JP6947107B2 - Goods management system, goods management device, in-vehicle device, wireless tag, goods management method and computer program - Google Patents

Description

The present invention relates to an article management system, an article management device, an in-vehicle device, a wireless tag, an article management method and a computer program, and in particular, an article management system for managing articles transported by an industrial vehicle such as a forklift, and article management. Related to equipment, in-vehicle equipment, wireless tags, article management methods and computer programs.

When transporting articles such as large cargo by an industrial vehicle such as a forklift, it is desirable to determine the optimum transport route for the articles in order to shorten the transport time. In order to determine the optimum transport route for an article, it is necessary to accurately grasp the past transport route of the article.

On the other hand, an article management system has been proposed in which a wireless tag is attached to an article to manage the movement history of the article (see, for example, Patent Document 1).

JP-A-2017-103716

However, in the article management system described in Patent Document 1, although it is possible to manage whether the article transported by the forklift is stationary or moving as a movement history, what kind of route the article has moved has been achieved. It is not possible to control the transport route of the article indicating the above. Therefore, in the conventional article management system, it is not possible to accurately grasp the transportation route of the article.

The present invention has been made in view of such circumstances, and is an article management system, an article management device, an in-vehicle device, a wireless tag, which can accurately grasp a transport route of an article transported by an industrial vehicle. The purpose is to provide goods management methods and computer programs.

(1) In order to achieve the above object, the article management system according to one embodiment of the present invention includes an article tag which is a wireless tag attached to an article, an in-vehicle device installed in an industrial vehicle, and the in-vehicle device. And an article management device connected via a network, the article tag transmits an article tag ID, which is its own identifier, based on a vibration detection unit that detects vibration and the detection result of the vibration detection unit. The in-vehicle device includes a tag ID transmitting unit, a tag ID receiving unit that receives the article tag ID, a vehicle ID that is an identifier of the industrial vehicle, and the article tag ID received by the tag ID receiving unit. The article management device includes an ID information transmission unit that transmits ID information including at least the above to the article management device, and the article management device includes an ID information acquisition unit that acquires the ID information from the in-vehicle device and a position of the industrial vehicle. Based on the position information acquisition unit that acquires the information of the above, the position information acquired by the position information acquisition unit, and the ID information acquired by the ID information acquisition unit, the article tag is placed at the position of the industrial vehicle. Includes an association unit that associates IDs.

(7) The article management device according to another embodiment of the present invention is obtained from an in-vehicle device installed in an industrial vehicle, from a vehicle ID which is an identifier of the industrial vehicle, and an article tag attached to the article. The ID information acquisition unit that acquires ID information including at least the article tag ID that is the identifier of the article tag that has been received, the position information acquisition unit that acquires the position information of the industrial vehicle, and the position information acquisition unit Based on the acquired information on the position and the ID information acquired by the ID information acquisition unit, the article tag includes an association unit that associates the article tag ID with the position of the industrial vehicle, and the article tag is attached to the article. It is a wireless tag that can be attached, and transmits the article tag ID when it vibrates.

(8) The in-vehicle device according to another embodiment of the present invention is an in-vehicle device installed in an industrial vehicle, and is attached to an article and transmits an article tag ID which is an identifier of the article tag when vibrating. ID information for transmitting ID information including at least a tag ID receiving unit that receives the article tag ID, a vehicle ID that is an identifier of the industrial vehicle, and the article tag ID received by the tag ID receiving unit from the tag. It is equipped with a transmitter.

(9) The wireless tag according to another embodiment of the present invention is a wireless tag attached to an article, and has a vibration detection unit that detects vibration and its own identifier based on the detection result of the vibration detection unit. It includes a tag ID transmission unit that transmits a certain wireless tag ID.

(10) In the article management method according to another embodiment of the present invention, a vehicle ID which is an identifier of the industrial vehicle and an article tag ID which is an identifier of the article tag at the time of vibration can be obtained from an in-vehicle device installed in the industrial vehicle. A step of acquiring ID information including at least the article tag ID received from the article tag to be transmitted, a step of acquiring the position information of the industrial vehicle, the acquired position information, and the ID information. Includes a step of associating the article tag ID with the position of the industrial vehicle based on.

(11) In the computer program according to another embodiment of the present invention, a computer is transmitted from an in-vehicle device installed in an industrial vehicle to a vehicle ID which is an identifier of the industrial vehicle and an article which is an identifier of an article tag when vibrating. An ID information acquisition unit that acquires ID information including at least the article tag ID received from the article tag that transmits a tag ID, a position information acquisition unit that acquires position information of the industrial vehicle, and the position information. Based on the position information acquired by the acquisition unit and the ID information acquired by the ID information acquisition unit, the article tag ID is associated with the position of the industrial vehicle to function as an association unit.

According to the present invention, it is possible to accurately grasp the transport route of the article transported by the industrial vehicle.

It is a figure which shows an example of the structure of the article management system which concerns on Embodiment 1 of this invention. It is a block diagram which shows an example of the structure of the article tag which concerns on Embodiment 1 of this invention. It is a flowchart which shows an example of the operation procedure of the article tag which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the traveling path of the forklift which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the label which concerns on Embodiment 1 of this invention. It is a block diagram which shows an example of the structure of the forklift which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the ID information created by the ID information creation part which concerns on Embodiment 1 of this invention. It is a flowchart which shows an example of the operation procedure of the in-vehicle device mounted on the forklift which concerns on Embodiment 1 of this invention. It is a block diagram which shows an example of the configuration of the server which concerns on Embodiment 1 of this invention. It is a flowchart which shows an example of the operation procedure of the server which concerns on Embodiment 1 of this invention. It is a sequence diagram which shows an example of the process executed by the article management system which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the traveling path of the forklift which concerns on Embodiment 2 of this invention. It is a block diagram which shows an example of the structure of the in-vehicle device attached to the forklift which concerns on Embodiment 2 of this invention. It is a figure which shows an example of the ID information created by the ID information creation part which concerns on Embodiment 2 of this invention. It is a sequence diagram which shows an example of the process executed by the article management system which concerns on Embodiment 2 of this invention.

[Outline of Embodiment of the present invention]
First, the outlines of the embodiments of the present invention will be listed and described.
(1) The article management system according to an embodiment of the present invention is connected to an article tag, which is a wireless tag attached to an article, an in-vehicle device installed in an industrial vehicle, and the in-vehicle device via a network. The article tag includes an article management device, a vibration detection unit that detects vibration, and a tag ID transmission unit that transmits an article tag ID that is its own identifier based on the detection result of the vibration detection unit. The in-vehicle device includes ID information including at least a tag ID receiving unit that receives the article tag ID, a vehicle ID that is an identifier of the industrial vehicle, and the article tag ID received by the tag ID receiving unit. The article management device includes an ID information transmission unit for transmitting to the article management device, the article management device includes an ID information acquisition unit for acquiring the ID information from the in-vehicle device, and a position information acquisition unit for acquiring the position information of the industrial vehicle. The unit and the association unit that associates the article tag ID with the position of the industrial vehicle based on the position information acquired by the position information acquisition unit and the ID information acquired by the ID information acquisition unit. include.

