Information Reading System

Abstract

To prevent information from being unable to be read accurately from an RFID medium due to a storage state of an article or a mounting position of the RFID medium on the article in a case such as when the article is managed using the RFID medium.SOLUTION: When reading information from an RFID tag via an RFID antenna 16 of a drone 10, an image from the drone 10 is taken by the drone 10, a position and an orientation of the drone 10 are determined in a control PC 60 based on the image taken by the drone 10, a control signal for controlling a moving direction and the orientation of the drone 10 is transmitted based on the determination result, and the moving direction and the orientation of the drone 10 are controlled in the drone 10 based on the control signal transmitted from the control PC 60.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a technique for reading information from an RFID medium when, for example, managing goods using the RFID medium. [Background technology]

[0002] 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 non-contact communication, are rapidly becoming popular due to their excellent convenience. When managing items using RFID media, the RFID media is attached to the items to be managed, and an antenna for reading information from the RFID media is placed close to the RFID media to read information from the RFID media, and the inventory of the items is managed using the read information. In this case, 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.

[0003] Here, 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- and y-axis directions by moving the traveling cart for moving the antenna, and in the z-axis direction by raising and lowering the antenna by the antenna lifting mechanism, to read information from the RFID medium. 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. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2010-30712 A Summary of the Invention [Problem to be solved by the invention]

[0005] 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 the 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 medium to the item, there is a risk that information cannot be accurately read from the RFID medium.

[0006] For example, when reading information from an RFID medium attached to an item, it is preferable to have an antenna for reading information from the RFID medium facing the RFID medium. However, in a case where an antenna for reading information from an RFID medium is attached to a traveling cart for moving an antenna in a predetermined direction and the traveling cart for moving an antenna travels along a predetermined route as disclosed in Patent Document 1, the antenna for reading information from the RFID medium may not face the RFID medium depending on the storage state of the item and the attachment position of the RFID medium to the item.

[0007] The present invention has been made in consideration of the problems associated with the conventional technology as described above, and aims to provide an information reading system that can avoid a situation where information cannot be accurately read from an RFID media due to the storage condition of the items or the attachment position of the RFID media to the item, for example when managing items using RFID media. [Means for solving the problem]

[0008] 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 medium; 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; The unmanned aerial vehicle is Place of and a control device that judges the position and orientation of the unmanned aerial vehicle 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. The first antenna is positioned so as to face the RFID medium. Take control.

[0009] In the present invention configured as described above, information is read from the RFID media via the first antenna of the unmanned aerial vehicle by the reader, an image from the unmanned aerial vehicle is captured by the unmanned aerial vehicle's imaging unit, the position and orientation of the unmanned aerial vehicle is determined in the control device based on the image captured by the imaging 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, in cases where items are managed 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 the inability to accurately read information from the RFID media.

[0010] In addition, if a mobile device capable of moving on the ground 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 equip the unmanned aerial vehicle with a reader or power source, thereby making the unmanned aerial vehicle lighter.

[0011] Furthermore, 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 enabling information to be read efficiently without causing the unmanned aerial vehicle to fly unstably at low altitudes. Effect of the Invention

[0012] According to the present invention, the position and orientation of the unmanned aerial vehicle are determined based on images from the unmanned aerial vehicle captured by the unmanned aerial vehicle's imaging unit, and the movement direction and orientation of the unmanned aerial vehicle are controlled based on the determination results.Therefore, when managing items using RFID media, 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 the inability to accurately read information from the RFID media.

[0013] In addition, in cases where the vehicle has a mobile unit 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 unit and the unmanned aerial vehicle, there is no need to install a reader or power source on the unmanned aerial vehicle, thereby making it possible to reduce the weight of the unmanned aerial vehicle.

