JP7600559B2 - Information Reading System - Google Patents

Description

The present invention relates to a technology for reading information from an RFID medium when managing items using the RFID medium.

In recent years, with the development of the information society, information is recorded on tags attached to items such as goods, and these tags are used to manage the items. In such item management using tags, RFID media such as RFID tags, which can write and read information by contactless communication, are rapidly becoming popular due to their excellent convenience. When managing items using RFID media, the RFID media is attached to the item to be managed, and an antenna for reading information from the RFID media is brought close to the RFID media to read information from the RFID media, and the read information is used to manage the inventory of the items. In such cases, the items to be managed are often stored, for example, lined up vertically and horizontally on a storage shelf, and therefore it becomes necessary to move the antenna for reading information from the RFID media according to the storage position of the items to be managed.

Patent Document 1 discloses a technology in which an antenna is attached to the tip of an antenna lifting mechanism attached to a traveling cart for moving the antenna that travels on the ground, and the antenna is moved in the x-y axis direction by the movement of the traveling cart for moving the antenna, and in the z axis direction by raising and lowering the antenna using the antenna lifting mechanism, to read information from the RFID media. With this technology, it is possible to read information from the RFID media attached to each of the items, even if the items are stored lined up vertically and horizontally.

JP 2010-30712 A

In the technology disclosed in Patent Document 1, an antenna for reading information from an RFID medium is attached to a traveling cart for moving the antenna in a predetermined orientation by an antenna lifting mechanism, and this traveling cart for moving the antenna travels along a predetermined route to read information from the RFID medium attached to an item. Therefore, depending on the storage state of the item and the attachment position of the RFID media to the item, there is a risk that information cannot be accurately read from the RFID media.

For example, when reading information from an RFID medium attached to an item, it is preferable to have the antenna for reading information from the RFID medium facing the RFID medium. However, in a system such as that disclosed in Patent Document 1, in which the antenna for reading information from the RFID medium is attached to a traveling cart for moving the antenna in a predetermined orientation and this traveling cart for moving the antenna travels along a predetermined route, depending on the storage state of the item and the attachment position of the RFID medium to the item, the antenna for reading information from the RFID media may not be facing the RFID media.

The present invention has been made in consideration of the problems inherent in the conventional technology as described above, and aims to provide an information reading system that can avoid situations where information cannot be accurately read from an RFID media due to the storage state of the item or the attachment position of the RFID media to the item when managing items using RFID media.

In order to achieve the above object, the present invention provides
An information reading system for reading information from an RFID medium using an unmanned aerial vehicle, comprising:
The unmanned aerial vehicle is
a first antenna for reading information from the RFID media;
An image capturing unit that captures images from the unmanned aerial vehicle;
A flight control unit that controls the flight of the unmanned aerial vehicle,
The information reading system further comprises:
a reader connected to the first antenna for reading information from the RFID medium via the first antenna;
A control device that judges the position and orientation of the unmanned aerial vehicle based on the image captured by the photographing unit, and transmits a control signal to the unmanned aerial vehicle for controlling the movement direction and orientation of the unmanned aerial vehicle based on the judgment result,
The flight control unit controls the movement direction and orientation of the unmanned aerial vehicle based on a control signal transmitted from the control device so that the first antenna faces the RFID medium .

In the present invention configured as described above, information is read from the RFID media by the reader via the first antenna of the unmanned aerial vehicle, an image from the unmanned aerial vehicle is captured by the camera unit of the unmanned aerial vehicle, the position and orientation of the unmanned aerial vehicle is determined in the control device based on the image captured by the camera unit, and a control signal for controlling the movement direction and orientation of the unmanned aerial vehicle is transmitted based on the determination result, and the movement direction and orientation of the unmanned aerial vehicle are controlled in the flight control unit of the unmanned aerial vehicle based on the control signal transmitted from the control device. Therefore, when managing items using RFID media, for example, it becomes possible to control the movement direction and orientation of the unmanned aerial vehicle depending on the storage status of the items and the attachment position of the RFID media to the items, thereby avoiding an inability to accurately read information from the RFID media.