According to this configuration, the article tag vibrates when the article is transported by the industrial vehicle and transmits the article tag ID. Therefore, the article management device can know whether or not the article is being transported depending on the success or failure of the acquisition of the article tag ID. On the other hand, since the in-vehicle device transmits ID information including the vehicle ID and the article tag ID to the article management device, the article management device can associate the industrial vehicle with the article. In addition, the article management device acquires information on the position of the industrial vehicle. Therefore, the article management device can associate the article tag ID with the position of the industrial vehicle. As a result, it is possible to accurately grasp the transport route of the article transported by the industrial vehicle.

(2) Preferably, the position information acquisition unit further acquires information on the time when the industrial vehicle exists at the position, and the association unit uses the position acquired by the position information acquisition unit and the above. Based on the time information and the ID information acquired by the ID information acquisition unit, the article tag ID is associated with the position and time of the industrial vehicle.

According to this configuration, the article management device also acquires time information of the industrial vehicle. Therefore, the article management device can associate the article tag ID with the position and time of the industrial vehicle. As a result, the transport route of the goods transported by the industrial vehicle can be accurately grasped including the time.

(3) Further, the ID information transmission unit transmits image data including a label for specifying the position of the industrial vehicle in the ID information, and the position information acquisition unit is transmitted by the ID information acquisition unit. The position of the industrial vehicle may be estimated based on the image data included in the acquired ID information, and the label may be located on the traveling path of the industrial vehicle.

According to this configuration, for example, the article management device recognizes the label by image processing the image data including the label taken by the camera installed in the industrial vehicle, and the label associated with the label from the recognition result. The position of can be determined. Since the industrial vehicle runs in the vicinity of the label, the article management device can accurately estimate the position of the industrial vehicle from the position of the label. Since the position of the article being transported is associated with the position of the industrial vehicle, the transport route of the article transported by the industrial vehicle can be accurately grasped.

(4) Further, the tag ID receiving unit further receives the fixed tag ID from a fixed tag which is a wireless tag that transmits a fixed tag ID which is its own identifier, and the ID information transmitting unit receives the fixed tag ID. The fixed tag ID received by the ID receiving unit is included in the ID information and transmitted, and the position information acquisition unit is based on the fixed tag ID included in the ID information acquired by the ID information acquisition unit. The position of the industrial vehicle is estimated, and the fixed tag may be attached around the travel path of the industrial vehicle.

According to this configuration, for example, the article management device can determine the position of the fixed tag associated with the fixed tag ID from the fixed tag ID. Since the industrial vehicle travels in the vicinity of the fixed tag, the article management device can accurately estimate the position of the industrial vehicle from the position of the fixed tag. Since the position of the article being transported is associated with the position of the industrial vehicle, the transport route of the article transported by the industrial vehicle can be accurately grasped.

(5) Further, the ID information transmitting unit transmits the received radio wave intensity of the tag ID receiving unit in the ID information, and the position information acquiring unit uses the ID information acquired by the ID information acquiring unit. The position of the industrial vehicle may be estimated based on the received radio field intensity included.

According to this configuration, the article management device can estimate the position of the industrial vehicle in consideration of the reception strength of the radio wave from the fixed tag. For example, the distance from the fixed tag to the industrial vehicle can be estimated based on the reception intensity. As a result, when the fixed tag IDs are received from a plurality of fixed tags at the same time, the distance from each fixed tag can be estimated based on the reception strength, so that the position of the industrial vehicle can be narrowed down. It can accurately estimate the position of industrial vehicles.

(6) Further, the ID information transmitting unit may include the reception time of the article tag ID by the tag ID receiving unit in the ID information and transmit it to the article management device.

According to this configuration, the reception time of the article tag ID is transmitted to the article management device instead of the transmission time of the article tag ID. Thereby, even when the article tag ID is received from the plurality of article tags when the industrial vehicle is transporting a plurality of articles, the time can be synchronized between the article tags. Thereby, a plurality of time-synchronized article tags can be associated with the position and time of the industrial vehicle. When the time is synchronized between a plurality of article tags, it is possible to manage the transport route of the set by using a plurality of article tags transmitting the article tag ID at the same time as one set.

(7) In the article management device according to another embodiment of the present invention, the in-vehicle device can be obtained from an in-vehicle device installed in an industrial vehicle, a vehicle ID which is an identifier of the industrial vehicle, and an article tag attached to the article. The ID information acquisition unit that acquires ID information including at least the article tag ID that is the identifier of the article tag that has been received, the position information acquisition unit that acquires the position information of the industrial vehicle, and the position information acquisition unit Based on the acquired information on the position and the ID information acquired by the ID information acquisition unit, the article tag includes an association unit that associates the article tag ID with the position of the industrial vehicle, and the article tag is attached to the article. It is a wireless tag that can be attached, and transmits the article tag ID when it vibrates.

According to this configuration, the article tag vibrates when the article is transported by the industrial vehicle and transmits the article tag ID. The in-vehicle device receives the article tag ID. The ID information acquisition unit of the article management device acquires ID information including the vehicle ID of the industrial vehicle and the article tag ID from the in-vehicle device. Since the article tag ID transmits the article tag ID only when the article vibrates, the article management device can know whether or not the article is being transported depending on the success or failure of acquisition of the article tag ID. Further, since the ID information acquisition unit acquires ID information including the vehicle ID and the article tag ID from the in-vehicle device, the industrial vehicle and the article can be associated with each other. In addition, the position information acquisition unit acquires the position information of the industrial vehicle. Therefore, the associating unit can associate the article tag ID with the position of the industrial vehicle. As a result, it is possible to accurately grasp the transport route of the article transported by the industrial vehicle.

(8) The in-vehicle device according to another embodiment of the present invention is an in-vehicle device installed in an industrial vehicle, and is attached to an article and transmits an article tag ID which is an identifier of the article tag when vibrating. ID information for transmitting ID information including at least a tag ID receiving unit that receives the article tag ID, a vehicle ID that is an identifier of the industrial vehicle, and the article tag ID received by the tag ID receiving unit from the tag. It is equipped with a transmitter.

According to this configuration, the article tag vibrates when the article is transported by the industrial vehicle and transmits the article tag ID. The ID information transmitting unit transmits ID information including the vehicle ID of the industrial vehicle and the article tag ID received from the article tag to the outside. That is, the ID information indicates that the article to which the article tag corresponding to the article tag ID is attached was transported by the industrial vehicle of the vehicle ID. As a result, the other device that has received the ID information can accurately grasp the transport route of the article transported by the industrial vehicle based on the ID information and the movement route of the industrial vehicle.