[0014] In addition, in cases where 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, thereby making it possible to read information efficiently without causing the unmanned aerial vehicle to fly unstably at low altitudes. [Brief description of the drawings]

[0015] [Figure 1] 1 is a diagram showing an embodiment of an information reading system of the present invention; [Diagram 2] 2A and 2B are diagrams showing the structure of the drone shown in FIG. 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). [Diagram 3] FIG. 3 is a functional block diagram of the drone and the base unit shown in FIGS. 1 and 2. [Figure 4] FIG. 2 is a functional block diagram of a control PC shown in FIG. [Diagram 5] 2 is a functional block diagram of the inventory management server shown in FIG. 1. [Figure 6] FIG. 6 is a diagram showing an example of a form in which articles are managed using the information reading system shown in FIGS. 1 to 5. [Figure 7] 6 is a flowchart for explaining a method for controlling the flight of a drone in the information reading system shown in FIGS. 1 to 5. [Figure 8] 7 is a diagram for explaining an example of an operation of reading information from an RFID tag attached to an article as shown in FIG. 6 by the drone shown in FIGS. 1 to 3. FIG. [Figure 9] FIG. 11 is a diagram for explaining another example of the operation of the drone shown in FIGS. 1 to 3 to read an RFID tag when the item is stored on a storage shelf so that the RFID tag faces an aisle as shown in FIG. 8. [Figure 10]9 is a diagram for explaining another example of the operation of reading information from an RFID tag attached to an article as shown in FIG. 8 by the drone shown in FIGS. 1 to 3. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0017] Fig. 1 is a diagram showing an embodiment of an information reading system of the present invention. Fig. 2 is a diagram showing the structure of the drone 10 shown in Fig. 1, in which (a) is a top view, (b) is a side view seen from the direction of the arrow A shown in (a), and (c) is a side view seen from the direction of the arrow B shown in (a).

[0018] As shown in FIG. 1, the information reading system in this embodiment has a drone 10, a base unit 30, a control PC 60, and an inventory management server 70.

[0019] The drone 10 and the base unit 30 are connected via an antenna cable 40 and a power cable 50. The drone 10 and the base unit 30 can be connected to a control PC 60 via a communication line 80 by accessing an access point 90.

[0020] The drone 10 is an unmanned flying object in the present invention. As shown in FIG. 2, the drone 10 is configured by extending four arms 12 from a body 11, and attaching a propeller 14 to the upper surface of each of the four arms 12 near the tip. In addition, legs 13 extending from the lower surface of each of the four arms 12 are attached near the tip of each of the four arms 12. The body 11 has two cameras 15 attached to one side and two RFID antennas 16 attached to the lower surface as first antennas. The RFID antennas 16 have a plate-like shape, and the plate-like surface faces in a direction perpendicular to the surface of the body 11 on which the cameras 15 are attached.

[0021] 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 bottom surface of a 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.

[0022] FIG. 3 is a functional block diagram of the drone 10 and the base unit 30 shown in FIGS.

[0023] 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.

[0024] 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 from RFID media such as RFID tags in a non-contact manner.

[0025] As described above, the propeller 14 is attached near the tip of the arm 12 of the drone 10, and rotates to cause the drone 10 to fly.

[0026] The map acquisition unit 21 detects obstacles and the like when flying the drone 10 before reading information, and acquires map data indicating the area in which the drone 10 can fly. In addition, while reading information is being executed, it acquires flight position information indicating which area of ​​the map data the drone 10 is flying.

[0027] The photographing unit 22 captures images from the drone 10 using a camera 15 attached to the body portion 11 of the drone 10.

[0028] The power receiving unit 23 receives power from the base unit 30 via a power cable 50 and supplies the power to the map acquisition unit 21, the photographing unit 22, the communication unit 24, and the propeller driving unit 25.

[0029] 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 map data and flight position information acquired by the map acquisition unit 21 and 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.

[0030] 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 a control signal received by the communication unit 24, thereby flying the drone 10.

[0031] The base unit 30 shown in FIG. 1 has, as its 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 shown in FIG.

[0032] As described above, the RFID antenna 32 is attached to the side surface of the housing 31 of the base unit 30, and serves to read information from an RFID medium such as an RFID tag in a non-contact manner.

