Cargo handling support device, cargo handling support system, cargo handling support method

Abstract

This invention has been made in view of the problems of the conventional invention, and one of its objectives is to provide a cargo handling support device that can ensure the accuracy of determining the loading status of cargo loaded on a cargo handling platform. [Solution] The cargo handling support device 10 of this embodiment includes an information acquisition device 4 that communicates with a contactless IC tag 3 attached to a load 2 loaded on a cargo handling platform 1 and acquires location information of the contactless IC tag 3, and an information processing device 5 that determines the loading status of the load 2 based on the location information acquired by the information acquisition device 4.

Description

【Technical Field】 【0001】 The present invention relates to a cargo handling support device, a cargo handling support system, and a cargo handling support method. 【Background Art】 【0002】 When a forklift transfers goods, a device for detecting the collapse of the load is known. The applicant has disclosed in Patent Document 1 a cargo handling determination device capable of determining the quality of the cargo loading state on a pallet. This device acquires an image of the goods on the pallet, calculates the center of gravity position of the goods based on the acquired image, and determines the quality of the cargo loading state based on the calculated center of gravity position. 【Prior Art Documents】 【Patent Documents】 【0003】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2023-116841 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0004】 The inventor studied the conventional technology for determining the quality of the cargo loading state and obtained the following recognition. In recent years, against the background of the shortage of supply power relative to the increasing logistics demand, the efficiency of transportation has been proposed by standardizing the loading posture of goods. As a result, even when the appearance and shape of the goods are the same, the opportunity for mixed loading of goods with different contents on the pallet has increased. When the loading posture of the goods is the same but the contents are different, the mass and center of gravity position of the goods will be different. If the center of gravity position of the goods calculated based on the image deviates significantly from the actual center of gravity position, the accuracy of the state determination based on the calculated center of gravity position may be significantly reduced. 【0005】 From these, Patent Document 1 does not provide sufficient disclosure from the viewpoint of ensuring the determination accuracy of the cargo loading state. 【0006】 This invention has been made in view of the above problems, and aims to provide a cargo handling support device that can ensure the accuracy of determining the loading status of cargo loaded on a loading platform. [Means for solving the problem] 【0007】 To solve the above problems, a cargo handling support device according to one aspect of the present invention comprises an information acquisition device that communicates with a contactless IC tag attached to a cargo loaded on a loading platform and acquires location information of the contactless IC tag, and an information processing device that determines the loading status of the cargo based on the location information acquired by the information acquisition device. 【0008】 Another aspect of the present invention is a cargo handling support system. This cargo handling support system includes a data server that stores cargo information, including information on the shape and mass of a cargo, corresponding to identification information for identifying a cargo; an information acquisition device that communicates with a contactless IC tag attached to a cargo loaded on a loading platform and acquires the location information of the contactless IC tag and the identification information of the cargo to which the contactless IC tag is attached; a server communication unit that uses the identification information acquired by the information acquisition device to acquire cargo information corresponding to the identification information from the data server; and an information processing device that determines the loading status of a cargo based on the location information acquired by the information acquisition device and the cargo information acquired by the server communication unit. 【0009】 Yet another aspect of the present invention is a cargo handling support method. This method includes communicating with a contactless IC tag attached to a load loaded on a loading platform, obtaining location information of the contactless IC tag, and determining the loading status of the load based on the obtained location information. 