(9) The wireless tag according to another embodiment of the present invention is a wireless tag attached to an article, and has a vibration detection unit that detects vibration and its own identifier based on the detection result of the vibration detection unit. It includes a tag ID transmission unit that transmits a certain wireless tag ID.

According to this configuration, the wireless tag vibrates when the article is transported by the industrial vehicle and transmits the wireless tag ID. That is, another device that has received the wireless tag ID can know whether or not the article is being transported, depending on the success or failure of the acquisition of the wireless tag ID. Thereby, the other device can accurately grasp the transport route of the article transported by the industrial vehicle based on the ID information and the movement route of the industrial vehicle.

(10) The article management method according to another embodiment of the present invention is an article management method using an article management device, from an in-vehicle device installed in an industrial vehicle to a vehicle ID which is an identifier of the industrial vehicle. A step of acquiring ID information including at least the article tag ID received from the article tag for transmitting the article tag ID which is an identifier of the article tag at the time of vibration, a step of acquiring information on the position of the industrial vehicle, and a step of acquiring the position information of the industrial vehicle. The step includes associating the article tag ID with the position of the industrial vehicle based on the acquired position information and the ID information.

This configuration includes a characteristic processing unit included in the above-mentioned article management device as a step. Therefore, the same operation and effect as the above-mentioned article management device can be obtained.

(11) In the computer program according to another embodiment of the present invention, a computer is transmitted from an in-vehicle device installed in an industrial vehicle to a vehicle ID which is an identifier of the industrial vehicle and an article which is an identifier of an article tag when vibrating. An ID information acquisition unit that acquires ID information including at least the article tag ID received from the article tag that transmits a tag ID, a position information acquisition unit that acquires position information of the industrial vehicle, and the position information. Based on the position information acquired by the acquisition unit and the ID information acquired by the ID information acquisition unit, the article tag ID is associated with the position of the industrial vehicle to function as an association unit.

According to this configuration, the computer can function as the above-mentioned article management device. Therefore, the same operation and effect as the above-mentioned article management device can be obtained.

[Details of Embodiments of the present invention]
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. It should be noted that all of the embodiments described below show a preferred specific example of the present invention. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, etc. shown in the following embodiments are examples, and are not intended to limit the present invention. The present invention is specified by the scope of claims. Therefore, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept of the present invention are not necessarily necessary for achieving the object of the present invention, but more. Described as constituting a preferred form.

Further, the same components are designated by the same reference numerals. Since their functions and names are the same, their description will be omitted as appropriate.

[Embodiment 1]
<Overall configuration of goods management system>
FIG. 1 is a diagram showing an example of a configuration of an article management system according to a first embodiment of the present invention.
With reference to FIG. 1, the article management system 10 includes a forklift 1, an article tag 5 attached to an article 4 transported by the forklift 1, a base station 6, and a server 7.

The forklift 1 is an industrial vehicle used for transporting a large article 4 in a factory or the like. The forklift 1 can convey the article 4 by loading the article 4 on the overhang 1X and traveling. A camera 2 and an in-vehicle device 3 are attached to the forklift 1. The camera 2 is attached to a position where the rear of the forklift 1 can be imaged (for example, the position of the rear end of the fork head guard of the forklift 1), and captures an image of the rear of the forklift 1. The camera lens of the camera 2 is, for example, an ultra-wide-angle lens having an angle of view of 120 ° or more. The camera 2 is used for the purpose of monitoring the rear of the forklift 1, but is also used for the purpose of imaging a label described later. The camera 2 may be mounted at a position where the front of the forklift 1 can be imaged.

The in-vehicle device 3 attached to the forklift 1 is connected to the camera 2 by wire or wirelessly, and has a function for wirelessly communicating with the article tag 5 or the base station 6. The in-vehicle device 3 wirelessly receives the article tag ID (Identifier), which is an identifier of the article tag 5, from the article tag 5. The in-vehicle device 3 is a vehicle that is an identifier of the forklift 1, an article tag ID received from the article tag 5 and an image captured by the camera 2 to the server 7 via a network to which the base station 6 and the base station 6 are connected. ID information including an ID is transmitted wirelessly.

The base station 6 is connected to a network such as the Internet, and wirelessly communicates with the in-vehicle device 3. The base station 6 may be, for example, an access point such as Wi-Fi (registered trademark), or a wireless base station such as 5G or LTE (Long Term Evolution).

The article tag 5 is a wireless tag that is attached to each article and wirelessly transmits the article tag ID. The article tag 5 wirelessly transmits the article tag ID by, for example, outputting a radio wave in the 2.4 GHz band by using the wireless communication technology of BLE (Bluetooth Low Energy: Bluetooth is a registered trademark). BLE uses adaptive frequency hopping to reduce interference with radio waves transmitted by other tags. The article tag 5 is configured to output radio waves only when the article tag 5 vibrates. As a result, radio waves can not be output from the article tag 5 when the article 4 is placed in the storage location, and radio waves can be output from the article tag 5 when the article 4 is conveyed by the forklift 1. That is, when the article 4 is conveyed by the forklift 1, the vibration during movement of the forklift 1 is transmitted to the article 4 and the article tag 5 via the overhang 1X. As a result, the article tag 5 can output radio waves.

The server 7 functions as an article management device and receives ID information from the in-vehicle device 3 via the network. The server 7 analyzes the movement route of the in-vehicle device 3 and analyzes the transportation route of the article 4 conveyed by the in-vehicle device 3 based on the ID information.

<About article tag 5>
FIG. 2 is a block diagram showing an example of the configuration of the article tag 5 according to the first embodiment of the present invention.
With reference to FIG. 2, the article tag 5 includes a vibration detection unit 51, a transmission unit 52, and an antenna 53.

The vibration detection unit 51 is a sensor that detects the vibration of the article tag 5, and is composed of, for example, a servo-type or piezoelectric-type acceleration measuring device.

The transmission unit 52 functions as a tag ID transmission unit, receives a detection result from the vibration detection unit 51, and when the vibration detection unit 51 detects vibration, wirelessly transmits the article tag ID via the antenna 53.

The article tag ID transmitted by the transmission unit 52 is an ID unique to the article tag 5. The article tag 5 and the article 4 are associated one-to-one. Therefore, the article tag ID can also be used as an article ID which is an identifier of the article 4. The correspondence between the article tag 5 (article tag ID) and the article 4 is managed by the server 7.

The article tag 5 includes a battery (for example, a button type battery) for supplying electric power to each processing unit. The article tag 5 can be used for a long period of time (for example, several years) without replacing the battery because it outputs radio waves only when it vibrates and uses BLE technology.

FIG. 3 is a flowchart showing an example of the operation procedure of the article tag 5 according to the first embodiment of the present invention.
With reference to FIG. 3, the transmission unit 52 waits until the vibration detection unit 51 detects the vibration (NO in S1).