[0033] The RFID reader 34 transmits a signal for reading information from the RFID medium to the RFID antenna 16 via the antenna cable 40 and also directly to the RFID antenna 32, thereby reading information from the RFID medium via the RFID antennas 16 and 32.

[0034] The map acquisition unit 35 detects obstacles and the like when flying the drone 10 and traveling the base unit 30 before reading information, and acquires map data indicating the area in which the base unit 30 can travel. In addition, while reading information is being performed, it acquires traveling position information indicating which area of ​​the map data the base unit 30 is traveling through.

[0035] 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 traveling 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, 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.

[0036] The travel control unit 37 controls the travel of the base unit 30 in accordance with the control signal received by the communication unit 36 ​​.

[0037] 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 a power cable 50.

[0038] FIG. 4 is a functional block diagram of the control PC 60 shown in FIG.

[0039] The control PC 60 shown in FIG. 1 serves as the control device in the present invention, and as shown in FIG. 4, has as its 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.

[0040] 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 for controlling the flight and travel of the drone 10 and the base unit 30 via the communication line 80. In addition, the communication unit 61 receives information read from the RFID medium by the RFID reader 34 of the base unit 30 via the RFID antennas 16 and 32 and transmitted from the base unit 30 via the communication line 80, and transmits the read information to the inventory management server 70 via the communication line 80.

[0041] 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.

[0042] The map database 63 registers map data and flight position information transmitted from the drone 10 and the base unit 30.

[0043] In the area information database 64, information on the area where items are managed using the information reading system shown in FIG. 1 is registered.

[0044] 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.

[0045] 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 30 based on the current position and orientation of the drone 10 and the base unit 30 determined by the position determination unit 65.

[0046] The read information registration unit 67 registers the information read from the RFID medium by the RFID reader 34 of the base unit 30 via the RFID antennas 16, 32 and transmitted from the base unit 30 in a read information database 68 in association with position information indicating the position where the information was read. In addition, the read information registration unit 67 transmits the information registered in the read information database 68 to the inventory management server 70 via the communication unit 61.

[0047] The read information database 68 registers information that is 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, in association with location information indicating the location where the information was read.

[0048] FIG. 5 is a functional block diagram of the inventory management server 70 shown in FIG.

[0049] As shown in FIG. 5, 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.

[0050] The communication unit 71 communicates with the control PC 60 via a 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.

[0051] 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 an inventory information database 73.

[0052] In the inventory information database 73, the inventory information generated by the inventory information registration unit 72 is registered.

[0053] A method for managing articles using the information reading system configured as above will be described below.

[0054] FIG. 6 is a diagram showing an example of an embodiment in which articles are managed using the information reading system shown in FIGS.

[0055] 1 to 5 may be used to manage items 3 stored in rows and columns on a storage shelf 2, as shown in Fig. 6. Each item 3 is provided with an RFID tag 4, which serves as an RFID medium, 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.

[0056] FIG. 7 is a flowchart for explaining a method for controlling the flight of the drone 10 in the information reading system shown in FIGS.

[0057] In the information reading system shown in Fig. 1 to Fig. 5, when managing the items 3 stored in the storage shelf 2 by reading information from the RFID tag 4 attached to the items 3 as shown in Fig. 6, as a pre-processing, the drone 10 flies and the base unit 30 travels within an area such as a warehouse where the storage shelf 2 is arranged, and map acquisition units 21, 35 of the drone 10 and the base unit 30 respectively detect obstacles and acquire map data indicating an area in which the drone can fly or travel (step S1). This map data can be acquired using a known technology used in so-called cleaning robots and the like.

[0058] 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).

[0059] 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 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, so that 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.

[0060] In this way, the map data of the drone 10 and the base unit 30 used to manage the items 3 stored in the storage shelf 2 as shown in Figure 6 is registered in the control PC 60.

[0061] Thereafter, 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 photographing unit 22 of the drone 10 using the camera 15 attached to the body part 11 (step S4).

