JP7076366B2 - RFID reading system - Google Patents

Description

The present invention relates to an RFID reading system that reads a controlled object to which RFID is attached in a possessed environment.

In recent years, for example, inventory of goods held in a warehouse is regularly inventoried, and at that time, RFID (Radio Frequency Frequency) capable of wireless communication to goods and containers loaded with a predetermined number of the goods. An "Identifier" tag is attached, and inventory management and the like are performed by reading the tag information for these RFID tags with a reader. It is desired to save labor in reading such tag information and to read it efficiently.

Conventionally, the techniques described in Patent Documents 1 and 2 are known as techniques for performing inventory management using RFID. Patent Document 1 describes an antenna connected to an RFID reader / writer for reading an RFID tag attached to an inventory item to which an RFID tag assigned with a unique number is attached, as related to an inventory method using RFID. It is described that the RFID tag is read by scanning the antenna with a position measuring function that determines the position coordinates in front of the shelf.

Further, in Patent Document 2, the inventory state of articles is collected by flying a flightable information collecting unit connected to a base unit by a cable and acquiring image data of all articles stored in a warehouse or the like. It is stated that.

On the other hand, a technique for monitoring a facility using a flying moving object is known in Patent Document 3. In Patent Document 3, regarding a monitoring device, a flight moving body including an imaging unit is connected to a traveling moving body via a wiring unit for supplying power to secure a long flight time, and a flight control unit of the flying moving body is provided. It is described that the image pickup unit manages the facility by flying so as to track the traveling moving object.

Japanese Unexamined Patent Publication No. 2010-030712 JP-A-2017-218325 Japanese Unexamined Patent Publication No. 2018-11340

For example, when a moving body that flies for checking inventory in inventory or the like is used as in Patent Documents 1 and 2, it is necessary to fly the flying body for a long time as in Patent Document 3, but Patent Document 2 It takes time to return to the fixedly arranged base unit for charging, while the flying object tracks the traveling body as a power supply base as in Patent Document 3. Is efficient because it is difficult for the traveling object to recognize an article or the like existing at a height position where the traveling object travels because the traveling object interferes with the flight of the flying object, or the flight path is complicated at a young age. There is a problem that it causes a decline.

Therefore, the present invention has been made in view of the above problems, and is an RFID reading system that makes it possible to obtain tag information of RFID tags attached to the entire contained body accommodated in the area in a short time and with high efficiency. The purpose is to provide.

In order to solve the above problem, in the invention of claim 1, at least a plurality of inmates with RFID tags of unique information are accommodated in the area where the travel-related mark is arranged, and the inmate is attached to the inmate. An RFID reading system for a ground vehicle and an air vehicle that reads the RFID tag, the ground vehicle is formed at a position where an image can be taken, and a landing mark for landing the air vehicle and at least the travel-related mark. An image pickup means for capturing an image, a tag reading means for reading tag information of an RFID tag attached to the contained body, and at least a travel-related mark imaged by the image pickup means for recognizing and traveling the RFID tag. The flying object has a control means for reading the tag information by the tag reading means, and the flying object has at least an imaging means for imaging the landing mark and a tag for reading the tag information of the RFID tag attached to the contained body. The reading means and at least the landing mark imaged by the imaging means are recognized, the landing mark is used as the landing and flight base point, and the reading of the RFID tag by the tag reading means is performed by the traveling state of the ground traveling object. It has a control means and a configuration to be performed in cooperation with.

In the invention of claim 2, a reading range mark is arranged in the area as a range in which the RFID tag is read by each of the ground traveling body and the flying object, and the reading range mark is the RFID tag by the ground traveling body. The reading of the RFID tag is in the low-rise range, and the reading of the RFID tag by the flying object is in the high-rise range from the low-rise range.

In the invention of claim 3, the control means of the ground vehicle transmits the read tag information to a predetermined management device, and when the information of the RFID tag read over is received from the management device, the RFID tag is read again. Is configured to be performed.

In the invention of claim 4, the control means of the flying object transmits the read tag information to a predetermined management device, and when the information of the RFID tag read over is received from the management device, the RFID tag is read again. It is configured to be done.

In the invention of claim 5, the power source for the ground traveling body provided by the ground traveling body and the power source for the flying object provided by the flying object are electrically connected by wire.

In the invention of claim 6, the ground traveling object includes a power supply means for supplying electric power from the ground traveling body power source provided by the ground traveling body to the flying object power supply provided by the flying object, and the flying object is self. The air vehicle power supply is provided with a charging means for charging from the power supply means, and the control means monitors the capacity of the air vehicle power supply and lands on the ground vehicle when the capacity falls below the set capacity. It is configured to be charged from the power supply means.

According to the invention of claim 1, the landing mark for landing the flying object is formed at a position where the image can be taken, and the tag information of the RFID tag, which is an image pickup means for capturing at least the traveling-related mark arranged in the area, is provided. A ground vehicle having a tag reading means for reading, and a control means at least recognizing and traveling a travel-related mark imaged by the image pickup means to read the tag information of the RFID tag by the tag reading means, and at least a ground vehicle. An image pickup means for capturing an image of the landing mark of the RFID tag and a tag reading means for reading the tag information of the RFID tag are provided, and the control means at least recognizes the landing mark captured by the image pickup means and makes the landing mark the base point for landing and flight. By configuring the RFID tag to be read in cooperation with the traveling state of the ground vehicle, a human operation is performed for reading the RFID tag attached to the entire confined body accommodated in the area. It is possible to read the RFID tag in a short time because it is shared by the ground vehicle and the flying object at the same time without the need for, and the RFID tag tag can be read with high efficiency without using human labor. Information can be obtained.