In addition, if a mobile device capable of moving on the ground is provided, and the mobile device is equipped with a reader and supplies power to the unmanned aerial vehicle via a power line connected between the mobile device and the unmanned aerial vehicle, there is no need to install a reader or power source on the unmanned aerial vehicle, which can reduce the weight of the unmanned aerial vehicle.

In addition, if the mobile device is configured to have a second antenna connected to the reader for reading information from the RFID media, information can be read from RFID media located in a high area via the first antenna, and from RFID media located in a low area via the second antenna, thereby allowing information to be read efficiently without causing the unmanned aerial vehicle to fly unstably at low altitudes.

According to the present invention, the position and orientation of the unmanned aerial vehicle are determined based on an image from the unmanned aerial vehicle captured by the camera unit of the unmanned aerial vehicle, and the movement direction and orientation of the unmanned aerial vehicle are controlled based on the determination result. Therefore, in cases where RFID media is used to manage items, for example, it becomes possible to control the movement direction and orientation of the unmanned aerial vehicle depending on the storage status of the items and the attachment position of the RFID media to the items, thereby making it possible to avoid a situation where information cannot be accurately read from the RFID media.

In addition, in a system that has a mobile device capable of moving on the ground, which is equipped with a reader and supplies power to the unmanned aerial vehicle via a power line connected between the mobile device and the unmanned aerial vehicle, there is no need to install a reader or power source on the unmanned aerial vehicle, which makes it possible to reduce the weight of the unmanned aerial vehicle.

In addition, when the mobile device has a second antenna connected to the reader for reading information from the RFID media, information can be read from RFID media located in a high area via the first antenna, and from RFID media located in a low area via the second antenna, making it possible to read information efficiently without causing the unmanned aerial vehicle to fly unstably at low altitudes.

1 is a diagram showing an embodiment of an information reading system of the present invention; 2A and 2B are diagrams showing the structure of the drone shown in FIG. 1, in which (a) is a top view, (b) is a side view seen from the direction of arrow A shown in (a), and (c) is a side view seen from the direction of arrow B shown in (a). FIG. 3 is a functional block diagram of the drone and the base unit shown in FIGS. 1 and 2 . FIG. 2 is a functional block diagram of a control PC shown in FIG. 1 . FIG. 2 is a functional block diagram of the inventory management server shown in FIG. 1 . FIG. 6 is a diagram showing an example of a form of managing articles using the information reading system shown in FIGS. 1 to 5. 6 is a flowchart for explaining a method for controlling the flight of a drone in the information reading system shown in Figures 1 to 5. FIG. 7 is a diagram for explaining an example of the operation of reading information from an RFID tag attached to an item such as that shown in FIG. 6 by the drone shown in FIGS. 1 to 3 . FIG. 11 is a diagram for explaining another example of the operation of reading an RFID tag by the drone shown in FIGS. 1 to 3 when an item is stored in a storage shelf so that the RFID tag faces an aisle as shown in FIG. 8. 10 is a diagram for explaining another example of the operation of reading information from an RFID tag attached to an object as shown in FIG. 8 by the drone shown in FIGS. 1 to 3. FIG.

Below, an embodiment of the present invention will be described with reference to the drawings.

Figure 1 is a diagram showing one embodiment of the information reading system of the present invention. Figure 2 is a diagram showing the structure of the drone 10 shown in Figure 1, where (a) is a top view, (b) is a side view seen from the direction of arrow A shown in (a), and (c) is a side view seen from the direction of arrow B shown in (a).

As shown in FIG. 1, the information reading system in this embodiment includes a drone 10, a base unit 30, a control PC 60, and an inventory management server 70.

The drone 10 and the base unit 30 are connected via an antenna cable 40 and a power cable 50 that serves as a power line. The drone 10 and the base unit 30 can connect to the control PC 60 via a communication line 80 by accessing an access point 90.