[0062] In addition, the map acquisition unit 21 acquires traveling position information indicating which area the drone 10 is traveling through from the map data acquired in advance (step S5).

[0063] 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, the transmission may be every time an image is captured by the imaging unit 22 of the drone 10, every time flight position information is acquired by the map acquisition unit 21, or at a predetermined timing such as every 10 seconds or 1 minute.

[0064] 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).

[0065] 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. In addition, the area information database 64 has registered therein information on the area in which the goods are managed using the information reading system shown in FIG. 1, as described above. For example, when the goods 3 stored in the storage shelf 2 shown in FIG. 6 are managed 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. Furthermore, the image received by the communication unit 61 is taken by the camera 15 attached to one side of the body 11 of the drone 10, and is therefore an image taken in one direction from the drone 10. Therefore, the position determination unit 65 compares 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 can determine the current position and orientation of the drone 10 based on this information.

[0066] 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 the items 3 stored in the 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.

[0067] 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).

[0068] 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).

[0069] Then, in the propeller drive unit 25, the rotational 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).

[0070] In this way, the movement direction and orientation of the drone 10 are controlled based on the current position and orientation of the drone 10.

[0071] 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.

[0072] Fig. 8 is a diagram for explaining an example of an operation of reading information from an RFID tag 4 attached to an object 3 as shown in Fig. 6 by the drone 10 shown in Fig. 1 to Fig. 3. Note that, for ease of understanding, the arms 12 and propellers 14 of the drone 10 are omitted from the illustration.

[0073] 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 camera 15 is attached.

[0074] Therefore, when an item 3 is stored in storage shelf 2 with RFID tag 4 facing the aisle as shown in FIG. 6, by moving drone 10 along the aisle in the direction of the side on which camera 15 is attached as shown in FIG. 8, the RFID antenna 16 of drone 10 will face the RFID tag 4 attached to item 3, and will be able to accurately read information from the RFID tag 4.

[0075] 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 that it can read information from the RFID tag 4 via the RFID antenna 40. At that time, the movement direction 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.

[0076] The drone 10 and the base unit 30 may read information from the RFID tag 4 by, for example, moving a certain distance along a passageway and then stopping, and the drone 10 may move vertically at that position to read information from the RFID tag 4 via the RFID antenna 16, and then the drone 10 and the base unit 30 may move a certain distance along the passageway again. Alternatively, the drone 10 may move further vertically while moving along the passageway and read information from the RFID tag via the RFID antenna 16.

[0077] In addition, when the drone 10 flies at low altitude, there is a risk that the flight of the drone 10 becomes unstable due to air currents caused by the rotation of the propellers 14. Therefore, by reading information from an RFID tag 4 attached to an item 3 stored on a lower shelf 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 efficiently read information without having to fly the drone 10 at low altitude.

[0078] The information read from the RFID tag 4 via the RFID antennas 16, 32 is transmitted from the RFID reader 34 via the communication unit 36 ​​together with 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.

[0079] In the control PC 60, the information transmitted from the communication unit 36 ​​of the base unit 30 is received via the communication unit 61, and in the read information registration unit 67, the information read from the RFID tag 4 is registered in the read information database 68 in correspondence with the location information received together with the information.

[0080] Thereafter, 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, an 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 inventory managed, 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 a storage shelf is registered in the inventory information database 73 as inventory information.

[0081] Fig. 9 is a diagram for explaining another example of the operation of reading the RFID tag 4 by the drone 10 shown in Fig. 1 to Fig. 3 when the article 3 is stored in a storage shelf so that the RFID tag 4 faces the aisle as shown in Fig. 8. Note that, in Fig. 9(b), the arms 12 and the propellers 14 of the drone 10 are also omitted for ease of understanding.

[0082] 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 parallel to each other as shown in Fig. 9(a), but one storage shelf 2e is arranged between the storage shelves 2a and 2b in a direction perpendicular to the storage shelves 2a to 2d. In such a storage shelf arrangement, if the drone 10 moves as shown by the arrow in the figure without changing its orientation, when the items are stored in the 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 10 will not be able to accurately read information from the RFID tags.