【0010】 Furthermore, any combination of the above components, or in which the components or expressions of the present invention are mutually substituted among methods, systems, etc., are also valid embodiments of the present invention. [Effects of the Invention] 【0011】 According to the present invention, it is possible to provide a cargo handling support device that can ensure the accuracy of determining the loading status of cargo loaded on a cargo handling platform. [Brief explanation of the drawing] 【0012】 [Figure 1] This is a side view showing a cargo handling support device according to the first embodiment. [Figure 2] Figure 1 is a block diagram showing the functional blocks of the cargo handling support device. [Figure 3] Figure 1 is a flowchart showing the operation of the cargo handling support device for determining the loading status. [Figure 4] This is a schematic side view illustrating the unstable state of the load in Figure 1. [Figure 5] This is a block diagram showing the functional blocks of the cargo handling support device according to the second embodiment. [Modes for carrying out the invention] 【0013】 The present invention will be described below with reference to the drawings, based on preferred embodiments. In embodiments and modifications, the same or equivalent components and members will be denoted by the same reference numerals, and redundant explanations will be omitted as appropriate. In addition, the dimensions of the members in each drawing will be enlarged or reduced as appropriate to facilitate understanding. Furthermore, some members that are not important for explaining the embodiments will be omitted from the drawings. 【0014】 Furthermore, while terms including ordinal numbers such as "first" and "second" are used to describe various components, these terms are used solely to distinguish one component from others, and do not limit the components themselves. 【0015】 [First Embodiment] The cargo handling support device 10 according to the first embodiment will be described with reference to the drawings. Figure 1 is a side view showing the cargo handling support device 10. Figure 2 is a block diagram showing the functional blocks of the cargo handling support device 10. 【0016】 The cargo handling support device 10 of this embodiment is a device that determines the loading state of the cargo 2 on the cargo handling platform 1 held and transported by the cargo handling vehicle 8 as a cargo handling device. The cargo handling vehicle 8 is a vehicle that performs cargo handling via the cargo handling platform 1, and in this example, it is an electric forklift capable of autonomous transportation. Examples of the cargo handling of the cargo handling vehicle 8 include cargo transportation, loading, and unloading. The cargo handling platform 1 is a platform for loading the cargo 2, and in this example, it is a pallet having pockets 22 that can be held by the forks 84 of the cargo handling vehicle 8, which is a forklift. A plurality of cargos 2 can be stacked on the cargo handling platform 1. In the example of FIG. 1, a total of 12 cargos 2, 6 on the front side of the figure and 6 (not shown) on the back side of the figure, are loaded on the cargo handling platform 1 with the forks 84 inserted into the pockets 22. 【0017】 The cargo handling support device 10 includes an information acquisition device 4 that communicates with a non-contact IC tag 3 attached to the cargo 2 loaded on the cargo handling platform 1 and acquires the position information P3 of the non-contact IC tag 3, and an information processing device 5 that determines the loading state of the cargo 2 based on the position information P3 acquired by the information acquisition device 4. The information acquisition device 4 can acquire the three-dimensional position of the non-contact IC tag 3 in a three-dimensional space with respect to itself. Hereinafter, the three-dimensional position of the non-contact IC tag 3 relative to the information acquisition device 4 is simply referred to as the "position of the non-contact IC tag 3". Also, in the following description, unless otherwise specified, the position of the non-contact IC tag 3 is referred to as the position of the cargo 2. That is, the "position of the cargo 2" is the relative position with respect to the information acquisition device 4. Also, it can be said that the position information P3 indicates the position of the cargo 2. 【0018】 In this specification, the following terms are used for the cargo. A case such as a cardboard box containing the contents is called "cargo". The cargo may contain a single or multiple articles. Although there is no limitation on the shape of the cargo 2, in this example, it has a rectangular parallelepiped shape. 【0019】 The contactless IC tag 3 functions as a small electronic device that operates upon receiving radio waves, and includes, for example, RFID (Radio Frequency Identification). The information acquisition device 4 functions as an IC tag reader that communicates with RFID. The contactless IC tag 3 obtains a minute amount of power from the radio waves emitted from the information acquisition device 4 to perform information processing such as an individual number, and transmits radio waves. The information acquisition device 4 reads this radio wave signal to obtain the information of the IC tag. At that time, the information acquisition device 4 does not need to contact the contactless IC tag 3. The contactless IC tag 3 is attached and mounted at a predetermined position on a predetermined surface of the load 2. Therefore, the position of the contactless IC tag 3 has a predetermined positional relationship with respect to the positions of each surface including the bottom surface 26 of the load 2 and the position of the center of gravity G. 