Drone 10 is an unmanned aerial vehicle according to the present invention. As shown in FIG. 2, drone 10 is configured with four arms 12 extending from a body 11, and a propeller 14 attached to the upper surface of each of the four arms 12 near the tip. In addition, legs 13 extending from the underside of each of the four arms 12 are attached near the tip of each of the arms 12. Two cameras 15 are attached to one side of the body 11, and two RFID antennas 16, which serve as first antennas, are attached to the underside. RFID antennas 16 are plate-shaped, and the plate-shaped surface faces in a direction perpendicular to the surface of body 11 on which cameras 15 are attached.

The base unit 30 is a mobile device in the present invention, and can be an automatic guided vehicle (AGV). The base unit 30 has wheels 33 attached to the underside of the housing 31, and is configured to be movable on the ground. An RFID antenna 32, which serves as a second antenna, is attached to each of two opposing side surfaces of the housing 31. The RFID antenna 32 also has a plate-like shape, similar to the RFID antenna 16 of the drone 10.

Figure 3 is a functional block diagram of the drone 10 and base unit 30 shown in Figures 1 and 2.

The drone 10 shown in Figures 1 and 2 has the following functions as shown in Figure 3: an RFID antenna 16, a propeller 14, a map acquisition unit 21, a photographing unit 22, a power receiving unit 23, a communication unit 24, and a propeller driving unit 25.

As described above, the RFID antenna 16 is attached to the underside of the body portion 11 of the drone 10 and is used to read information contactlessly from RFID media such as RFID tags.

As described above, the propeller 14 is attached near the tip of the arm 12 of the drone 10 and rotates to fly the drone 10.

When the drone 10 is flown before information reading is performed, the map acquisition unit 21 detects obstacles and the like and acquires map data indicating the area in which the drone 10 can fly. In addition, while information reading is being performed, it acquires flight position information indicating which area of the map data the drone 10 is flying.

The photographing unit 22 photographs images from the drone 10 using a camera 15 attached to the body 11 of the drone 10.

The power receiving unit 23 receives power from the base unit 30 via the power cable 50 and supplies it to the map acquisition unit 21, the photographing unit 22, the communication unit 24, and the propeller drive unit 25.

The communication unit 24 accesses the access point 90 and communicates with the control PC 60 via the communication line 80. Specifically, the communication unit 24 transmits the map data and flight position information acquired by the map acquisition unit 21 and the images captured by the image capture unit 22 to the control PC 60 via the communication line 80, and receives control signals transmitted from the control PC 60 via the communication line 80.

The propeller drive unit 25 serves as a flight control unit in the present invention. The propeller drive unit 25 drives the propellers 14 to rotate in accordance with the control signals received by the communication unit 24, causing the drone 10 to fly.

As shown in FIG. 3, the base unit 30 shown in FIG. 1 has the following functions: an RFID antenna 32, an RFID reader 34, a map acquisition unit 35, a communication unit 36, a driving control unit 37, and a power supply unit 38.

As described above, the RFID antenna 32 is attached to the side of the housing 31 of the base unit 30 and is used to read information contactlessly from RFID media such as RFID tags.

The RFID reader 34 transmits a signal for reading information from the RFID media to the RFID antenna 16 via the antenna cable 40, and also transmits the signal directly to the RFID antenna 32, thereby reading information from the RFID media via the RFID antennas 16 and 32.

When the drone 10 flies and the base unit 30 travels before reading information, the map acquisition unit 35 detects obstacles and the like to acquire map data indicating the area in which the base unit 30 can travel. In addition, while reading information is being performed, it acquires travel position information indicating which area of the map data the base unit 30 is traveling through.

The communication unit 36 accesses the access point 90 and communicates with the control PC 60 via the communication line 80. Specifically, the communication unit 36 transmits map data and driving position information acquired by the map acquisition unit 35 to the control PC 60 via the communication line 80, and also transmits information read from the RFID media by the RFID reader 34 via the RFID antennas 16 and 32 to the control PC 60 via the communication line 80. The communication unit 36 also receives control signals transmitted from the control PC 60 via the communication line 80.

The driving control unit 37 controls the driving of the base unit 30 according to the control signal received by the communication unit 36.

The power supply unit 38 supplies power to the RFID reader 34, the map acquisition unit 35, the communication unit 36, and the driving control unit 37, and also supplies power to the drone 10 via the power cable 50.