According to the invention of claim 2, the reading range mark is arranged in the area where the contained object is accommodated, the reading of the RFID tag by the ground vehicle is set to the low-rise range, and the reading of the RFID tag by the flying object is performed. By including information that covers the range from the low-rise area to the high-rise area, it is possible to stably read the RFID tag in the low-level area at a low position by the ground vehicle, and the RFID tag of the air vehicle. The range can be set to be easy to read, and the RFID tag can be read simultaneously by the ground traveling body and the flying body, and the tag information can be efficiently obtained in a short time.

According to the invention of claim 3, when the control means of the ground vehicle transmits the read tag information to a predetermined management device and receives the overlooked RFID tag information from the management device, the RFID tag is read again. It is possible to minimize the reading omission of the RFID tag by the ground vehicle, and to promote human confirmation and human supplementary reading.

According to the invention of claim 4, when the control means of the flying object transmits the read tag information to a predetermined management device and receives the missed RFID tag information from the management device, the RFID tag is read again. By making the configuration perform, it is possible to minimize the reading omission of the RFID tag by the flying object, and it is possible to promote human confirmation and human supplementary reading.

According to the invention of claim 5, the drive power of the air vehicle is monitored by configuring the power supply for the ground vehicle provided in the ground vehicle and the power supply for the air vehicle provided in the air vehicle to be electrically connected by wire. It can be flown without doing anything.

According to the invention of claim 6, the ground traveling body is provided with a power supply means for supplying electric power from the ground traveling body power supply provided by the ground traveling body to the flying object power supply provided by the flying object, and the flying object is provided with the power supply means. The power supply for the aircraft is equipped with a charging means for charging from the power supply means, the capacity of the power supply for the aircraft is monitored by the control means, and when the capacity falls below the set capacity, the power supply means is landed on the ground vehicle. By making the structure more charged, it is possible to shorten the reading time by eliminating the need to return to the initial position and fly due to a shortage of driving power of the flying object.

It is explanatory drawing under the environment where the RFID reading system which concerns on this invention is used. It is a block explanatory diagram of the RFID reading system which concerns on this invention. FIG. 2 is an explanatory diagram of automatic movement within the area where the RFID reading system of FIG. 2 is used. It is explanatory drawing of the setting contents about the movement of the ground traveling body and the flying body which make up the RFID reading system of FIG. 2 is an operation flowchart of the first embodiment in the movement of the ground traveling body and the flying body constituting the RFID reading system of FIG. 2. It is an operation flowchart of the reading process of FIG. It is another operation flowchart (1) of the reading process of FIG. It is another operation flowchart (2) of the reading process of FIG. 2 is an operation flowchart of the second embodiment in the movement of the ground traveling body and the flying body constituting the RFID reading system of FIG. 2. It is an operation flowchart of the reading process of FIG. It is another operation flowchart (1) of the reading process of FIG. It is another operation flowchart (2) of the reading process of FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Here, the area where the RFID reading system is used includes a product warehouse, a manufacturing factory, a product shipping factory, and the like, but in the present embodiment, the product warehouse will be described. In addition, the contained objects stored in the area such as the product warehouse include products, manufacturing parts, repair parts, and containers (boxes, containers, etc.) for storing these, and RFID tags with unique information are the products. In this embodiment, there are cases where the product is individually attached to the above, the case where the product is attached to the container, the case where the product or the like individually attached to the RFID tag is further stored in the container to which the RFID tag is attached, and the like. A container in which an RFID tag is attached to a container for storing a product or the like will be described as an inmate.

FIG. 1 shows an explanatory diagram under an environment in which the RFID reading system according to the present invention is used. In FIGS. 1A to 1C, the RFID reading system 11 (described in FIG. 2) is arranged in the product warehouse 12, and the product warehouse 12 has, for example, three rows of holding shelves 13 (owned shelf rows 13A to 13C). Arranged in. As shown in FIG. 1 (B), each holding shelf 13 is provided with reading range marks 17A to 17C indicating a reading range in, for example, three stages, and the confined body 15 is provided with unique information on each stage. RFID tags 16 are attached and mounted respectively. The unique information of each RFID tag 16 includes at least the product name, model number, and the like of the contained body 15, as well as the address information of the position accommodated in the product warehouse 12.

On the other hand, the product warehouse 12 is provided with a station 14 which is an initial position of the RFID reading system 11, and a charging unit 14A for charging the power source for the ground traveling body provided in the ground traveling body described later is arranged. It should be noted that the charging unit 14A may charge the ground traveling body power source by wire or by non-contact charging. Then, as shown in FIG. 1 (C), on the floor surface of the product warehouse 12, for example, a traveling direction mark 18 and a traveling performance mark as traveling-related marks along the traveling route for the ground traveling body to automatically travel. 19, 20 are provided (detailed in FIG. 3).

Therefore, FIG. 2 shows a configuration explanatory diagram of the RFID reading system according to the present invention. In FIG. 2A, the RFID reading system 11 is composed of a ground traveling body 21 and a flying object 22, and as an example, the flying object 22 is placed under the instruction of the ground traveling body 21 with the ground traveling body 21. The flying object 22 is electrically connected to the connecting line 23 by a wire, and the ground traveling power source (46 in FIG. 2B) provided by the ground traveling object 21 to the flying object power supply provided by the flying object 22 (46 in FIG. 2 (B)). Power is supplied to 66) in FIG. 2 (C). As a result, the flying object 22 can be flown under the supervision of the driving power, but if the ground traveling body 21 is provided with, for example, a large-capacity ground traveling body power supply, the electric power may be supplied without any particular monitoring.

A landing mark 21A for landing the flying object 22 is formed on the surface of the ground traveling object 21 at a position where an image can be taken. Further, as shown in FIG. 2B, the ground traveling body 21 includes a controller 41 as a control means, a drive mechanism unit 42, an image pickup unit 43 as an image pickup means, a reader 44 as a tag reading means, a transmission / reception unit 45, and the transmission / reception unit 45. A power supply 46 for a ground vehicle is provided. The ground traveling body power supply 46 is connected to the flying body power supply (66) provided in the flying object 22 described later by a connection line 23 and also has a role of supplying driving power.