【0020】 The information acquisition device 4 can detect the distance and direction to the contactless IC tag 3 to be read by changing the directivity of the radio wave beam and scanning the radio wave beam. As another example, the information acquisition device 4 can detect the distance and direction to the contactless IC tag 3 to be read by including, for example, a plurality of three IC tag readers. As described above, the information acquisition device 4 can acquire the three-dimensional position of the contactless IC tag 3 with respect to itself as a reference. The information acquisition device 4 acquires position information P3 regarding the position of the contactless IC tag 3 attached to the load 2 loaded on the loading platform 1, and provides the position information P3 to the information processing device 5. 【0021】 The information acquisition device 4 may continuously execute the operations of acquiring and providing the position information P3, but in this embodiment, it is executed at every preset sampling period. In this case, for a large number of loads 2, the position information P3 can be sequentially acquired and provided to the information processing device 5. 【0022】 The information processing device 5 will be described with reference to Figure 2. Each functional block shown in Figure 2 and Figure 5 (described later) can be realized in hardware terms by components such as a computer processor, CPU, and memory, as well as electronic circuits and mechanical devices, and in software terms by computer programs, etc. However, here we are depicting functional blocks realized through the cooperation of these components. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways by combinations of hardware and software. 【0023】 The information processing device 5 determines the loading state of the cargo 2 based on the position information P3 acquired by the information acquisition device 4. Determining the loading state of the cargo 2 involves determining the likelihood of the multiple cargoes 2 loaded on the loading platform 1 collapsing. For example, if there is a high probability of the cargo collapsing, it is considered an unstable state and the loading state is poor, while if the probability is low, it is considered a stable state and the loading state is good. 【0024】 The information processing device 5 may be configured in a single block or distributed across multiple blocks. The multiple blocks may be located close to each other or far apart. Each functional block can exchange information with each other via wired or wireless communication means. This communication means may include a dedicated or general-purpose network. In this embodiment, the communication means is a data bus 50. 【0025】 The information processing device 5 includes an input unit 51, a storage unit 52, a notification unit 53, a control unit 54, a position estimation unit 55, a loading state determination unit 56, a vibration estimation unit 57, a load displacement estimation unit 58, and a tilt estimation unit 59. The input unit 51 functions as an input port that acquires information including position information P3 and load information L2 from the information acquisition device 4. 【0026】 The storage unit 52 stores location information P3, load information L2, various thresholds, and other information. The notification unit 53 transmits a notification signal to an external notification device (not shown) in predetermined cases, such as when it determines that an unstable state has been detected. This external notification device may notify the operator of the notification through sound, light, text, or other displays. 【0027】 The control unit 54 controls the operations of the cargo handling vehicle 8, such as transport, loading, and unloading, via the drive unit 82. The control unit 54 also receives instructions from the operator via an operating means (not shown) and performs predetermined control operations in response to those instructions. Furthermore, the control unit 54 receives the movement acceleration and turning acceleration of the cargo handling vehicle 8 via an acceleration sensor (not shown) and executes predetermined control operations in accordance with the received results. 【0028】 The position estimation unit 55 estimates the position of each of the multiple loads 2 (hereinafter sometimes referred to as "load position") from the position information P3. 【0029】 The loading state determination unit 56 determines the loading state of the cargo 2 based on the acquired position information P3 and cargo information L2. The process for determining whether the loading state is good or bad is based on the information disclosed by the present applicant in Patent Document 1 (Japanese Patent Application Publication No. 2023-116841). 【0030】 The vibration estimation unit 57 estimates the magnitude of the vertical vibration of the load 2 from the normal component of the load position change of the load 2, based on the time change of the acquired position information P3. The load displacement estimation unit 58 estimates the amount of load displacement from the change in the acquired position information P3. The tilt estimation unit 59 estimates the amount of tilt of the load 2 after tilting relative to before tilting from the change in the acquired position information P3. 【0031】 In this embodiment, the information processing device 5 determines that the loading state is unstable when it satisfies predetermined conditions, and determines that it is stable when it is not in an unstable state. 