When the vibration detection unit 51 detects vibration, the transmission unit 52 wirelessly transmits the article tag ID to the outside via the antenna 53 (S2).

The article tag 5 repeatedly executes the processes of steps S1 and S2 until the battery is depleted of power. The article tag 5 wirelessly transmits the article tag ID only when the vibration is above a certain level, and does not wirelessly transmit when the vibration is less than a certain level, that is, when the vibration is weak. For example, only when the absolute value of the acceleration output by the acceleration measuring device, which is the vibration detection unit 51, is equal to or higher than a certain value, the transmission unit 52 determines that the vibration detection unit 51 has detected the vibration, and externally determines the article tag ID. Wirelessly transmit to.

As a result, the article tag 5 can transmit the article tag ID to the outside only when the article 4 to which the article tag 5 is attached vibrates.

<About forklift 1>
FIG. 4 is a diagram showing an example of a traveling path of the forklift 1 according to the first embodiment of the present invention.
FIG. 4 shows the inside of the factory as an example. The forklift 1 transports the article 4 in the factory, but there are fixed objects 8 such as pillars, walls, and equipment on which the forklift 1 cannot travel in the factory. That is, the forklift 1 can travel in a place other than the fixed object 8. However, a place other than the fixed object 8 may be provided in the factory where the forklift 1 cannot enter.

In FIG. 4, for convenience, three forklifts 1 are shown to show the movement route of the forklift 1, but in reality, there is one. That is, it is assumed that the forklift 1 moves in the direction of arrow 11A from the upper right to the left in FIG. 4, changes its direction in the middle, and moves in the direction of arrow 11B in the downward direction in FIG. The number of forklifts 1 is not limited to one, and a plurality of forklifts 1 may move in the factory.

A label 9 for identifying a position is attached to the fixed object 8 in advance. For example, in the factory shown in FIG. 4, labels L1 to L9 are attached as labels 9 around the traveling path of the forklift 1. When the forklift 1 travels according to the above-mentioned movement route, the camera 2 of the forklift 1 captures each label 9 in the order of labels L1, L2, and L3.

FIG. 5 is a diagram showing an example of the label 9 according to the first embodiment of the present invention.
With reference to FIG. 5, the label 9 is composed of, for example, a red label 9R, a green label 9G, and a blue label 9B arranged in parallel. A gap region 9S is provided between the red label 9R and the green label 9G, and between the green label 9G and the blue label 9B. The gap region 9S is, for example, a black region.

The label 9 has a different configuration depending on the mounting position. That is, a label 9 having a different configuration is attached to a point different from the point where the label 9 shown in FIG. 5 is attached. For example, the configuration of the label 9 may be changed by changing the arrangement order of the color labels and the number of the color labels shown in FIG. 5 for each position. Further, by arranging the color labels in parallel in the vertical direction instead of arranging them in parallel in the horizontal direction, the configuration of the label 9 may be changed for each position, and the shape of each color label is not made into a rectangular shape. , The configuration of the label 9 may be changed for each position by changing to another shape such as a triangular shape or a circular shape. Further, the configuration of the label 9 may be changed by changing the color of each color label for each position.

FIG. 6 is a block diagram showing an example of the configuration of the forklift 1 according to the first embodiment of the present invention.
With reference to FIG. 6, the forklift 1 includes a camera 2 and an in-vehicle device 3. In addition to these configurations, the forklift 1 naturally has a configuration for moving the forklift 1.
As described above, the camera 2 captures an image behind the forklift 1.

The in-vehicle device 3 includes a transmission / reception unit 31, an antenna 32, an image acquisition unit 33, and an ID information creation unit 34.

The in-vehicle device 3 can be realized by a computer device including a CPU, ROM, RAM, and the like. The image acquisition unit 33 and the ID information creation unit 34 are functional processing units realized by executing a computer program stored in a ROM or the like on a CPU. However, a part or all of the image acquisition unit 33 and the ID information creation unit 34 may be configured by hardware such as a semiconductor device.

The image acquisition unit 33 acquires the image data behind the forklift 1 captured by the camera 2 via the interface. The image acquisition unit 33 may perform image processing on the image data and cut out the image data including the label 9. For example, the image acquisition unit 33 executes a determination process of whether or not the image data includes a predetermined region of two or more colors (here, a red region, a green region, and a blue region). When the image acquisition unit 33 determines that the area is included, the image acquisition unit 33 cuts out the image data within a predetermined distance from the area including the area.

The transmission / reception unit 31 functions as a tag ID receiving unit, and wirelessly receives the article tag ID from the article tag 5 via the antenna 32. That is, the transmission / reception unit 31 receives radio waves in the 2.4 GHz band according to BLE. The article tag ID is shown as data in the radio wave.

The ID information creation unit 34 creates ID information including at least a vehicle ID which is an identifier of the forklift 1 and an article tag ID received by the transmission / reception unit 31. The vehicle ID is stored in the storage unit of the vehicle-mounted device 3.

Further, the transmission / reception unit 31 functions as an ID information transmission unit, and the ID information created by the ID information creation unit 34 is transmitted to the server via the antenna 32 and the base station 6 and the network connected to the base station 6. Send to 7. The transmission / reception unit 31 wirelessly communicates with the base station 6 in accordance with a wireless communication standard such as Wi-Fi (registered trademark), 5G or LTE.

FIG. 7 is a diagram showing an example of ID information created by the ID information creating unit 34 according to the first embodiment of the present invention.
The ID information is composed of time information, vehicle ID, sensor type information, tag ID, sensor information, and the like.

The time information is information indicating the time when the image acquisition unit 33 acquires the image data from the camera 2 or the time when the transmission / reception unit 31 receives the radio wave including the article tag ID from the article tag 5. The ID information creation unit 34 specifies the time when the image data or the radio wave is acquired based on the output signal of the timer or the clock provided in the in-vehicle device 3.

The vehicle ID is information indicating an identifier (vehicle ID) of the forklift 1 (for example, "FL1"). The forklift 1 and the in-vehicle device 3 are associated with each other on a one-to-one basis. Therefore, as the vehicle ID, the vehicle-mounted device ID, which is an identifier of the vehicle-mounted device 3, can also be used. The correspondence relationship between the forklift 1 and the vehicle-mounted device 3 (correspondence relationship between the vehicle ID and the vehicle-mounted device ID) is managed by the server 7.

The sensor type information is information indicating the type of the sensor that is the source of the sensor information described later. That is, when the transmission / reception unit 31 receives the radio wave including the article tag ID from the article tag 5, the sensor type information is referred to as the “article tag”. When the image acquisition unit 33 acquires image data from the camera 2, the sensor type information is set to "camera".

The tag ID is information indicating the article tag ID (for example, “B1”) received by the transmission / reception unit 31.