The drive mechanism unit 42 is a mechanism including a motor for traveling and the like. The image pickup unit 43 is a camera that captures the travel direction mark 18, the travelability marks 19, 20 and the reading range mark 17A, which are travel-related marks, provided in the product warehouse 12. The reader 44 reads tag information in a non-contact manner with respect to the RFID tag 16 attached to the contained body 15, and is generally known for RFID tags.

The transmission / reception unit 45 transmits an instruction signal instructing reading flight and landing to the flying object 22, and at the end of reading the RFID tag 16, the management device (personal computer 32, shown in FIG. 2A). The tag information is transmitted to the mobile terminal 33) via the communication relay unit 31 by Wi-Fi (registered trademark) or the like, and the information of the RFID tag 16 read over from the management device is received. Here, the management device (personal computer 32, mobile terminal 33) includes management tag data, determines whether or not the received tag information has a missed reading, and if there is a missed RFID tag, that information. Is transmitted to the ground traveling body 21 and the flying body 22. The management tag data includes tag information (product name, model number, address information, etc.) of the RFID tag 16 of all the contained bodies 15 that should exist in the product warehouse 12. Further, the management device makes it possible to display the read RFID tag 16 information and the missed tag information to the administrator.

The controller 41 generally recognizes and runs at least the traveling direction mark 18 and the traveling performance marks 19 and 20 imaged by the image pickup unit 43, and recognizes the reading range mark 17A imaged by the image pickup unit 43 to read the reading range. The tag information of the RFID tag 16 attached to the contained body 15 is read by the reader 44, and the control unit 51, the storage unit 52, the traveling setting unit 53, the image analysis unit 54, the reading information processing unit 55, and the drive are used. It includes at least a control unit 56.

The control unit 51 comprehensively controls the ground traveling body 21. The storage unit 52 is a memory for storing data of an area for executing a program and tag information. The travel setting unit 53 is set to allow the ground traveling body 21 to travel, and the setting contents will be described with reference to FIG. 4 (A). It should be noted that the setting contents include a repeat condition for running the vehicle repeatedly after making one round, and in addition, setting the time for running the ground vehicle 21 (for example, the time from midnight to 6:00) and the like are also set. May be.

The image analysis unit 54 analyzes and recognizes the traveling direction marks 18 and the traveling performance marks 19 and 20 captured by the imaging unit 43, and is used to control the traveling with the contents set by the traveling setting unit 53. (Explained in FIG. 4 (A)). Further, the image analysis unit 54 recognizes the reading range mark 17A imaged by the image pickup unit 43, and is used to specify the reading position (range) by the reader 44.

The reading information processing unit 55 acquires the tag information of the RFID tag 16 read by the reader 44 and stores it in the storage unit 52, and after the reading is completed, the transmission / reception unit 45 stores the tag information in the management device (personal computer 32, mobile terminal 33). When the information of the RFID tag that has been overlooked is received from the management device, the RFID tag is read again. Further, the reading information processing unit 55 transmits a reading instruction signal from the transmission / reception unit 45 to the flying object 22.

The drive control unit 56 drives and controls the traveling of the ground traveling body 21 by the drive mechanism 42 according to the setting of the traveling setting unit 53.

Further, as shown in FIG. 2C, the flying object 22 includes a controller 61 as a control means, a drive mechanism unit 62, an image pickup unit 63 as an image pickup means, a reader 64 as a tag reading means, a transmission / reception unit 65, and a flight. It is equipped with a body power supply 66. The air vehicle power supply 66 is connected to the ground vehicle power supply 46 provided in the above-mentioned ground vehicle 21 by a connection line 23, and driving power is supplied.

The drive mechanism unit 62 is a mechanism including a motor for flying and the like. The image pickup unit 63 is a camera that captures the landing mark 21A and the reading range marks 17B and 17C formed on the ground traveling body 21. The reader 64 reads tag information in a non-contact manner with respect to the RFID tag 16 attached to the contained body 15, and is similar to the reader 44 included in the ground traveling body 21.

The transmission / reception unit 65 receives a predetermined instruction signal from the ground vehicle 21, reads and stores the tag information of the RFID tag 16 in the above-mentioned management device (personal computer 32, mobile terminal 33) by Wi-Fi (registration). The tag information is transmitted via the communication relay unit 31 by the trademark) or the like, and the information of the RFID tag 16 that is overlooked from the management device is received.

The controller 61 generally recognizes at least the landing mark 21A imaged by the image pickup unit 63 and lands on the ground traveling body 21, and recognizes the reading range marks 17B and 17C imaged by the image pickup unit 63 to read the reading range. The tag information of the RFID tag 16 attached to the contained body 15 is read by the reader 64, and the control unit 71, the storage unit 72, the flight setting unit 73, the image analysis unit 74, the reading information processing unit 75, and the drive are used. It includes at least a control unit 76.

The control unit 71 comprehensively controls the flying object 22. The storage unit 72 is a memory for storing data of an area for executing a program and tag information. The flight setting unit 73 flies in accordance with the reading flight instruction from the ground vehicle 21 and starts reading the RFID tag 16, and the flight range for reading is set (the setting content is FIG. 4 (B). ).

The image analysis unit 74 analyzes and recognizes the landing mark 21A imaged by the image pickup unit 63, and is used by the flight setting unit 73 to control the flight according to the setting (FIG. 4B). Shown in). Further, the image analysis unit 74 recognizes the reading range marks 17B and 17C imaged by the image pickup unit 63, and is used to specify the reading position (range) by the reader 64.