Figure 4 is a functional block diagram of the control PC 60 shown in Figure 1.

The control PC 60 shown in FIG. 1 is the control device in the present invention, and as shown in FIG. 4, has the following functions: a communication unit 61, a map data registration unit 62, a map database 63, an area information database 64, a position determination unit 65, a movement direction control unit 66, a read information registration unit 67, and a read information database 68.

The communication unit 61 communicates with the drone 10, the base unit 30, and the inventory management server 70 via the communication line 80. Specifically, the communication unit 61 receives map data and flight position information transmitted from the drone 10 and the base unit 30, and images transmitted from the drone 10, via the communication line 80, and transmits control signals to the drone 10 and the base unit 30 for controlling their flight and travel via the communication line 80. The communication unit 61 also receives information read from the RFID media by the RFID reader 34 of the base unit 30 via the RFID antennas 16, 32 and transmitted from the base unit 30 via the communication line 80, and transmits this read information to the inventory management server 70 via the communication line 80.

The map data registration unit 62 registers the map data and flight position information transmitted from the drone 10 and the base unit 30 in the map database 63.

The map database 63 stores map data and flight position information transmitted from the drone 10 and the base unit 30.

The area information database 64 stores information about the areas where items are managed using the information reading system shown in FIG. 1.

The position determination unit 65 determines the current position and orientation of the drone 10 and the base unit 65 based on the image received by the communication unit 61, the map data and flight position information registered in the map database 63, and the information registered in the area information database 64.

The movement direction control unit 66 refers to the information registered in the area information database 64, and generates and outputs a control signal for controlling the movement direction and orientation of the drone 10 and the base unit 65 based on the current position and orientation of the drone 10 and the base unit 30 determined by the position determination unit 65.

The read information registration unit 67 registers the information read from the RFID media by the RFID reader 34 of the base unit 30 via the RFID antennas 16 and 32 and transmitted from the base unit 30 in the read information database 68 in association with location information indicating the location where the information was read. The read information registration unit 67 also transmits the information registered in the read information database 68 to the inventory management server 70 via the communication unit 61.

The read information database 68 stores information that is read from the RFID media by the RFID reader 34 of the base unit 30 via the RFID antennas 16 and 32 and transmitted from the base unit 30, in association with location information indicating the location where the information was read.

Figure 5 is a functional block diagram of the inventory management server 70 shown in Figure 1.

The inventory management server 70 shown in FIG. 1 has as its functions a communication unit 71, an inventory information registration unit 72, and an inventory information database 73, as shown in FIG. 5.

The communication unit 71 communicates with the control PC 60 via the communication line 80. Specifically, the communication unit 71 receives information registered in the read information database 68 of the control PC 60 via the communication line 80.

The inventory information registration unit 72 generates inventory information for inventory management based on the information received by the communication unit 71, and registers the generated inventory information in the inventory information database 73.

The inventory information database 73 stores the inventory information generated by the inventory information registration unit 72.

The following describes a method for managing items using the information reading system configured as described above.

Figure 6 shows an example of how items are managed using the information reading system shown in Figures 1 to 5.

As a possible form of managing items using the information reading system shown in Figures 1 to 5, as shown in Figure 6, it is possible to manage items 3 stored in rows and columns on a storage shelf 2. Each item 3 has an RFID tag 4, which serves as RFID media, attached facing the same direction, and the items 3 can be managed by reading information from the RFID tag 4 using the drone 10 and base unit 30 configured as described above.

Figure 7 is a flowchart for explaining a method for controlling the flight of the drone 10 in the information reading system shown in Figures 1 to 5.

In the information reading system shown in Figures 1 to 5, when managing items 3 stored in a storage shelf 2 as shown in Figure 6 by reading information from an RFID tag 4 attached to the item 3, as a preliminary process, the drone 10 flies and the base unit 30 travels within an area such as a warehouse in which the storage shelf 2 is located, and map acquisition units 21, 35 of the drone 10 and the base unit 30 respectively detect obstacles and obtain map data indicating areas in which flight or travel is possible (step S1). This map data can be obtained using known technology such as that used in cleaning robots.