The sensor information includes the reception intensity of the radio wave received from the article tag 5 (for example, "-82 dB"), the image data acquired from the camera 2 by the image acquisition unit 33, or the image data including the label 9 cut out from the image data (for example, "-82 dB"). Information indicating label image data).

FIG. 8 is a flowchart showing an example of an operation procedure of the in-vehicle device 3 mounted on the forklift 1 according to the first embodiment of the present invention.

With reference to FIG. 8, the transmission / reception unit 31 receives a radio wave indicating the article tag ID from the article tag 5 (S11).

The image acquisition unit 33 acquires image data behind the forklift 1 from the camera 2 (S12).

The image acquisition unit 33 cuts out the image data including the label 9 by performing image processing on the acquired image data (S13).

The ID information creation unit 34 creates ID information as shown in FIG. 7 based on the radio waves and image data obtained in the processes of steps S11 and S13 (S14).

The transmission / reception unit 31 transmits the created ID information to the server 7 (S15). Each time the ID information is updated, the transmission / reception unit 31 may transmit only the ID information added by the update to the server 7, or periodically (for example, once a day) collects a plurality of ID information. And may be sent to the server 7. When it is not necessary to transmit the ID information to the server 7 in real time, the ID information may be given to the server 7 offline by using a memory card or the like that stores the ID information.

The in-vehicle device 3 repeatedly executes the processes of steps S11 to S15. However, if the image data including the label 9 is not cut out in the process of step S13, the in-vehicle device 3 may return to step S11 without executing the processes of steps S14 and S15.

<About server 7>
FIG. 9 is a block diagram showing an example of the configuration of the server 7 according to the first embodiment of the present invention.
The server 7 is realized by a computer device including a CPU, a ROM, a RAM, and the like. The server 7 includes a communication unit 71, a storage unit 72, and a control unit 73.

The communication unit 71 is a communication interface for connecting the server 7 to the network wirelessly or by wire. The communication unit 71 receives ID information from the in-vehicle device 3 of the forklift 1 via the network.

The storage unit 72 is composed of a ROM, a RAM, and the like, and stores not only a computer program executed by the CPU but also temporary data at the time of executing the computer program. Further, the storage unit 72 stores the label position information indicating the correspondence between the image data of the label 9 installed in the factory as shown in FIG. 4 and the position of the label 9.

The control unit 73 includes an ID information acquisition unit 74, a position information acquisition unit 75, and other functional processing units that are configured by a CPU or the like and are realized by executing a computer program stored in the storage unit 72. The association unit 76 is provided.

The ID information acquisition unit 74 acquires ID information from the in-vehicle device 3 via the communication unit 71.

The position information acquisition unit 75 acquires the position information of the forklift 1 and the information of the time when the forklift 1 exists at the position. For example, the position information acquisition unit 75 estimates the position and time of the forklift 1 based on the image data included in the acquired ID information. More specifically, the position information acquisition unit 75 performs image processing on the image data included in the ID information, and detects the image data of the label 9 included in the label position information stored in the storage unit 72. When the image data of the label 9 can be detected, the position information acquisition unit 75 detects the position of the label 9 corresponding to the detected image data of the label 9 based on the label position information. The position information acquisition unit 75 estimates the detected position of the label 9 or a position in the vicinity thereof as the position of the forklift 1. For example, the position on the route on which the forklift 1 closest to the position of the label 9 can travel may be estimated as the position of the forklift 1. Further, the position information acquisition unit 75 detects the time corresponding to the image data used for the position estimation of the forklift 1 from the ID information, and estimates the detected time as the time when the forklift 1 exists at the estimated position.

The position and time estimated by the position information acquisition unit 75 are discrete values. Therefore, the position information acquisition unit 75 may estimate the position of the time in the middle by performing interpolation processing using the position of the forklift 1 at the time before and after the position of the time in the middle.

The association unit 76 sets the position and time of the forklift 1 to the article tag ID based on the position and time information of the forklift 1 acquired by the position information acquisition unit 75 and the ID information acquired by the ID information acquisition unit 74. To associate. The article tag ID and the vehicle ID are associated with each other in the ID information. Therefore, the association unit 76 can associate the position and time information of the forklift 1 acquired by the position information acquisition unit 75 with the article tag ID.

Since the article tag 5 transmits radio waves only when the article vibrates, the article tag 5 transmits radio waves only when the article 4 is conveyed by the forklift 1. Therefore, at the time when the article tag ID can be acquired, it can be considered that the position of the article 4 (article tag 5) and the position of the forklift 1 are the same. As a result, the position and time of the forklift 1 associated with the article tag ID can be considered to indicate the transport route of the article 4 by the forklift 1. The transport route information of the article 4 is stored in the storage unit 72.

The control unit 73 can analyze the useless movement of the forklift 1, the work unevenness, the waiting state, and the like based on the transport route information of the article 4 stored in the storage unit 72. As a result, the control unit 73 can calculate an efficient movement route and the like and present it to the operator.

FIG. 10 is a flowchart showing an example of the operation procedure of the server 7 according to the first embodiment of the present invention.
With reference to FIG. 10, the ID information acquisition unit 74 acquires ID information from the in-vehicle device 3 of the forklift 1 (S21).

The position information acquisition unit 75 performs image processing on the image data included in the acquired ID information, and detects the image data of the label 9 included in the label position information stored in the storage unit 72. The position information acquisition unit 75 detects the position of the label 9 corresponding to the detected image data of the label 9 based on the label position information (S22).

The position information acquisition unit 75 estimates the detected position of the label 9 or a position in the vicinity thereof as the position of the forklift 1. Further, the position information acquisition unit 75 detects the time corresponding to the image data used for the position estimation of the forklift 1 from the ID information, and estimates the detected time as the time when the forklift 1 exists at the estimated position (S23). ).

The association unit 76 sets the position and time of the forklift 1 to the article tag ID based on the position and time information of the forklift 1 acquired by the position information acquisition unit 75 and the ID information acquired by the ID information acquisition unit 74. To associate. As a result, the association unit 76 estimates the transport route of the article 4 (S24).

If the server 7 cannot detect the image data of the label 9 in the process of step S22, the server 7 may end the process without executing the subsequent process.

<Processing sequence of article management system 10>
FIG. 11 is a sequence diagram showing an example of processing executed by the article management system 10 according to the first embodiment of the present invention.
When the vibration is not detected, the article tag 5 does nothing (S31).

Meanwhile, the in-vehicle device 3 moves in the factory. The in-vehicle device 3 acquires the image data captured by the camera 2 (S32). Further, the in-vehicle device 3 includes the acquired image data in the ID information and transmits the acquired image data to the server 7, and the server 7 acquires the ID information (S33).

The server 7 estimates the position and time of the forklift 1 by detecting the label from the image data included in the acquired ID information (S34).

When the forklift 1 loads an article (S35), the article tag 5 detects vibration (S36).