The reading information processing unit 75 acquires the tag information of the RFID tag 16 read by the reader 64 and stores it in the storage unit 72, and after the reading is completed, the transmission / reception unit 65 stores the tag information in the management device (personal computer 32, mobile terminal 33). When the information of the RFID tag that has been overlooked is received from the management device, the RFID tag is read again.

The drive control unit 76 drives and controls the flight of the flying object 22 by the drive mechanism 62 according to the setting of the flight setting unit 73.

Subsequently, FIG. 3 shows an explanatory diagram of automatic movement within the area where the RFID reading system of FIG. 2 is used, and FIG. 4 shows the movement of ground vehicles and flying objects constituting the RFID reading system of FIG. An explanatory diagram of the setting contents is shown. In FIG. 3, as shown in FIG. 1A, traveling direction marks 18 and traveling performance marks 19 and 20 are provided in the product warehouse 12 as traveling-related marks of the traveling route of the ground traveling body 21.

A check mark is superimposed in the traveling direction mark 18. The traveling direction mark 18 is, for example, triangular and indicates the direction of its apex as the traveling direction. From the station 14 at the initial position of the ground traveling body 21, all the holding shelves 13 (holding shelf rows) in the goods warehouse 12 are used. It is arranged so as to rotate around 13A to 13C).

That is, the relationship between the traveling direction mark 18 (check mark) and traveling is set in the traveling setting unit 53 of the ground traveling body 21, and as shown in FIG. The four traveling directions are related, for example, "S" is read as a check mark, "1 to (number)" is the running order, "E" is read end, and "R" is repeated. Here, the check mark "R" is a base point for repeated running, and the determination as to whether or not the repeated running is performed is determined by whether or not the read-out tag information of the reading information processing unit 55 exists (). 6 and 7 will be described). It should be noted that, as a form in which the check marks “S” and “R” are integrated into one, for example, the check mark “S” and “R” may be formed in the station 14 at the initial position, which is effective in the case of a narrow area (commodity warehouse), for example.

Further, the runnability marks 19 and 20 provided in the product warehouse 12 are displayed in color, for example. That is, if the image recognition of the color display of the travelability mark 19 continues by the reading end "E", the travel setting unit 53 of the ground vehicle 21 is set to forward traveling, and the color display of the travelability mark 20 is image recognition. If it is done, it is set as a reverse feed and the concept of the traveling direction is extracted.

Further, a reading range mark 17A (FIG. 1B) is set as a reading range of the RFID tag 16 in the traveling setting unit 53 of the ground traveling body 21.

On the other hand, as shown in FIG. 4B, the flight setting unit 73 of the flight body 22 is set with the landing mark 21A (FIG. 2A) formed on the ground traveling body 21 as a flight range. , The reading range marks 17B and 17C (FIG. 1 (B)) are set as the reading range of the RFID tag 16.

That is, as shown in FIG. 1 (B), the reading of the RFID tag 16 by the ground traveling body 21 is in the low-rise range at a low position according to the reading range mark 17A, and the reading of the RFID tag 16 by the flying object 22 is. , The reading range marks 17B and 17C are set so as to be in the range of the high-rise region rather than the low-rise region. By setting in this way, the low-rise area at a low position by the ground traveling body 21 can be stably read by the RFID tag 16, and the RFID tag 16 of the flying object 22 can be easily read. The RFID tag 16 can be read simultaneously by the ground traveling body 21 and the flying body 22, and the tag information can be efficiently obtained in a short time.

In addition, codes and symbols such as numbers may be arranged in the reading range marks 17A to 17C. For example, by arranging a number (for example, "30") as a reading distance and recognizing the number as an image, the RFID tag 16 is read by approaching the recognized number (for example, a distance of 30 cm from the shelf). It is something that can be made.

Therefore, FIG. 5 shows an operation flowchart of the first embodiment in the movement of the ground traveling body and the flying object constituting the RFID reading system of FIG. 2, and FIG. 6 shows an operation flowchart of the reading process of FIG. In FIG. 5A, the ground traveling body 21 is based on the premise that the ground traveling body power supply 46 is sufficiently charged by the charging unit 14A at the station 14, for example, the time (time) set by the traveling setting unit 53. ) Will start when it arrives.

That is, when the ground traveling body 21 starts traveling with the flying body 22 landed and recognizes the check mark of "S" as an image, the reading range mark 17A is image-recognized and attached to the contained body 15. The reading of the RFID tag 16 is started, and the flight instruction signal is transmitted to the flying object 22 (step (S) 1).

After that, the traveling direction mark 18 (check mark), the reading range mark 17A, and the travelability marks 19 and 20 are imaged by the image pickup unit 43, the image is recognized by the image analysis unit 54, and the RFID tag 16 in the reading range is read while traveling. , The read tag information is stored in the storage unit 52, and the flight instruction signal and the landing instruction signal are transmitted to the flying object 22 (S2), and continued until the check mark “R” shown in FIG. 3 is recognized as an image. (S3). Then, when the check mark "R" is recognized as an image, a process of whether or not the vehicle repeatedly travels is performed (shifting to FIG. 6 or FIGS. 7 and 8).

On the other hand, in FIG. 5B, the flying object 22 has landed on the ground traveling body 21 and moves together with the ground traveling body 21 (S11). By receiving the flight instruction signal transmitted when the ground vehicle 21 recognizes the reading range mark 17A as an image and stops traveling (S12), the flying object 22 makes an ascending flight and captures the reading range marks 17B and 17C. The image is recognized, and the RFID tag 16 attached to the contained body 15 within the reading range corresponding to the position of the ground traveling body 21 is sequentially read and stored (S13). The reading of the RFID tag 16 by this ascending flight is continued until the landing instruction signal is received from the ground vehicle 21 (S14).