【0032】 From the standpoint of accurately determining the loading state of cargo 2, it is advantageous to use the shape and mass of cargo 2 for determination. Therefore, in this embodiment, the contactless IC tag 3 stores cargo information L2, which includes information on the shape Q2 and mass M2 of cargo 2 to which the contactless IC tag 3 is attached. The information acquisition device 4 acquires the cargo information L2 from the contactless IC tag 3 and provides it to the information processing device 5. The information processing device 5 determines the loading state of cargo 2 based on the location information P3 and the cargo information L2 acquired by the information acquisition device 4. 【0033】 The information Q2 for the shape of the load 2 is shape information that can identify the shape of the load 2, such as the dimensions of each side of the load 2 and the intersection angles of each side. The information M2 for the mass of the load 2 is information that expresses the total mass of the load 2 in predetermined units. Even if the appearance and shape of the loads are the same, if the contents are different, the load information L2 will also be different for each load 2. Therefore, the information acquisition device 4 acquires the load information L2 from the contactless IC tag 3 individually for each of the multiple loads 2 and provides it to the information processing device 5. The information processing device 5 then uses the load information L2 of each of the multiple loads 2 to determine the loading status. 【0034】 The information processing device 5 can accurately estimate the position of the center of gravity G of the load 2 and the inertial force generated by its acceleration using the load information L2. As a result, even when loads that look and have the same shape but different contents are mixed on a pallet, the accuracy of determining the loading state of load 2 can be ensured. 【0035】 Referring to Figure 3, an example of the loading state determination operation of the cargo handling support device 10 in this embodiment will be explained. Figure 3 is a flowchart of the processing S110 of the loading state determination operation of the cargo handling support device 10. The determination operation includes the processing S110 of loading multiple loads 2 onto the loading platform 1 of the cargo handling vehicle 8 and transporting them. 【0036】 Once the operation has started, process S110 determines whether it is time to start the decision operation (step S111). If it is not time to start (N in step S111), the process returns to the beginning of step S111 and repeats step S111. For example, the decision operation may start when multiple loads 2 are loaded onto the loading platform 1 of the loading vehicle 8 and it is ready, and an operator makes an action. 【0037】 When the start timing is reached (Y in step S111), process S110 raises the loading platform 1 of the loading vehicle 8 to a preset height (step S112). In this step, for example, the forks 84 of the loading vehicle 8 (see also Figure 1) are lifted up. 【0038】 After step S112 is executed, in step S113, the position of each of the multiple loads 2 loaded on the loading platform 1 is acquired while the loading vehicle 8 is stationary (step S112). In this step, the loading support device 10 communicates with the contactless IC tags 3 attached to each load 2 loaded on the loading platform 1 and acquires the position information P3 of the contactless IC tags 3. The position information P3 acquired in this step is stored in the storage unit 52 as the reference position (initial position) of each load 2. 【0039】 After step S113 is executed, in step S114, the information acquisition device 4 acquires cargo information L2 from the contactless IC tag 3 (step S114). Once the cargo information L2 for each cargo 2 is acquired, the cargo information L2 is stored in the storage unit 52. In this example, the cargo information L2 is acquired by the information acquisition device 4 by communicating with the contactless IC tag 3. In the second embodiment described later, the cargo handling support device 10 acquires the cargo information L2 by communicating with an external data server 6. 【0040】 After step S114 is completed, in step S115, transport is started by the cargo handling vehicle 8 (step S115). 【0041】 After step S115 is performed, in step S116 the loading vehicle 8 is accelerated (step S116). 【0042】 After step S116 is executed, in step S117, the position of each of the multiple loads 2 is estimated and it is determined whether or not there has been a change in the load position (step S117). Hereafter, the amount of change in the load position from the reference position (initial position) is sometimes referred to as the "load displacement amount". If there has been no change in the load position (N in step S117), the acceleration of the cargo handling vehicle 8 is increased (step S118), and the process returns to the beginning of step S117, and steps S117 to S118 are repeated. 【0043】 If there is a change in the position of any of the multiple loads 2 (Y in step S117), process S110 estimates the allowable acceleration of the multiple loads 2 (step S119). When there is a change in the load position, the accelerating force acting on load 2 exceeds the frictional resistance of the bottom surface 26 of load 2, and the frictional resistance can be estimated by working backward from this result. The allowable acceleration is the acceleration at which load 2 can generate the maximum force that allows it to remain in that position due to the frictional resistance with its support surface 24, and can be estimated by calculation using the shape of the bottom surface 26 of load 2, the position of its center of gravity, and its mass. The allowable acceleration can be used as a threshold in the following process. 