The map data of the drone 10 acquired by the map acquisition unit 21 and the map data of the base unit 30 acquired by the map acquisition unit 35 are transmitted from the communication unit 24 of the drone 10 and the communication unit 36 of the base unit 30, respectively (step S2).

The map data of the drone 10 transmitted from the communication unit 24 of the drone 10 and the map data of the base unit 30 transmitted from the communication unit 36 of the base unit 30 are each received by the communication unit 61 of the control PC 60 via the communication line 80, and are registered in the map database 63 by the map data registration unit 62 (step S3). At this time, the drone 10 and the base unit 30 transmit identification information capable of identifying the drone 10 and the base unit 30 together with the map data to the control PC 60, and the map data registration unit 62 registers the map data transmitted from the drone 10 and the base unit 30 in the map database 63 in association with the identification information transmitted together with the map data.

In this way, the map data of the drone 10 and base unit 30 used to manage the items 3 stored in the storage shelf 2 is registered in the control PC 60 as shown in FIG. 6.

After that, when the process of reading information from the RFID tag 4 attached to the item 3 stored in the storage shelf 2 is started as shown in FIG. 6, first, an image from the drone 10 is captured by the imaging unit 22 of the drone 10 using the camera 15 attached to the body part 11 (step S4).

In addition, the map acquisition unit 21 acquires driving position information indicating the area in which the drone 10 is traveling from the map data acquired in advance (step S5).

The image captured by the imaging unit 22 of the drone 10 and the traveling position information acquired by the map acquisition unit 21 are transmitted from the communication unit 24 together with identification information capable of identifying the drone 10 (step S6). The image and flight position information are transmitted from the communication unit 24 at a predetermined interval. For example, this may be every time an image is captured by the imaging unit 22 of the drone 10, or every time flight position information is acquired by the map acquisition unit 21, or at a predetermined interval such as every 10 seconds or 1 minute.

The image and flight position information transmitted from the communication unit 24 of the drone 10 are transmitted to the control PC 60 via the communication line 80 by the communication unit 24 accessing the access point 90, and are received by the communication unit 61 of the control PC 60 (step S7).

When the image and flight position information transmitted from the communication unit 24 of the drone 10 are received by the communication unit 61 of the control PC 60, the position determination unit 65 of the control PC 60 determines the current position and direction of the drone 10 based on the image received by the communication unit 61, the flight position information received by the communication unit 61 and registered in the map database 63, the map data registered in the map database 63, and the information registered in the area information database 64 (step S8). Here, the map database 63 has registered therein map data indicating the area in which the drone 10 can fly, as described above, and flight position information indicating which area of the map data the drone 10 is flying in, as well as the flight position information. In addition, the area information database 64 has registered therein information regarding the area in which the goods are managed using the information reading system shown in FIG. 1, as described above. For example, when the information reading system shown in FIG. 1 is used to manage the goods 3 stored in the storage shelf 2 as shown in FIG. 6, the position of the storage shelf 2 is registered so as to be identifiable by latitude and longitude. Furthermore, the image received by the communication unit 61 is taken by the camera 15 attached to one side of the body portion 11 of the drone 10, and is therefore an image taken in one direction from the drone 10. Therefore, the position determination unit 65 can compare the image received by the communication unit 61 with the flight position information received by the communication unit 61 and registered in the map database 63, the map data registered in the map database 63, and the information registered in the area information database 64, and determine the current position and orientation of the drone 10 based on this information.

Next, the movement direction control unit 66 refers to the information registered in the area information database 64, and determines the movement direction and orientation of the drone 10 based on the current position and orientation of the drone 10 determined by the position determination unit 65 (step S9). Here, as described above, in the area information database 64, for example, when managing items 3 stored in a storage shelf 2 as shown in FIG. 6 using the information reading system shown in FIG. 1, the position of the storage shelf 2 is registered so as to be identifiable by latitude and longitude, etc., so that it is possible to determine, based on the current position and orientation of the drone 10, in what orientation and in what direction the drone 10 will move next to read information from the RFID tag 4 attached to the item 3.