When the ground vehicle 21 receives the landing instruction signal transmitted when the RFID tag 16 in the range of the reading range mark 17A recognized in the image is read and travels (S14), the landing instruction signal from the ground vehicle 21 is received. According to this, the landing mark 21A is image-recognized and landed on the ground traveling body 21 (S15).

That is, the flying object 22 moves together in a landing state while the ground traveling body 21 is traveling, and when the ground traveling body 21 stops, it ascends by a flight instruction signal and reads the RFID tag 16. Landing, flight, and reading of the RFID tag 16 are performed in cooperation with the traveling state of the ground traveling body 21, and the process is repeated until the ground traveling body 21 recognizes the check mark “R” (S16).

Subsequently, in FIG. 6A, when the ground traveling body 21 recognizes the check mark “R” (S3), the reading information processing unit 55 transmits / receives all the tag information stored in the storage unit 52. The management device (personal computer 32, mobile terminal 33) transmits from the unit 45 via the communication relay unit 31 (S21). In the management device, it is verified whether or not the RFID tag 16 that has been overlooked exists based on the management tag data, and if the RFID tag 16 that has been overlooked exists, the information of the RFID tag 16 that has been overlooked is the ground vehicle. It is transmitted to 21.

When the ground vehicle 21 receives the information of the RFID tag 16 missed from the management device (S22) and does not reach the repetition condition (number of times) set in the travel setting unit 53 (S23), it is shown in FIG. The RFID tag 16 is repeatedly traveled from the position of the check mark “R” to the start position of “S”, and the RFID tag 16 is repeatedly read by the ground vehicle 21 from S1 in FIG. The reading of the RFID tag 16 is repeated until the set repetition condition (number of times) is reached, or until the management device collates that the RFID tag 16 by the ground vehicle 21 does not miss the reading within the repetition condition (S21 to S23).

Then, when all the RFID tags 16 are not overlooked by the ground traveling body 21 within the repeating conditions, or when the repeating conditions are reached, the ground traveling body 21 is in a state of landing the flying object 22 at the station. Return to 14 (S24). The reading of the RFID tag 16 of the flying object 22 will be described with reference to FIG. 6 (B).

After the return of the ground vehicle 21, all of the read tag information and the missed tag information can be displayed to the administrator on the management device (personal computer 32, mobile terminal 33).

On the other hand, when the ground traveling body 21 recognizes the check mark “R” (S3), the flying body 22 has all the tags stored in the storage unit 72 by the reading information processing unit 75 in FIG. 6 (B). Information is transmitted from the transmission / reception unit 65 to the management device (personal computer 32, mobile terminal 33) via the communication relay unit 31 (S31). In the management device, it is verified whether or not the RFID tag 16 of the missed reading exists based on the management tag data, and if the RFID tag 16 of the missed reading exists, the information of the RFID tag 16 of the missed reading is the flying object 22. Will be sent to.

When the ground vehicle 21 waits for receiving the information of the RFID tag 16 that has been missed from the management device, receives the information of the RFID tag 16 that has been read (S32), and the ground vehicle 21 has not returned to the station 14. (S33) waits for a flight instruction from the ground vehicle 21 (S34), shifts to S13 in FIG. 5 (B), and reads the RFID tag 16 within the range of the reading range marks 17B and 17C. There is no flight instruction (S34), and the process is repeated until the ground traveling body 21 returns to the station 14.

Then, after the ground traveling body 21 returns to the station 14 with the flying body 22 landed, the management device can display all the tag information read and the tag information missed by the manager. It is a thing.

That is, when the tag information sent from the ground traveling body 21 and the flying body 22 to the management device includes the tag information that has been overlooked, it is possible to prompt human confirmation or human supplementary reading. Compared with the case where all the RFID tags 16 are read by humans, only the RFID tags 16 that have been missed need to be read by humans, and there is a tentatively missed RFID tag 16. However, it can be said that the efficiency is improved as a whole.

Next, FIGS. 7 and 8 show other operation flowcharts of the reading process of FIG. In FIG. 6, it is assumed that the repeated reading of the RFID tag 16 that was missed is repeated again, but in FIG. 7, the address information of the RFID tag 16 that was missed is obtained from the management tag data 16A. It is assumed that only the RFID tag 16 that has been read out is read again. From these facts, for example, in FIGS. 7 and 8, it is effective when the position where the inmate 15 is accommodated is known in advance, and in FIG. 6, the existence of the inmate 15 is found. Even if it is, it can be said that it is effective when the accommodation position is unknown (random arrangement).

In FIG. 7, when the ground traveling body 21 shown in FIG. 5A recognizes the check mark “R” (S3), the ground traveling body 21 is stored in the storage unit 52 by the reading information processing unit 55. All tag information is transmitted from the transmission / reception unit 45 to the management device (personal computer 32, mobile terminal 33) via the communication relay unit 31 (S41). In the management device, it is collated based on the management tag data whether or not the missed RFID tag 16 exists, and if the missed RFID tag 16 exists, the address information of the missed RFID tag 16 travels on the ground. It is transmitted to the body 21.

The ground traveling object 21 receives the information of the RFID tag 16 that has been overlooked from the management device (S42), and from the address information of the tag information that has been overlooked, the traveling direction mark 18 (check mark) and the reading range mark 17A (17B, 17C). ), While recognizing the travelability marks 19 and 20, the vehicle travels with the flying object 22 landing at the address position (S43).

If the missed tag information includes the reading range by the ground vehicle 21, the RFID tag 16 of the corresponding inmate is read, and when the "R" mark is recognized, it is transmitted to the management device, and the flight body 22 When the RFID tag 16 in the reading range is present, the flight body 22 is instructed to fly at the corresponding address position (S44). Further, in the management device, it is collated based on the management tag data whether or not the missed RFID tag 16 exists, and if the missed RFID tag 16 exists, the address information of the missed RFID tag 16 is on the ground. It is transmitted to the traveling body 21. Further, when the information of the RFID tag 16 that has been overlooked is received from the management device, the repeat condition (number of times) set in the travel setting unit 53 of the ground vehicle 21 is reached (S45), or within the repeat condition. The reading of the RFID tag 16 is repeated until all the RFID tags 16 are not overlooked in the collation result of the reading of the RFID tag 16 of the ground vehicle 21 (S41 to S46).