【0044】 After step S119 is performed, in step S120, the loading vehicle 8 is accelerated at the allowable acceleration (step S120). 【0045】 After step S120 is executed, step S121 determines whether the cargo handling vehicle 8 has reached a predetermined transport speed (step S121). If the predetermined transport speed has not been reached (N in step S121), the process returns to the beginning of step S120, and steps S120 to S121 are repeated. 【0046】 When the predetermined transport speed is reached (Y in step S121), in step S122, the multiple loads 2 are transported at the predetermined transport speed (step S122). 【0047】 Once step S122 is executed, process S110 terminates. Each step in process S110 is illustrative and can be modified in various ways. For example, steps can be added, steps deleted, the order of steps changed, or some steps separated and used independently. 【0048】 During subsequent transport of load 2, when turning or accelerating / decelerating, the acceleration is set so as not to exceed the frictional drag force of load 2 obtained in process S110. In other words, the threshold for acceleration when turning or accelerating / decelerating can be set within a range that does not exceed the frictional drag force of load 2. 【0049】 The method for determining the loading state will be explained with reference to Figure 4. Figure 4 is a schematic side view showing an unstable state of load 2. In order to determine whether the loading state is unstable or not, it is conceivable to use the result of whether or not predetermined conditions are met. These predetermined conditions can be, for example, whether or not the magnitude of vibration of load 2, the amount of load displacement, the amount of inclination, etc., exceeds a threshold. Therefore, in this embodiment, the information processing device 5 determines that the loading state is unstable when the predetermined conditions are met. 【0050】 (Judgment based on vibration magnitude) Figures 4(A) and 4(B) schematically show the normal component of the load position change of load 2. A method using vibrations experienced by load 2 under predetermined conditions will be explained. Vertical vibration can be estimated from the normal component of the load position change of load 2. By performing frequency analysis on the time change of the difference between information at the current time and information from a certain time ago for the normal component (vertical component in this example) of the support surface 24 that supports load 2 at the load position, the vibration of load 2 can be estimated and understood. Figure 4(B) schematically shows the normal component g1 of the load position change of load 2 as a function of elapsed time. Figure 4(C) schematically shows the frequency spectrum obtained by frequency analysis of the normal component g1. The normal component g1 is essentially vertical vibration, and hereafter, the normal component g1 may be referred to as "vertical vibration g1". 【0051】 When the amplitude a1 of the vertical vibration g1 (normal component g1) is large, or when the component s1 of a specific frequency f1 of the vibration is higher than the threshold r1, the stability due to friction from the support surface 24 due to gravity cannot be discussed. Since this vibration is a vertical movement relative to the support surface 24, it is not considered to be caused by the horizontal acceleration or deceleration of the cargo handling vehicle 8. However, the vibration may reduce the frictional drag, making cargo collapse more likely. 【0052】 Therefore, if the amplitude value a1 of the vertical vibration g1 of the load 2 or the magnitude of a predetermined frequency component exceeds a threshold, it is determined to be in an unstable state, and the loading vehicle 8 can be controlled to slow down its movement speed and suppress the vibration. In this embodiment, the information processing device 5 estimates the vertical vibration g1 of the contactless IC tag 3 from the change in position information P3, and if the estimated amplitude value a1 of the vertical vibration g1 exceeds an allowable value k1, or if the magnitude s1 of a predetermined frequency f1 component exceeds a threshold r1, it is determined to be in an unstable state, and the loading vehicle 8 is controlled to limit the movement speed of the loading platform 1. In this specification, limiting the movement speed includes setting the movement speed to zero, that is, stopping the movement. 【0053】 As mentioned above, the information processing device 5 can determine the amplitude value a1 of the vertical vibration g1 and the magnitude s1 of the component at a predetermined frequency f1 by using frequency analysis to identify the time change of the difference between the information at the current time and the information from a certain time ago. For example, Fourier transform operations can be used for frequency analysis. The sampling period of the normal component of the load position change of load 2 can be set by experiment or simulation. The tolerance value k1, the predetermined frequency f1, and the threshold r1 can be set by experiment or simulation. 