In response to the vibration detection, the article tag 5 transmits the article tag ID, and the in-vehicle device 3 receives the article tag ID (S37).

On the other hand, the in-vehicle device 3 periodically acquires the image data captured by the camera 2 (S38).

The in-vehicle device 3 includes the acquired image data and the article tag ID in the ID information and transmits the ID information to the server 7, and the server 7 acquires the ID information (S39).

The server 7 estimates the position and time of the forklift 1 by detecting the label from the image data included in the acquired ID information (S40).

The server 7 estimates the transport route of the article 4 by associating the estimated position and time information of the forklift 1 with the article tag ID included in the ID information (S41).

While the forklift 1 loads and conveys the article 4, the article tag 5 detects vibration, so that the processes of steps S36 to S41 are repeatedly executed.

When the forklift 1 unloads the article 4, the article tag 5 does not detect the vibration, so that the processes of steps S31 to S34 are repeatedly executed.

<Effect of Embodiment 1>
As described above, according to the first embodiment of the present invention, the article tag 5 vibrates when the article 4 is conveyed by the forklift 1, and transmits the article tag ID. Therefore, the server 7 can know whether or not the article 4 is being transported depending on the success or failure of the acquisition of the article tag ID. On the other hand, since the in-vehicle device 3 transmits the ID information including the vehicle ID and the article tag ID to the server 7, the server 7 can associate the forklift 1 with the article 4 based on the ID information. In addition, the server 7 acquires information on the position and time of the forklift 1. Therefore, the server 7 can associate the article tag ID with the position and time of the forklift 1. As a result, the transport path of the article 4 transported by the forklift 1 can be accurately grasped.

Further, in the first embodiment, the server 7 recognizes the label 9 by performing image processing on the image data including the label 9 taken by the camera 2 installed on the forklift 1, and associates the label 9 with the label 9 from the recognition result. The position of the label 9 can be determined. Since the forklift 1 is traveling in the vicinity of the label 9, the server 7 can accurately estimate the position of the forklift 1 from the position of the label 9. Further, since the position of the article 4 being conveyed is associated with the position of the forklift 1, the transport path of the article 4 transported by the forklift 1 can be accurately grasped.

Further, the time information included in the ID information transmitted by the in-vehicle device 3 to the server 7 is not the transmission time of the article tag ID or the image data, but the reception time of the article tag ID or the image data. As a result, even when the forklift 1 receives the article tag IDs from the plurality of article tags 5 when the forklift 1 is transporting the plurality of articles 4, the time can be synchronized between the article tags 5. Thereby, the plurality of time-synchronized article tags 5 can be associated with the position and time of the forklift 1. When the time is synchronized between the plurality of article tags 5, it is possible to manage the transport routes of the set by using the plurality of article tags 5 as one set.

[Embodiment 2]
In the first embodiment, the position of the forklift 1 was estimated based on the image data obtained by capturing the label 9. On the other hand, in the second embodiment, the position of the forklift 1 is estimated based on the ID transmitted by the wireless tag. Hereinafter, the article management system 10 according to the second embodiment will be described with a focus on the differences from the first embodiment.

FIG. 12 is a diagram showing an example of a traveling path of the forklift 1 according to the second embodiment of the present invention.
As an example, FIG. 12 shows the same inside of the factory as in FIG. However, in the factory shown in FIG. 4, the label 9 is attached to the fixed object 8, but in the factory shown in FIG. 12, the fixing tag 12 is attached to the fixed object 8. The fixed tag 12 is a wireless tag similar to the article tag 5, and by using BLE's wireless communication technology to output radio waves in the 2.4 GHz band, for example, a fixed tag ID which is an identifier of the fixed tag 12 can be obtained. Send wirelessly. However, unlike the article tag 5, the fixed tag 12 periodically wirelessly transmits radio waves regardless of the presence or absence of vibration of the fixed tag 12. In the factory shown in FIG. 12, fixed tags T1 to T8 are attached around the traveling path of the forklift 1 as the fixed tags 12. The attachment position of the fixed tag 12 is managed by the server 7. That is, the server 7 stores information indicating the correspondence between the fixed tag ID of the fixed tag 12 and the position of the fixed tag 12.

FIG. 13 is a block diagram showing an example of the configuration of the in-vehicle device 3 attached to the forklift 1 according to the second embodiment of the present invention.

With reference to FIG. 13, the vehicle-mounted device 3 includes a transmission / reception unit 31, an antenna 32, and an ID information creation unit 34. The difference from the configuration of the in-vehicle device 3 according to the first embodiment shown in FIG. 6 is that the image acquisition unit 33 is not provided. However, it does not exclude that the image acquisition unit 33 is provided. That is, an image acquisition unit that acquires an image from the camera 2 installed in the forklift 1 for monitoring the surroundings of the forklift 1 may be provided.

Similar to the first embodiment, the transmission / reception unit 31 wirelessly receives the article tag ID from the article tag 5 via the antenna 32. The transmission / reception unit 31 further wirelessly receives the fixed tag ID from the fixed tag 12 via the antenna 32. That is, the transmission / reception unit 31 receives the radio wave of the 2.4 GHz band according to BLE from the article tag 5 or the fixed tag 12. An article tag ID or a fixed tag ID is shown as data in the radio wave.

With reference to FIG. 12, the forklift 1 moves in the direction of arrow 11A from the upper right to the left in FIG. 12, loads the article 4 in the middle, changes the direction, and moves downward in FIG. It is assumed that the vehicle has moved in the direction of arrow 11B. In this case, for example, the forklift 1 receives radio waves from each fixed tag 12 in the order of fixed tags T1, T2, T3, and T4.

With reference to FIG. 13 again, the ID information creation unit 34 creates ID information including the vehicle ID of the forklift 1 and the article tag ID and the fixed tag ID received by the transmission / reception unit 31.

FIG. 14 is a diagram showing an example of ID information created by the ID information creating unit 34 according to the second embodiment of the present invention.
The ID information is composed of time information, vehicle ID, sensor type information, tag ID, sensor information, and the like.

The difference from the ID information in the first embodiment shown in FIG. 7 is that the ID information of the sensor type information "fixed tag" is added. The sensor type information "fixed tag" indicates that the transmission / reception unit 31 has received radio waves including the fixed tag ID from the fixed tag. However, if the in-vehicle device 3 cannot determine whether it is a fixed tag or an article tag from the tag ID, the ID information may not include the sensor type information.

The sensor information indicates the reception intensity of the radio wave received from the article tag 5 (for example, "-82 dB") or the reception intensity of the radio wave received from the fixed tag 12 (for example, "-67 dB").

FIG. 15 is a sequence diagram showing an example of processing executed by the article management system 10 according to the second embodiment of the present invention.
When the vibration is not detected, the article tag 5 does nothing (S51).