Then, when all the RFID tags 16 are not overlooked by the ground traveling body 21 within the repeating conditions, or when the repeating conditions are reached, the ground traveling body 21 is in a state of landing the flying object 22 at the station. Return to 14 (S47).

On the other hand, in the flying object 22, as shown in FIG. 8, the reading information processing unit 75 manages all the tag information stored in the storage unit 72 from the transmitting / receiving unit 65 via the communication relay unit 31 (personal computer 32). , Mobile terminal 33) (S51). In the management device, it is verified whether or not the RFID tag 16 of the missed reading exists based on the management tag data, and if the RFID tag 16 of the missed reading exists, the information of the RFID tag 16 of the missed reading is the flying object 22. Will be sent to.

When the flying object 22 waits for receiving the information of the RFID tag 16 missed from the management device, receives the information of the RFID tag 16 missed (S52), and the ground traveling body 21 has not returned to the station 14. (S53), waiting for a flight instruction from the ground vehicle 21 (S54), reading the corresponding RFID tag 16 at the corresponding address position, and landing on the ground vehicle 21 (S55).

While the ground traveling body 21 does not recognize the "R" mark, S54 to S55 are repeated, and when the recognition is made, the process returns to S51 (S56). Further, when the ground traveling body 21 returns to the station 14 (S54), the process ends.

Then, after the ground traveling body 21 returns to the station 14 with the flying body 22 landed, the management device can display all the tag information read and the tag information missed by the manager. It is a thing.

Next, FIG. 9 shows an operation flowchart of the second embodiment in the movement of the ground traveling body and the flying object constituting the RFID reading system of FIG. 2, and FIG. 10 shows an operation flowchart of the reading process of FIG. 9. Here, it is assumed that the flying object 22 uses the landing mark as a following mark that follows the traveling of the ground traveling body 21 and flies. In FIG. 9A, the ground traveling body 21 is based on the premise that the ground traveling body power supply 46 is sufficiently charged by the charging unit 14A at the station 14, for example, the time (time) set by the traveling setting unit 53. ) Will start when it arrives.

That is, when the ground traveling body 21 starts traveling and recognizes the check mark of "S" as an image, it recognizes the reading range mark 17A as an image and starts reading the RFID tag 16 attached to the contained body 15. (S61).

After that, the traveling direction mark 18 (check mark), the reading range mark 17A, and the travelability marks 19 and 20 are imaged by the image pickup unit 43, the image is recognized by the image analysis unit 54, and the RFID tag 16 in the reading range is read while traveling. , The read tag information is stored in the storage unit 52 (S62), and is continued until the check mark “R” shown in FIG. 3 is recognized as an image (S63). Then, when the check mark "R" is recognized as an image, a process of whether or not the vehicle repeatedly travels is performed (shifting to FIG. 10A).

On the other hand, in FIG. 9B, the flying object 22 is based on the premise that the ground traveling body power supply 46 of the ground traveling body 21 sufficiently charges the flying object power supply 66 via the connection line 23, for example. The landing mark 21A is imaged according to the flight instruction signal from the ground vehicle 21, and the flight is started while recognizing the image (S71). That is, the flight body 22 takes an image of the landing mark 21A on the ground traveling body 21 by the image pickup unit 63, recognizes the image by the image analysis unit 74, and starts the flight.

The flying object 22 cooperates with the traveling state (traveling and reading of the RFID tag 16) of the ground traveling body 21 while following the ground traveling body 21 by the landing mark 21A, and has a reading range according to the position of the ground traveling body 21. The marks 17B and 17C are imaged by the image pickup unit 63 to recognize the image, and the RFID tags 16 attached to the contained body 15 within the reading range are sequentially read by the reader 64 and stored in the storage unit 72 (S72). This is repeated until the RFID tag 16 in the reading range is read (S73). It should be noted that the ground traveling body 21 and the flying body 22 may maintain relative cooperation by the landing mark 21A regardless of which one is followed.

Then, when the ground traveling body 21 recognizes the check mark “R” (S73), the landing mark 21A is image-recognized and landed on the ground traveling body 21 according to the landing instruction signal from the ground traveling body 21 (S74). ). Then, when the check mark "R" is recognized as an image, a process of whether or not the vehicle repeatedly travels is performed (shifting to FIG. 10B).

Subsequently, in FIG. 10A, when the ground traveling body 21 recognizes the check mark “R” (S63), the reading information processing unit 55 transmits / receives all the tag information stored in the storage unit 52. The management device (personal computer 32, mobile terminal 33) transmits from the unit 45 via the communication relay unit 31 (S81). In the management device, it is verified whether or not the RFID tag 16 that has been overlooked exists based on the management tag data, and if the RFID tag 16 that has been overlooked exists, the information of the RFID tag 16 that has been overlooked is the ground vehicle. It is transmitted to 21.

When the ground vehicle 21 receives the information of the RFID tag 16 missed from the management device (S82) and does not reach the repetition condition (number of times) set in the travel setting unit 53 (S83), the check shown in FIG. 3 is performed. The RFID tag 16 is repeatedly traveled from the position of the mark "R" to the start position of "S", and the RFID tag 16 is repeatedly read from S61 of FIG. 9A by the ground traveling body 21, and the traveling setting unit of the ground traveling body 21 is read. Reading of the RFID tag 16 is repeated until the repetition condition (number of times) set in 53 is reached, or until the management device collates that there is no omission in the RFID tag 16 by the ground vehicle 21 within the repetition condition ( S81 to S83).