【0054】 (Judgment based on the amount of shifting of the load) Figure 4(D) schematically shows the amount of load displacement d1 of load 2. A method using the amount of load displacement d1 as a predetermined condition will be explained. If the amount of load displacement d1 exceeds a threshold, it is determined to be an unstable state, and the cargo handling vehicle 8 can be controlled to slow down the movement speed or turning speed to reduce the possibility of load collapse. In this embodiment, the information processing device 5 estimates the amount of change in the position of the non-contact IC tag 3 relative to the cargo handling platform 1 in the direction along the support surface 24 of the cargo handling platform 1 from the change in position information P3, and if the estimated amount of change exceeds a threshold, it is determined to be an unstable state, and the cargo handling vehicle 8 is controlled to limit the movement speed or turning speed of the cargo handling platform 1. 【0055】 (Judgment based on the degree of slope) Figure 4(E) schematically shows the inclination amount j1 of the load 2. The inclination amount j1 is the magnitude of the angle after inclination relative to the angle before inclination. A method using the inclination amount j1 of the load 2 as a predetermined condition will be explained. If the inclination amount j1 of the load 2 exceeds a threshold, it is determined to be an unstable state, and the loading vehicle 8 can be controlled to slow down its movement speed or turning speed to reduce the possibility of the load collapsing. In this embodiment, the information processing device 5 estimates the inclination amount j1 of the contactless IC tag 3 from the change in position information P3, and if the estimated inclination amount j1 exceeds a threshold, it is determined to be an unstable state, and the loading vehicle 8 is controlled to limit the movement speed or turning speed of the loading platform 1. 【0056】 (News Department) When an unstable state is determined, it is desirable that the operator be able to easily recognize the unstable state. Therefore, in this embodiment, the information processing device 5 has a notification unit 53 that notifies the outside when an unstable state is determined. Whether or not an unstable state is present can be determined by whether or not the magnitude of the vibration of the load 2, the amount of load displacement, or the amount of inclination exceeds a threshold, as described above. 【0057】 The features of the cargo handling support device 10 of the first embodiment will now be described. The cargo handling support device 10 of the first embodiment includes an information acquisition device 4 that communicates with a contactless IC tag 3 attached to a load 2 loaded on a cargo handling platform 1 and acquires location information P3 of the contactless IC tag 3, and an information processing device 5 that determines the loading status of the load 2 based on the location information P3 acquired by the information acquisition device 4. 【0058】 With this configuration, even when packages that look and look the same but have different contents are mixed on a pallet, the position of package 2 can be obtained based on the location information P3 of the contactless IC tag 3, thus ensuring accuracy in determining the loading state of package 2, such as positional displacement or tilt. 【0059】 For example, the information processing device 5 determines that the loading state is unstable when it meets predetermined conditions. In this case, the unstable state can be easily determined by using the predetermined conditions. 【0060】 For example, the information processing device 5 estimates the vertical vibration of the contactless IC tag 3 from the change in location information P3, and determines that the system is in an unstable state if the estimated amplitude value of the vertical vibration or the magnitude of a predetermined frequency component exceeds a threshold, and limits the movement speed of the loading platform 1. In this case, if the amplitude value of the vertical vibration of the load 2 or the magnitude of a predetermined frequency component exceeds a threshold, it is determined that the system is in an unstable state, and the movement speed can be slowed to suppress the vibration. 【0061】 For example, the information processing device 5 estimates the amount of change in the position of the contactless IC tag 3 relative to the loading platform 1 in the direction along the support surface 24 of the loading platform 1 from the change in position information P3. If the estimated amount of change exceeds a threshold, it determines that the system is in an unstable state and limits the movement speed or rotation speed of the loading platform 1. In this case, if the amount of change in position exceeds a threshold, it is determined that the system is in an unstable state, and the movement speed or rotation speed can be slowed down to reduce the possibility of cargo collapse. 【0062】 For example, the information processing device 5 estimates the tilt amount of the contactless IC tag 3 from the change in location information P3, and if the estimated tilt amount exceeds a threshold, it determines that the system is in an unstable state and limits the movement speed or rotation speed of the loading platform 1. In this case, if the tilt amount exceeds a threshold, it is determined that the system is in an unstable state, and the movement speed or rotation speed can be slowed down to reduce the possibility of cargo collapse. 