggage, 10 ... Radio tag, 11 ... Antenna, 12 ... Radio part, 13 ... Vibration / tilt sensor, 14 ... Passive element, 15 ... Battery, DESCRIPTION OF SYMBOLS 16 ... Central processing part, 17 ... Memory, 20 ... Exciter, 21 ... Antenna, 22 ... Wireless part, 23 ... I / F part, 24 ... Central processing part, 25 ... Memory, 30 ... Wireless tag reader, 31 ... Antenna, 32 ... wireless unit, 33 ... I / F unit, 34 ... central processing unit, 35 ... memory, 40 ... drone body, 41 ... camera, 42 ... motor, 43 ... battery, 44 ... I / F unit, 45 ... wireless unit, 46 ... Central processing unit, 47 ... Memory, 48 ... Sensor, 50 ... Wireless tag management device, 60 ... Network, 70 ... External terminal.

Claims (3)

A luggage monitoring system in a warehouse utilizing a drone in a warehouse in which a pallet on which the luggage is placed is accommodated,
The drone includes a collision avoiding unit for avoiding a collision with an obstacle in the warehouse, an imaging unit for acquiring image information including a pallet on which the load is placed, and a transmitting unit for transmitting the image information. With
The drone flies in the warehouse while avoiding a collision with an obstacle in the warehouse by the collision avoidance means, and acquires the image information by the imaging means,
Using the image information acquired by the imaging means, the state of the package is monitored
In the luggage monitoring system in the warehouse using drone,
A wireless tag installed on the pallet and transmitting a wireless tag reader connected to a beacon signal including unique identification information;
A wireless tag reader that receives a beacon signal transmitted by the wireless tag connected to the wireless tag;
A wireless tag management device that receives the wireless tag information from the wireless tag reader and manages wireless tags in the warehouse;
Further comprising
The wireless tag includes wireless transmission means for transmitting the beacon signal and inclination detection means for detecting the inclination of the wireless tag, and includes inclination information of the wireless tag when the inclination of the wireless tag is detected. Sending the beacon signal to the wireless tag reader;
The wireless tag reader associates the identification information of the wireless tag and the tilt information and transmits the associated information to the wireless tag management device,
The wireless tag management device associates and manages identification information of the wireless tag and the inclination information,
Luggage monitoring system in the warehouse based on said image information, utilizing drones you and identifies the position of the load which is inclined. The drone includes an activation signal transmitting means for transmitting an activation signal for activating the wireless tag, and when the flight is performed in the warehouse, the activation signal is transmitted at a predetermined timing, the image information is acquired, and the image information is transmitted. To the RFID tag reader,
The wireless tag includes an activation signal detection unit that detects the activation signal transmitted from the activation signal transmission unit of the drone existing in the vicinity, and includes the unique identification information when the activation signal is detected. Send an activation response signal to the wireless tag reader;
The wireless tag reader transmits the identification information of the wireless tag included in the received activation response signal and the received image information to the wireless tag management device,
The wireless tag management device associates and manages identification information of the wireless tag, the inclination information, the information of the activation response signal, and the image information,
The activation corresponding to the response signal based on the position and the image information of drone of the warehouse, inclined to have a warehouse utilizing drone according to claim 1, wherein the identifying the position of the wireless tag Luggage monitoring system. The drone flies along a predetermined route in the warehouse so that the position in the warehouse at a predetermined time can be specified, and the warehouse is based on reception time information of the activation response signal in the wireless tag reader The luggage monitoring system in the warehouse using the drone according to claim 2 , wherein the position of the drone is specified.

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