In the movement direction control unit 66, a control signal for moving the drone 10 in the movement direction with the determined orientation is output to the communication unit 61, and the control signal is transmitted from the communication unit 61 (step S10).

The control signal transmitted from the communication unit 61 of the control PC 60 is received by the communication unit 24 of the drone 10 via the communication line 80 (step S11).

Then, in the propeller drive unit 25, the rotation speed of the four propellers 14 is controlled based on the control signal received by the communication unit 24, thereby controlling the movement direction and orientation of the drone 10 (step S12).

In this way, the direction of movement and orientation of the drone 10 are controlled based on the current position and orientation of the drone 10.

Below, we will explain a specific case in which the movement direction and orientation of the drone 10 are controlled based on the current position and orientation of the drone 10, as described above.

Figure 8 is a diagram for explaining an example of the operation of reading information from an RFID tag 4 attached to an object 3 as shown in Figure 6 using the drone 10 shown in Figures 1 to 3. Note that the arms 12 and propellers 14 of the drone 10 are omitted from the illustration to make the figure easier to understand.

As described above, in the drone 10 shown in Figures 1 to 3, two cameras 15 are attached to one side of the body part 11, and two plate-shaped RFID antennas 16 are attached to the underside of the body part 11, facing in a direction perpendicular to the surface of the body part 11 on which the cameras 15 are attached.

Therefore, when an item 3 is stored in a storage shelf 2 with the RFID tag 4 facing the aisle as shown in FIG. 6, by moving the drone 10 along the aisle in the direction of the side on which the camera 15 is attached as shown in FIG. 8, the RFID antenna 16 of the drone 10 will face the RFID tag 4 attached to the item 3, and information can be accurately read from the RFID tag 4.

In the drone 10, while moving based on the control signal transmitted from the control PC 60, the RFID reader 34 reads information from the RFID tag 4 facing the RFID antenna 16. The RFID reader 34 is connected to the RFID antenna 40 via the antenna cable 40, so it can read information from the RFID tag 4 via the RFID antenna 40. At that time, the direction of movement of the base unit 30 is also controlled based on the map data of the base unit 30 acquired by the base unit 30 and transmitted to the control PC 60, the information registered in the area information database 64, and the flight position information of the drone 10 registered in the map database 63, and the drone 10 moves together with the drone 10 under the control of the driving control unit 37.

The drone 10 and base unit 30 may read information from the RFID tag 4 by, for example, moving a certain distance along a passageway and then stopping, at which point the drone 10 moves vertically to read information from the RFID tag 4 via the RFID antenna 16, and then the drone 10 and base unit 30 move again a certain distance along the passageway. Alternatively, while the drone 10 and base unit 30 move along the passageway, the drone 10 may move further vertically to read information from the RFID tag via the RFID antenna 16.

When the drone 10 flies at low altitude, there is a risk that the air currents caused by the rotation of the propellers 14 may cause the drone 10 to become unstable. Therefore, by reading information from an RFID tag 4 attached to an item 3 stored on the lower level of a storage shelf 2 as shown in FIG. 6 via an RFID antenna 32 of a base unit 30 in an RFID reader 34, it is possible to read information efficiently without having to fly the drone 10 at low altitude.

The information read from the RFID tag 4 via the RFID antennas 16 and 32 is transmitted from the RFID reader 34 via the communication unit 36 together with the position information of at least one of the drone 10 and the base unit 30, and is received by the control PC 60 via the communication line 80.

In the control PC 60, the information sent from the communication section 36 of the base unit 30 is received via the communication section 61, and in the read information registration section 67, the information read from the RFID tag 4 is registered in the read information database 68 in association with the location information received together with the information.

Then, when the information registered in the read information database 68 is transmitted from the communication unit 61 to the inventory management server 70 via the communication line 80, the inventory information registration unit 72 of the inventory management server 70 generates inventory information for inventory management based on the information received by the communication unit 71, and the generated inventory information is registered in the inventory information database 73. For example, the inventory information registration unit 72 manages information read from the RFID tag 4 in association with the names of items to be managed in inventory, and when information read from the RFID tag 4 is transmitted from the control PC 60, the fact that the item corresponding to that information is stored on the storage shelf is registered in the inventory information database 73 as inventory information.