【0063】 As an example, the information processing device 5 has a notification unit 53 that notifies the outside when it determines that the state is unstable. In this case, the operator can easily recognize the unstable state by notifying the outside. 【0064】 The above is a description of the first embodiment. 【0065】 [Second Embodiment] The cargo handling support system 100 according to the second embodiment will be described with reference to Figure 5. Figure 5 is a block diagram showing the functional blocks of the cargo handling support system 100 according to the second embodiment. In the first embodiment, cargo information L2 was shown to be stored in a contactless IC tag 3 and retrieved from the contactless IC tag 3. However, the second embodiment differs in that identification information C3 is obtained from the contactless IC tag 3 and cargo information L2 corresponding to the identification information C3 is obtained from the data server 6. The identification information C3 can be any code that can identify cargo 2, for example, the product name, model number, JAN code, etc. of cargo 2. 【0066】 As shown in Figure 5, the cargo handling support system 100 comprises a data server 6, an information acquisition device 4, a server communication unit 61, and an information processing device 5. In the example in Figure 5, the server communication unit 61 is integrated with the information processing device 5. The data server 6 stores cargo information L2, which includes information on the shape Q2 and mass M2 of the cargo 2, corresponding to identification information C3 for identifying the cargo 2. The data server 6 may be provided integrated with the cargo handling support device 10. 【0067】 The information acquisition device 4 communicates with the contactless IC tag 3 attached to the cargo 2 loaded on the loading platform 1, and acquires the location information P3 of the contactless IC tag 3 and the identification information C3 of the cargo 2 to which the contactless IC tag 3 is attached. 【0068】 The server communication unit 61 transmits the identification information C3 acquired by the information acquisition device 4 to the data server 6, and obtains the cargo information L2 corresponding to the identification information C3 from the data server 6. The information processing device 5 determines the loading status of the cargo 2 based on the location information P3 acquired by the information acquisition device 4 and the cargo information L2 acquired by the server communication unit 61. 【0069】 The cargo handling support system 100 differs in that it acquires cargo information L2 from the data server 6, but the operation of other functional blocks is the same as in the first embodiment, and the flowchart in Figure 3 can also be applied to the cargo handling support system 100. 【0070】 The features of the cargo handling support system 100 of the second embodiment will now be described. The cargo handling support system 100 of the second embodiment includes: a data server 6 that stores cargo information L2, which includes information on the shape Q2 and mass M2 of cargo 2, corresponding to identification information C3 for identifying cargo 2; ​​an information acquisition device 4 that communicates with a contactless IC tag 3 attached to cargo 2 loaded on a cargo handling platform 1 and acquires location information P3 of the contactless IC tag 3 and identification information C3 of cargo 2 to which the contactless IC tag 3 is attached; a server communication unit 7 that uses the identification information C3 acquired by the information acquisition device 4 to acquire cargo information L2 corresponding to the identification information C3 from the data server 6; and an information processing device 5 that determines the loading state of cargo 2 based on the location information P3 acquired by the information acquisition device 4 and the cargo information L2 acquired by the server communication unit 7. 【0071】 With this configuration, the information processing device 5 can obtain load information L2, which includes information on the shape Q2 and mass M2 of load 2, from the data server 6 using the identification information C3 as a key. Therefore, the information processing device 5 can accurately estimate the center of gravity position and the inertial force generated by acceleration of load 2 using the load information L2. As a result, even when loads that look and have the same shape but different contents are mixed on a pallet, the accuracy of determining the loading state of load 2 can be ensured. 【0072】 The above is a description of the second embodiment. 【0073】 The present invention has been described above based on several embodiments. These embodiments are illustrative, and it will be understood by those skilled in the art that various modifications and changes are possible within the scope of the claims of the present invention, and that such modifications and changes are also within the scope of the claims of the present invention. Accordingly, the descriptions and drawings herein should be treated as illustrative rather than limiting. 【0074】 (modified version) The following describes modified examples. In the drawings and descriptions of the modified examples, components and parts that are the same or equivalent as those in the embodiments are denoted by the same reference numerals. Descriptions that overlap with those in the embodiments will be omitted as appropriate, and the descriptions will focus on the configurations that differ from those in the embodiments. 