Meanwhile, the in-vehicle device 3 moves in the factory. For example, the vehicle-mounted device 3 acquires the fixed tag ID by receiving the radio wave transmitted by the fixed tag T1 (S52).

The in-vehicle device 3 includes the acquired fixed tag ID in the ID information and transmits the ID information to the server 7, and the server 7 acquires the ID information (S53).

The server 7 estimates the position and time of the forklift 1 from the fixed tag ID included in the acquired ID information (S54). That is, the position information acquisition unit 75 of the server 7 shown in FIG. 9 detects the position of the fixed tag 12 based on the fixed tag ID included in the ID information acquired from the in-vehicle device 3. Information indicating the correspondence between the fixed tag ID and the position of the fixed tag 12 is stored in advance in the storage unit 72 of the server 7. Therefore, the server 7 can detect the position of the fixed tag 12 from the information stored in the storage unit 72 and the fixed tag ID. The position information acquisition unit 75 estimates that the detected position of the fixed tag 12 or a position in the vicinity thereof is the position of the forklift 1. For example, the position on the route on which the forklift 1 closest to the position of the fixed tag 12 can travel may be estimated as the position of the forklift 1.

Further, the position information acquisition unit 75 may estimate the position on the path on which the forklift 1 can travel within the range in which the radio wave from the fixed tag 12 can be transmitted is the position of the forklift 1.

Further, when the ID information includes a plurality of fixed tag IDs at the same time, the position information acquisition unit 75 is a range in which the radio wave transmission range of the plurality of fixed tags 12 detected from these overlaps. Therefore, the position on the route on which the forklift 1 can travel may be estimated as the position of the forklift 1.

Further, the position information acquisition unit 75 detects the time corresponding to the fixed tag ID used for the position estimation of the forklift 1 from the ID information, and estimates the detected time as the time when the forklift 1 exists at the estimated position.

When the forklift 1 loads an article (S55), the article tag 5 detects vibration (S56).

In response to the vibration detection, the article tag 5 transmits the article tag ID, and the in-vehicle device 3 receives the article tag ID (S57).

On the other hand, the vehicle-mounted device 3 periodically acquires the fixed tag ID by receiving the radio wave transmitted by the fixed tag 12 (S58). For example, the fixed tag ID is acquired from the fixed tag T2.

The in-vehicle device 3 includes the acquired article tag ID and fixed tag ID in the ID information and transmits the acquired article tag ID to the server 7, and the server 7 acquires the ID information (S59).

The server 7 estimates the position and time of the forklift 1 from the fixed tag ID information included in the acquired ID information (S60).

Further, the server 7 estimates the transport route of the article 4 by associating the estimated position and time information of the forklift 1 with the article tag ID included in the ID information (S61).

While the forklift 1 loads and conveys the article 4, the article tag 5 detects vibration, so that the processes of steps S56 to S61 are repeatedly executed (S62 to S71). As a result, the in-vehicle device 3 can sequentially receive the fixed tag IDs from the fixed tags T2 to T4 near the movement path of the forklift 1 and transmit them to the server 7. Therefore, the server 7 can analyze that the forklift 1 is moving in the vicinity of each fixed tag 12 in the order of the fixed tags T2 to T4 while loading the article 4.

When the forklift 1 unloads the article 4, the article tag 5 does not detect the vibration, so that the processes of steps S51 to S54 are repeatedly executed.

<Effect of Embodiment 2>
As described above, according to the second embodiment of the present invention, the server 7 can determine the position of the fixed tag 12 associated with the fixed tag ID from the fixed tag ID. Since the forklift 1 travels in the vicinity of the fixed tag 12, the server 7 can accurately estimate the position of the forklift 1 from the position of the fixed tag 12. Further, since the position of the article 4 being transported is associated with the position of the forklift 1, the transport path of the article 4 transported by the forklift 1 can be accurately grasped.

It is also possible to combine the position detection of the forklift 1 using the label 9 described in the first embodiment and the position detection of the forklift 1 using the fixed tag 12 described in the second embodiment. As a result, even if the appropriate image data of the label 9 cannot be obtained due to the backlight region, the opening / closing of the door, the influence of the illuminance change due to the surrounding environment in the morning and evening, etc., the image data of the label 9 is based on the radio wave transmitted by the fixed tag 12. , The position of the forklift 1 can be estimated accurately. Further, in a place where the radio wave of the fixed tag 12 does not reach, the position of the forklift 1 can be estimated from the image data of the label 9.

[Modified Example of Embodiment 2]
The server 7 acquires the reception strength of the radio wave from the fixed tag 12 as the sensor information together with the fixed tag ID. Therefore, the position information acquisition unit 75 of the server 7 may estimate the position of the forklift 1 based on the reception strength of the radio wave from the fixed tag 12.

For example, the position information acquisition unit 75 estimates that the higher the reception strength is, the closer the forklift 1 is to the fixed tag 12, and the smaller the reception strength is, the farther the forklift 1 is from the fixed tag 12. Estimate the position.

More specifically, the storage unit 72 of the server 7 stores table information indicating the relationship between the reception strength and the distance from the fixed tag 12. The position information acquisition unit 75 specifies the position of the fixed tag 12 as described in the second embodiment. Further, the position information acquisition unit 75 obtains the distance from the fixed tag 12 based on the table information and the ID information stored in the storage unit 72. The position information acquisition unit 75 estimates the position of the forklift 1 based on the position of the fixed tag 12 and the distance from the fixed tag 12. That is, the position information acquisition unit 75 sets the position of the forklift 1 on the circumference of the forklift 1 with the position of the fixed tag 12 as the center and the distance from the fixed tag 12 as the radius. Estimate the position.

When the in-vehicle device 3 is located within the transmittable range of the plurality of fixed tags 12 and receives radio waves including the fixed tag ID from the plurality of fixed tags 12 at the same time, the position of the forklift 1 may be narrowed down. can. For example, as shown in FIG. 12, when it is found from the reception strength of the radio waves received from the fixed tags T2 to T4 that the forklift 1 is located on the circumference 101 to 103, the position information acquisition unit 75 may perform the position information acquisition unit 75. The position near the intersection 104 or the intersection 104 may be estimated as the position of the forklift 1.

According to this modification, since the distance from the fixed tag 12 can be estimated based on the reception intensity of the radio wave from the fixed tag 12, the position of the forklift 1 can be narrowed down and the position of the forklift 1 can be estimated accurately. can do. As a result, the transport route of the article can be accurately grasped.

[Additional Notes]
Although the article management system 10 according to the embodiment of the present invention has been described above, the present invention is not limited to this embodiment.