Figure 9 is a diagram for explaining another example of the operation of reading an RFID tag 4 when the item 3 is stored in a storage shelf with the RFID tag 4 facing the aisle as shown in Figure 8 using the drone 10 shown in Figures 1 to 3. Note that, in Figure 9(b), the arms 12 and propellers 14 of the drone 10 are also omitted for ease of understanding.

In this example, as shown in FIG. 6, the storage shelves in which the items 3 to which the RFID tags 4 are attached are arranged in four storage shelves 2a to 2d parallel to one another as shown in FIG. 9(a), but one storage shelf 2e is arranged between storage shelves 2a and 2b facing in a direction perpendicular to storage shelves 2a to 2d. In this arrangement of storage shelves, if the drone 10 moves as shown by the arrow in the figure without changing its orientation, and items are stored in storage shelf 2e with the RFID tags 4 facing the aisle, the RFID antenna 16 of the drone 10 will not face the RFID tags attached to the items, and the drone will not be able to accurately read information from the RFID tag.

Therefore, as described above, if the movement direction and orientation of the drone 10 are controlled based on the current position and orientation of the drone 10, as shown in FIG. 9(b), when reading information from an RFID tag attached to an item stored in the storage shelves 2a and 2b, the drone 10 is moved along the passage in the direction in which the camera 15 is attached and information is read from the RFID tag via the RFID antenna 16, and when reading information from an RFID tag attached to an item stored in the storage shelf 2e, the orientation of the drone 10 is rotated 90 degrees to face the RFID antenna 16 of the drone 10 against the RFID tag attached to the item stored in the storage shelf 2e, and information can be accurately read from the RFID tag via the RFID antenna 16. Note that the arrangement of the storage shelves 2a to 2e shown in FIG. 9 is registered in the area information database 64 of the control PC 60, so that the movement direction control unit 66 of the control PC 60 can recognize the arrangement of the storage shelves 2a to 2e shown in FIG. 9.

Figure 10 is a diagram for explaining another example of the operation of reading information from an RFID tag 4 attached to an item 3 as shown in Figure 8 using the drone 10 shown in Figures 1 to 3. Note that, in Figure 10 as well, the arms 12 and propellers 14 of the drone 10 are omitted for ease of understanding.

In this example, as shown in FIG. 6, items are stored in the storage shelf 3 such that, as shown in FIG. 10, the RFID tags 4a-4c, 4e attached to items 3a-3c, 3e face the aisle, whereas the RFID tag 4d attached to item 3d does not face the aisle. When items 3a-3e are stored in this manner, if the drone 10 is moved in the direction in which the camera 15 is attached as described above, the RFID media 4a-4c, 4e attached to items 3a-3c, 3e will face the RFID antenna 16 of the drone 10 and information will be read accurately, but the RFID media 4d attached to item 3d will not face the RFID antenna 16 of the drone 10 and information cannot be read accurately.

As described above, the direction of movement and orientation of the drone 10 are controlled based on the current position and orientation of the drone 10, and as shown in FIG. 10, when reading information from the RFID media 4d attached to the item 3d, the orientation of the drone 10 is tilted so that the RFID antenna 16 of the drone 10 faces the RFID tag 4d attached to the item 3d as closely as possible, thereby avoiding a situation in which information cannot be accurately read from the RFID tag via the RFID antenna 16.

The example shown in FIG. 10 is effective when re-reading information from an RFID tag. For example, when the read information registration unit 67 of the control PC 60 refers to the read information database 68 and finds that information that should have been registered has not been registered.

In this case, first, location information capable of identifying locations where registered information should be read but where information has not yet been read is extracted from the read information database 68. In other words, when performing this type of control, location information where items are to be stored is registered in advance in the read information database 68, and for each piece of location information, whether or not information has been read via the RFID antennas 16, 32 is registered. Then, location information that identifies locations where information has not been read via the RFID antennas 16, 32 is extracted.