Then, when all the RFID tags 16 are not overlooked by the ground traveling body 21 within the repeating condition, or when the repeating condition is reached, the ground traveling body 21 returns to the station 14 (S84). The reading of the RFID tag 16 of the flying object 22 will be described with reference to FIG. 10 (B).

After the return of the ground vehicle 21, all of the read tag information and the missed tag information can be displayed to the administrator on the management device (personal computer 32, mobile terminal 33).

On the other hand, when the ground traveling body 21 recognizes the check mark “R” (S63), the flying body 22 has all the tags stored in the storage unit 72 by the reading information processing unit 75 in FIG. 10 (B). Information is transmitted from the transmission / reception unit 65 to the management device (personal computer 32, mobile terminal 33) via the communication relay unit 31 (S91). In the management device, it is verified whether or not the RFID tag 16 of the missed reading exists based on the management tag data, and if the RFID tag 16 of the missed reading exists, the information of the RFID tag 16 of the missed reading is the flying object 22. Will be sent to.

When the ground vehicle 21 waits for receiving the information of the RFID tag 16 that has been missed from the management device, receives the information of the RFID tag 16 that has been read (S92), and the ground vehicle 21 has not returned to the station 14. (S93) waits for the flight start instruction from the ground vehicle 21 (S94), shifts to S71 in FIG. 9 (B), and while following the ground vehicle 21, RFID is within the range of the reading range marks 17B and 17C. The tag 16 is read. There is no flight start instruction (S94), and the process is repeated until the ground vehicle 21 returns to the station 14 (S95).

Then, after the ground traveling body 21 returns to the station 14 with the flying body 22 landing on the check mark “R”, the management device receives the tag information read and the tag information missed by the administrator. All can be displayed.

Similarly to the above, when the tag information sent from the ground traveling body 21 and the flying body 22 to the management device includes the tag information that has been overlooked, human confirmation or human supplementary reading is urged. Compared to the case where all RFID tags 16 are read by humans, only the RFID tags 16 that have been missed need to be read by humans, and the RFID tags 16 that have been missed can be read. Even if there is, it can be said that the efficiency is improved as a whole.

Next, FIGS. 11 and 12 show other operation flowcharts of the reading process of FIG. 9. In FIG. 10, it is assumed that the repeated reading of the RFID tag 16 that has been missed is repeated and all the readings are repeated. However, in FIGS. 11 and 12, the RFID tag 16 that has been missed is subjected to the address information from the management tag data 16A. It is assumed that only the RFID tag 16 that has been missed is read again. From these facts, for example, in FIG. 10, it is effective when the position where the inmate 15 is accommodated is known in advance, and in FIGS. 11 and 12, the existence of the inmate 15 is found. Even if it is done, it can be said that it is effective when the accommodation position is unknown (random arrangement) as described above.

In FIG. 11, when the ground traveling body 21 shown in FIG. 9A recognizes the check mark “R” (S63), the ground traveling body 21 is stored in the storage unit 52 by the reading information processing unit 55. All tag information is transmitted from the transmission / reception unit 45 to the management device (personal computer 32, mobile terminal 33) via the communication relay unit 31 (S101). In the management device, it is collated based on the management tag data whether or not the missed RFID tag 16 exists, and if the missed RFID tag 16 exists, the address information of the missed RFID tag 16 travels on the ground. It is transmitted to the body 21.

The ground vehicle 21 receives the information of the RFID tag 16 read over from the management device (S102), and from the address information of the tag information read off from the tube, the traveling direction mark 18 (check mark), the reading range mark 17A, and the running performance. The vehicle travels to the address position while recognizing the marks 19 and 20 (S103).

If the tag information of the missed reading includes the reading range by the ground vehicle 21, the RFID tag 16 of the corresponding confined body is read, and when the "R" mark is recognized, it is transmitted to the management device, and the flying object 22 When the RFID tag 16 in the reading range is present, the flying object 22 is instructed to start the flight at the corresponding address position (S104), until the repetition condition (number of times) set in the traveling setting unit 53 of the ground traveling body 21 is reached (S105). ) Or, the reading of the RFID tag 16 is repeated until all the RFID tags 16 are not overlooked in the collation result of the reading of the RFID tag 16 of the ground traveling body 21 within the repeating conditions (S101 to S106).

Then, when all the RFID tags 16 are not overlooked by the ground traveling body 21 within the repeating conditions, or when the repeating conditions are reached, the ground traveling body 21 is in a state of landing the flying object 22 at the station. Return to 14 (S107).

On the other hand, in the flying object 22, as shown in FIG. 12, the reading information processing unit 75 manages all the tag information stored in the storage unit 72 from the transmitting / receiving unit 65 via the communication relay unit 31 (personal computer 32). , Mobile terminal 33) (S111). In the management device, it is verified whether or not the RFID tag 16 of the missed reading exists based on the management tag data, and if the RFID tag 16 of the missed reading exists, the information of the RFID tag 16 of the missed reading is the flying object 22. Will be sent to.

When the flying object 22 waits for receiving the information of the RFID tag 16 that has been missed from the management device, receives the information of the RFID tag 16 that has been missed (S112), and the ground traveling object 21 has not returned to the station 14. (S113), waiting for the flight start instruction from the ground vehicle 21 (S114), reading the corresponding RFID tag 16 at the corresponding address position while following the landing mark of the ground vehicle 21, and placing it on the ground vehicle 21. Land (S115).

While the ground traveling body 21 does not recognize the "R" mark, S114 to S115 are repeated, and when the recognition is made, the process returns to S51 (S116). Further, when the ground traveling body 21 returns to the station 14 (S114), the process ends.