【0075】 In the above description, an example was given where the cargo handling vehicle 8 is an electric forklift, but the present invention is not limited to this. The cargo handling vehicle can be any vehicle capable of loading cargo onto a loading platform and moving it, and may be a transport means based on known technologies such as AGVs or AMRs (Autonomous Mobile Robots). 【0076】 The above description shows an example in which the data server 6 is provided integrally with the cargo handling support device 10, but the present invention is not limited to this. The data server 6 may be provided outside the cargo handling support device 10. In this case, the data server 6 may be installed on the same floor as the cargo handling support device 10, in the same building, or in a different building. 【0077】 Each of these modifications produces the same functions and effects as the embodiments. 【0078】 Any combination of the embodiments and modifications described above is also useful as an embodiment of the present invention. The new embodiments resulting from these combinations possess the combined effects of both the respective embodiments and modifications. [Explanation of symbols] 【0079】 1. Loading platform, 2. Cargo, 3. Contactless IC tag, 4. Information acquisition device, 5. Information processing device, 6. Data server, 7. Server communication unit, 8. Loading vehicle, 9. Notification unit, 10. Loading support device, 22. Pockets, 100. Loading support system.

Claims

[Claim 1] An information acquisition device that communicates with a contactless IC tag attached to a load placed on a loading platform and acquires the location information of the contactless IC tag, An information processing device that determines the loading state of the cargo based on the position information acquired by the information acquisition device, A cargo handling support device equipped with the following features. [Claim 2] The aforementioned contactless IC tag stores package information, including information about the shape and mass of the package to which the tag is attached. The information acquisition device acquires the package information from the contactless IC tag, The information processing device determines the loading state of the cargo based on the location information and the cargo information acquired by the information acquisition device. The cargo handling support device according to claim 1. [Claim 3] The information processing device determines that the loading state is unstable when it satisfies predetermined conditions. A cargo handling support device according to claim 1 or 2. [Claim 4] The information processing device estimates the vertical vibration of the contactless IC tag from the change in position information, determines that the state is unstable when the estimated amplitude value of the vertical vibration or the magnitude of a predetermined frequency component exceeds a threshold, and limits the movement speed of the loading platform. The cargo handling support device according to claim 3. [Claim 5] The information processing device estimates the amount of change in the relative position of the contactless IC tag with respect to the loading platform in a direction along the support surface of the loading platform from the change in position information, determines that the state is unstable when the estimated amount of change exceeds a threshold, and limits the movement speed or rotation speed of the loading platform. The cargo handling support device according to claim 3. [Claim 6] The information processing device estimates the tilt amount of the contactless IC tag from the change in the position information, determines that the state is unstable when the estimated tilt amount exceeds a threshold, and limits the movement speed or rotation speed of the loading platform. The cargo handling support device according to claim 3. [Claim 7] The aforementioned information processing device has a notification unit that notifies the outside when it determines that an unstable state is present. The cargo handling support device according to claim 3. [Claim 8] A data server that stores cargo information, including information on the shape and mass of a cargo, in correspondence with identification information for identifying a cargo, An information acquisition device that communicates with a contactless IC tag attached to a load loaded on a loading platform and acquires the location information of the contactless IC tag and the identification information of the load to which the contactless IC tag is attached. A server communication unit that uses the identification information acquired by the information acquisition device to acquire shipment information corresponding to the identification information from the data server, An information processing device that determines the loading status of the cargo based on the location information acquired by the information acquisition device and the cargo information acquired by the server communication unit, A cargo handling support system equipped with the following features. [Claim 9] The system communicates with contactless IC tags attached to cargo loaded on a loading platform and obtains location information of the contactless IC tags. Based on the acquired location information, the loading status of the cargo is determined, A cargo handling support method that includes this.

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