Next, the position determination unit 65 of the control PC 60 refers to the map database 63 to determine the current position and orientation of the drone 10.

After that, in the movement direction control unit 66, when the position of the drone 10 determined by the position determination unit 65 becomes a position specified by the position information extracted from the read information database 68 by the read information registration unit 67, it is possible to change the direction of the drone 10 by rotating the drone 10 as shown in Figure 10 and attempt to read information from the RFID tag 4.

As described above, in this embodiment, when information is read from an RFID tag by the RFID reader 34 via the RFID antenna 16 of the drone 10, an image from the drone 10 is captured by the camera 15 in the imaging unit 22 of the drone 10, the position and orientation of the drone 10 is determined based on the image captured by the imaging unit 22 in the control PC 60, and a control signal for controlling the movement direction and orientation of the drone 10 is transmitted based on the determination result, and the propeller drive unit 25 of the drone 10 controls the movement direction and orientation of the drone 10 based on the control signal transmitted from the control PC 60. Therefore, when managing items using RFID tags, it becomes possible to control the movement direction and orientation of the drone 10 according to the storage state of the items and the attachment position of the RFID tag to the items, thereby making it possible to avoid a situation where information cannot be accurately read from the RFID tag.

In addition, an RFID reader 34 that reads information from an RFID tag via the RFID antenna 16 of the drone 10 is mounted on a base unit 30 that can move on the ground, and the base unit 30 supplies power to the drone 10 via a power cable 50 connected between the drone 10, eliminating the need to mount an RFID reader or power source on the drone 10, thereby enabling the drone 10 to be made lighter.

In this embodiment, the drone 10 and the base unit 30 each have two RFID antennas 16, 32, but the number of RFID antennas 16, 32 is not limited to two. However, the RFID antenna 16 of the drone 10 needs to be balanced so as not to affect the flight of the drone 10, and it is preferable that the antenna 32 of the base unit 30 is attached to at least two opposing sides of the housing 31, since the housing 31 acts as a shield.

In addition, in this embodiment, a drone has been used as an example of an unmanned aerial vehicle, but the unmanned aerial vehicle may also be one that can fly using jet streams, magnetic fields, etc.

2, 2a to 2e Storage shelf 3, 3a to 3e Item 4, 4a to 4e RFID tag 10 Drone 11 Body section 12 Arm section 13 Leg section 14 Propeller 15 Camera 16, 32 RFID antenna 21, 35 Map acquisition section 22 Photography section 23 Power receiving section 24, 36, 61, 71 Communication section 25 Propeller drive section 30 Base unit 31 Housing 33 Wheels 34 RFID reader 37 Travel control section 38 Power supply section 40 Antenna cable 50 Power cable 60 Control PC
62 Map data registration unit 63 Map database 64 Area information database 65 Position determination unit 66 Movement direction control unit 67 Read information registration unit 68 Read information database 70 Inventory management server 72 Inventory information registration unit 73 Inventory information database 80 Communication line 90 Access point

Claims (3)

An information reading system for reading information from an RFID medium using an unmanned aerial vehicle, comprising:
The unmanned aerial vehicle is
a first antenna for reading information from the RFID media;
An image capturing unit that captures images from the unmanned aerial vehicle;
A flight control unit that controls the flight of the unmanned aerial vehicle,
The information reading system further comprises:
a reader connected to the first antenna for reading information from the RFID medium via the first antenna;
A control device that judges the position and orientation of the unmanned aerial vehicle based on the image captured by the photographing unit, and transmits a control signal to the unmanned aerial vehicle for controlling the movement direction and orientation of the unmanned aerial vehicle based on the judgment result,
An information reading system in which the flight control unit controls the movement direction and orientation of the unmanned aerial vehicle based on a control signal transmitted from the control device so that the first antenna faces the RFID media . 2. The information reading system according to claim 1,
A mobile device capable of moving on the ground,
An information reading system in which the mobile device is equipped with the reader and supplies power to the unmanned aerial vehicle via a power line connected between the mobile device and the unmanned aerial vehicle. 3. The information reading system according to claim 2,
The mobile device has a second antenna connected to the reader for reading information from the RFID media.

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