Then, when the ground traveling body 21 recognizes the "R" mark, it lands on the ground traveling body 21 (S117). After the ground vehicle 21 returns to the station 14 with the aircraft 22 landing on the check mark "R", the management device receives all the tag information read and missed by the administrator. Can be displayed.

In this way, the ground traveling body 21 and the flying body 22 cooperate with each other at the same time without requiring human operation for reading the RFID tag 16 attached to the entire contained body 15 housed in the product warehouse 12. However, since the RFID tag 16 is shared, the RFID tag 16 can be read in a short time, and the tag information of the RFID tag 16 can be obtained with high efficiency without using human labor at the time of reading.

By the way, in the above embodiment, the case where the power source 66 for the flying object of the flying object 22 is supplied with power from the power source 46 for the ground traveling body of the ground traveling body 21 by the connecting line 23 is shown, but the connecting line is not used. It may be charged in a non-contact manner.

Specifically, the ground traveling body 21 is provided with a power supply means for supplying electric power from the ground traveling body power supply 46 provided by the ground traveling body 21 to the flying object power supply 66 provided by the flying object 22 in a non-contact manner. The flying object 22 is provided with a charging means for charging its own flying object power supply 66 in a non-contact manner from the power supply means, and the flying object 22 is set by monitoring the capacity of the flying object power supply 66 by the controller 41. It can be realized by landing on the ground traveling body 21 and charging from the power supply means when the capacity falls below the capacity. In this case, by landing the flying object 22 while the ground traveling body 21 is traveling, the power consumption of the flying object 22 can be reduced.

With the above configuration, it is not necessary to return to the initial position (for example, station 14) to fly due to insufficient driving power of the flying object 22, and the reading time of the RFID tag 16 can be shortened. be.

Further, in the above embodiment, the case where the management device side performs the verification of whether or not the RFID tag 16 that has been overlooked exists is shown, but the ground traveling body 21 and the flying body 22 are provided with the management tag data and read. The dropped RFID tag 16 may be specified. Further, the tag information read by the flying object 22 may be transmitted to the ground traveling body 21, the tag information may be collectively managed by the ground traveling body 21, and the tag information may be transmitted to the management device. By the way, in the above embodiment, the case where the RFID reading system in which the ground traveling body 21 and the flying body 22 are paired is operated in the product warehouse 12, but the traveling route (flight route) is divided into a plurality of sets. By reading the RFID tag 16, the time can be further reduced.

The RFID reading system of the present invention can be used in industries such as manufacturing, use, and sales of a device that automatically reads a stored body such as a product to which RFID is attached unmanned in a holding environment such as a warehouse.

11 RFID reading system 12 Product warehouse 13 Owned shelf 13A to 13C Owned shelf row 14 Station 14A Charging unit 15 Contained body 16 RFID tag 17A to 17C Reading range mark 18 Travel direction mark 19, 20 Travelability mark 21 Ground traveling body 21A Landing Mark 22 Aircraft 23 Connection line 31 Communication relay unit 32 Personal computer (management device)
33 Mobile terminal (management device)
41,61 Controller 42,62 Drive mechanism unit 43,63 Image pickup unit 44,64 Reader 45,65 Transmission / reception unit 46,66 Power supply 51,71 Control unit 52,72 Storage unit 53 Travel setting unit 54,74 Image analysis unit 55, 75 Reading information processing unit 56,76 Drive control unit 73 Flight setting unit

Claims (6)

At least in the area where the travel-related mark is placed, a plurality of containment bodies with RFID tags of unique information are housed, and RFID reading of ground vehicles and flying bodies that read the RFID tags attached to the containment bodies. It ’s a system,
The ground vehicle is
A landing mark formed at a position where an image can be taken and landing the flying object,
At least an image pickup means for capturing the driving-related mark, and
A tag reading means for reading the tag information of the RFID tag attached to the contained body, and
At least, a control means for recognizing a travel-related mark imaged by the image pickup means and traveling the RFID tag so that the tag information of the RFID tag can be read by the tag reading means.
Have,
The flying object is
At least an imaging means for capturing the landing mark and
A tag reading means for reading the tag information of the RFID tag attached to the contained body, and
At least, the landing mark captured by the image pickup means is recognized, the landing mark is used as the landing and flight base point, and the reading of the RFID tag by the tag reading means is linked with the traveling state of the ground vehicle. The control means to be performed and
An RFID reading system characterized by having. The RFID reading system according to claim 1.
In the area, a reading range mark is arranged as a range for reading the RFID tag on each of the ground vehicle and the flying object.
The reading range mark is characterized by including information that the reading of the RFID tag by the ground vehicle is in the low-rise range and the reading of the RFID tag by the flying object is in the high-rise range from the low-rise range. Reading system. The RFID reading system according to claim 1 or 2, wherein the control means of the ground vehicle transmits the read tag information to a predetermined management device, and receives the read-off RFID tag information from the management device. An RFID reading system characterized in that the RFID tag is sometimes read again. The RFID reading system according to claim 1 or 2, wherein the control means of the flying object transmits the read tag information to a predetermined management device, and receives the information of the RFID tag read off from the management device. An RFID reading system characterized by having the RFID tag read again. The RFID reading system according to at least one of claims 1 to 4, wherein a power source for a ground vehicle provided by the ground vehicle and a power source for the vehicle provided by the vehicle are electrically connected by wire. An RFID reading system featuring. The RFID reading system according to at least one of claims 1 to 4.
The ground vehicle includes a power supply means for supplying electric power from the ground vehicle power source provided by the ground vehicle to the vehicle power source included in the vehicle.
The flying object is provided with a charging means for charging its own vehicle power source from the power supply means, and the control means monitors the capacity of the flying object power source, and when the capacity falls below a set capacity, the ground traveling body An RFID reading system characterized in that it lands on top and is charged by the power supply means.

Images