[0083] 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, when reading information from an RFID tag attached to an item stored in the storage shelves 2a and 2b, as shown in FIG. 9(b), the drone 10 is moved along the passage in the direction in which the camera 15 is attached, while reading information 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 make the RFID antenna 16 of the drone 10 face 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.

[0084] Fig. 10 is a diagram for explaining another example of the operation of reading information from the RFID tag 4 attached to the article 3 as shown in Fig. 8 by the drone 10 shown in Fig. 1 to Fig. 3. Note that, in Fig. 10 as well, the arms 12 and the propellers 14 of the drone 10 are omitted for ease of understanding.

[0085] In this example, as shown in Fig. 6, the items stored in the storage shelf 3 are stored so that the attached RFID tags 4a to 4c, 4e of the items 3a to 3c, 3e face the aisle, whereas the RFID tag 4d of the item 3d is not stored so that it faces the aisle, as shown in Fig. 10. When the items 3a to 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 to 4c, 4e attached to the items 3a to 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 the item 3d will not face the RFID antenna 16 of the drone 10 and information cannot be read accurately.

[0086] Therefore, as described above, the movement direction and orientation of the drone 10 are controlled based on the current position and orientation of the drone 10, and as shown in Figure 10, when reading information from the RFID medium 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 much as possible, thereby avoiding the information from the RFID tag not being accurately read via the RFID antenna 16.

[0087] 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.

[0088] In this case, first, among the positions where registered information should be read, position information capable of identifying positions where information has not yet been read is extracted from the read information database 68. That is, when performing such control, position information where items are to be stored is registered in advance in the read information database 68, and for each piece of position information, whether or not information has been read via the RFID antennas 16, 32 is registered. Then, position information identifying positions where information has not been read via the RFID antennas 16, 32 is extracted.

[0089] 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.

[0090] Thereafter, in the movement direction control unit 66, when the position of the drone 10 determined by the position determination unit 65 becomes a position identified by the position information extracted from the read information database 68 by the read information registration unit 67, it is possible to change the orientation of the drone 10 by rotating the drone 10 as shown in Figure 10, and to attempt to read information from the RFID tag 4.

[0091] As described above, in this embodiment, when information is read from the RFID tag via the RFID antenna 16 of the drone 10 by the RFID reader 34, an image from the drone 10 is taken by the camera 15 in the imaging unit 22 of the drone 10, the position and orientation of the drone 10 are determined based on the image taken 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 movement direction and orientation of the drone 10 are controlled based on the control signal transmitted from the control PC 60 in the propeller drive unit 25 of the drone 10. 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 being unable to accurately read information from the RFID tag.

[0092] In addition, an RFID reader 34 that reads information from the 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, so there is no need to mount an RFID reader or power supply on the drone 10, thereby making it possible to reduce the weight of the drone 10.

[0093] 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 the antenna 32 of the base unit 30 is preferably attached to at least two opposing side surfaces of the housing 31 because the housing 31 acts as a shield.

[0094] 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 by utilizing jet streams, magnetic fields, etc. [Explanation of symbols]

[0095] 2,2a~2e Storage shelves 3,3a~3e Goods 4,4a~4e RFID tags 10. Drone 11 Body 12 Arm 13 Legs 14 Propeller 15 Camera 16,32 RFID antenna 21,35 Map Acquisition Section 22 Photography Department 23 Power receiving section 24, 36, 61, 71 Communications Department 25 Propeller drive unit 30 Base Unit 31 Case 33 wheels 34 RFID Reader 37 Driving control unit 38 Power supply section 40 Antenna cable 50 Power Cable 60 Control PC 62 Map Data Registration Section 63 Map Database 64 Area Information Database 65 Position judgment part 66 Movement direction control unit 67 Reading information registration section 68 Read Information Database 70 Inventory Management Server 72 Stock Information Registration Department 73 Inventory Information Database 80 Communication Lines 90 Access Points

Claims

1. 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. 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. 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.

Images