The server 7 estimates the position of the forklift 1 from the image data included in the ID information or the fixed tag ID, but the position of the forklift 1 may be estimated by another method. For example, the position information acquisition unit 75 of the server 7 may acquire image data of a surveillance camera that monitors the inside of the factory, and may estimate the position of the forklift 1 from the acquired image data. It is assumed that the position on the image data and the actual position in the factory are associated with each other by the calibration process in advance. Further, it is assumed that a label for identifying the forklift 1 is attached to a position observable from the outside of the forklift 1. The position information acquisition unit 75 identifies the label by performing image processing on the image data, identifies the forklift 1 from the identification result, and estimates the position of the forklift 1 from the position of the label.

Further, when the in-vehicle device 3 can receive radio waves from a navigation satellite such as a GPS (Global Positioning System) satellite, the position of the forklift 1 may be determined based on the radio waves received from the navigation satellite. The position of the forklift 1 is included in the ID information and transmitted to the server 7.

Further, in the above-described embodiment, the forklift 1 has been described as an example of the industrial vehicle, but the industrial vehicle is not limited thereto. For example, the above-described embodiment can be applied to an industrial vehicle such as a towing vehicle for towing and transporting articles and a hand lift for manually transporting articles.

The above-mentioned computer program may be recorded and distributed on a computer-readable non-temporary recording medium such as an HDD, CD-ROM, semiconductor memory, etc., or may be distributed by telecommunications line, wireless or wired communication line, or the Internet. It may be transmitted via a network represented by the above, data broadcasting, or the like.
Further, a part or all of the above-mentioned devices may be realized by a semiconductor integrated circuit.
Further, each of the above devices may be realized by a plurality of computers.

Further, at least a part of the above-described embodiment and the above-described modification may be arbitrarily combined.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is indicated by the scope of claims, not the above-mentioned meaning, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Forklift 1X Overhang 2 Camera 3 In-vehicle device 4 Article 5 Article tag 6 Base station 7 Server 8 Fixed object 9 Label 9B Blue label 9G Green label 9R Red label 9S Gap area 10 Article management system 11A Arrow 11B Arrow 12 Fixed tag 31 Transmission / reception Unit 32 Antenna 33 Image acquisition unit 34 ID information creation unit 51 Vibration detection unit 52 Transmission unit 53 Antenna 71 Communication unit 72 Storage unit 73 Control unit 74 ID information acquisition unit 75 Position information acquisition unit 76 Correspondence unit

Claims (11)

An article tag, which is a wireless tag attached to an article,
In-vehicle devices installed in industrial vehicles and
The in-vehicle device and an article management device connected via a network are provided.
The article tag is
A vibration detector that detects vibration and a vibration detector
A tag ID transmission unit that transmits an article tag ID that is its own identifier based on the detection result of the vibration detection unit is included.
The in-vehicle device is
A tag ID receiving unit that receives the article tag ID and
It includes an ID information transmitting unit that transmits ID information including at least a vehicle ID that is an identifier of the industrial vehicle and the article tag ID received by the tag ID receiving unit to the article management device.
The article management device is
An ID information acquisition unit that acquires the ID information from the in-vehicle device,
A position information acquisition unit that acquires position information of the industrial vehicle, and
An article including an article that associates the article tag ID with the position of the industrial vehicle based on the position information acquired by the position information acquisition unit and the ID information acquired by the ID information acquisition unit. Management system. The position information acquisition unit further acquires information on the time when the industrial vehicle exists at the position.
The association unit sets the article tag at the position and time of the industrial vehicle based on the position and time information acquired by the position information acquisition unit and the ID information acquired by the ID information acquisition unit. The article management system according to claim 1, which associates an ID. The ID information transmission unit transmits image data including a label for identifying the position of the industrial vehicle by including the image data in the ID information.
The position information acquisition unit estimates the position of the industrial vehicle based on the image data included in the ID information acquired by the ID information acquisition unit.
The article management system according to claim 1 or 2, wherein the label is located on a traveling path of the industrial vehicle. The tag ID receiving unit further receives the fixed tag ID from the fixed tag, which is a wireless tag that transmits the fixed tag ID, which is its own identifier.
The ID information transmitting unit includes the fixed tag ID received by the tag ID receiving unit in the ID information and transmits the ID information.
The position information acquisition unit estimates the position of the industrial vehicle based on the fixed tag ID included in the ID information acquired by the ID information acquisition unit.
The article management system according to any one of claims 1 to 3, wherein the fixed tag is attached around the traveling path of the industrial vehicle. The ID information transmitting unit includes the received radio wave intensity of the tag ID receiving unit in the ID information and transmits the ID information.
The article management system according to claim 4, wherein the position information acquisition unit estimates the position of the industrial vehicle based on the received radio wave intensity included in the ID information acquired by the ID information acquisition unit. The item according to any one of claims 1 to 5, wherein the ID information transmitting unit includes the reception time of the article tag ID by the tag ID receiving unit in the ID information and transmits it to the article management device. Goods management system. An ID including at least a vehicle ID which is an identifier of the industrial vehicle from an in-vehicle device installed in an industrial vehicle and an article tag ID which is an identifier of the article tag received by the in-vehicle device from an article tag attached to an article. ID information acquisition unit to acquire information and
A position information acquisition unit that acquires position information of the industrial vehicle, and
A mapping unit that associates the article tag ID with the position of the industrial vehicle based on the position information acquired by the position information acquisition unit and the ID information acquired by the ID information acquisition unit is provided.
The article tag is a wireless tag attached to an article, and is an article management device that transmits the article tag ID when vibrating. An in-vehicle device installed in an industrial vehicle
A tag ID receiving unit that receives the article tag ID from the article tag that is attached to the article and transmits the article tag ID that is an identifier of the article tag when vibrating.
An in-vehicle device including an ID information transmitting unit that transmits ID information including at least a vehicle ID that is an identifier of the industrial vehicle and the article tag ID received by the tag ID receiving unit. A wireless tag that can be attached to an article
A vibration detector that detects vibration and a vibration detector
A wireless tag including a tag ID transmission unit that transmits a wireless tag ID that is its own identifier based on the detection result of the vibration detection unit. It is an article management method using an article management device.
At least the vehicle ID which is the identifier of the industrial vehicle and the article tag ID which is received from the article tag which transmits the article tag ID which is the identifier of the article tag at the time of vibration are included from the in-vehicle device installed in the industrial vehicle. Steps to get ID information and
The step of acquiring the position information of the industrial vehicle and
An article management method including a step of associating the article tag ID with the position of the industrial vehicle based on the acquired position information and the ID information. Computer,
At least the vehicle ID which is the identifier of the industrial vehicle and the article tag ID which is received from the article tag which transmits the article tag ID which is the identifier of the article tag at the time of vibration are included from the in-vehicle device installed in the industrial vehicle. The ID information acquisition unit that acquires ID information and
A position information acquisition unit that acquires position information of the industrial vehicle, and
To function as an association unit that associates the article tag ID with the position of the industrial vehicle based on the position information acquired by the position information acquisition unit and the ID information acquired by the ID information acquisition unit. , Computer program.

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