JP6292646B1 - Dispatch system - Google Patents

Abstract

To provide a vehicle allocation system that allows a user to easily request the allocation of a manned unmanned vehicle. A vehicle allocation system S is provided so as to photograph a plurality of forklifts 1A to 1F capable of switching between a manned operation mode and an unmanned operation mode, and a predetermined vehicle allocation request location P. A camera 2 that generates image data, an image analysis device 3 that recognizes the presence of the user H based on the image data and authenticates whether the user H is a predetermined qualified person, When the image analysis device 3 authenticates the user H as a qualified person, the specific vehicle corresponding to the user H is selected from the plurality of forklifts 1A to 1F, and the specific vehicle is dispatched to the user H. The vehicle allocation device 4 is provided. [Selection] Figure 1

Description

  The present invention relates to a vehicle allocation system for distributing a manned unmanned vehicle to a user.

  A manned unmanned vehicle capable of switching between a manned driving mode that operates by a manual operation of a user and an unmanned driving mode that operates autonomously without depending on a user's manual operation is known (see, for example, Patent Document 1). . When a user boardes a manned unmanned vehicle, for the sake of convenience, a manned unmanned vehicle operating in the unmanned operation mode moves to the user in response to a request for dispatch by the user It is preferable to come.

  As a configuration in which a user requests a vehicle allocation, for example, as described in Patent Document 2, when the user operates a mobile terminal, the mobile terminal requests a vehicle or a vehicle allocation management center, and the mobile terminal It is possible to adopt a configuration in which a vehicle that directly receives a vehicle allocation request from the vehicle or a vehicle that receives a vehicle allocation instruction from the vehicle allocation management server travels autonomously to the user.

JP 2010-222108 A Japanese Unexamined Patent Publication No. 2016-210417

  However, in a configuration in which a user operates a mobile terminal to request a vehicle dispatch, there is a problem that it is troublesome to operate the mobile terminal or a user cannot request a vehicle dispatch if the mobile terminal is lost. There is.

  This invention is made | formed in view of the said situation, Comprising: It makes it a subject to provide the dispatch system which a user can request | require the dispatch of a manned unmanned combined vehicle easily.

  In order to solve the above-described problem, the vehicle allocation system according to the first aspect of the present invention captures a plurality of manned and unmanned vehicles capable of switching between a manned operation mode and an unmanned operation mode, and a predetermined vehicle allocation request location. A camera that captures the requested vehicle allocation location and generates image data; and, based on the image data, recognizes the presence of the user and determines whether the user is a predetermined qualified person. When the image analysis device to be authenticated and the image analysis device authenticate the user as the qualified person, a specific vehicle corresponding to the user is selected from the plurality of manned and unmanned vehicles, and the user And a vehicle allocation device for distributing the specific vehicle.

  Further, the vehicle allocation system according to claim 2 is the vehicle allocation system according to claim 1, wherein the image analysis device extracts a facial data related to the user's face from the image data; Authentication for authenticating that the user is the qualified person by comparing the face data and the specific face data with a specific face data storage unit storing specific face data relating to the face of the qualified person And a section.

  The vehicle allocation system according to claim 3 is the vehicle allocation system according to claim 1 or 2, wherein the image analysis device detects the position of the user based on the image data, and the position is determined in advance. It is determined whether or not the specific position is determined, and the vehicle allocation apparatus determines that the position is the specific position by the image analysis apparatus, and the user is the qualified person by the image analysis apparatus. When it is authenticated, the specific vehicle is dispatched to the user.

Moreover, dispatch system according to claim 4, in dispatch system according to claim 3, the front Kiga image analyzer, and the position of the mark indicating the specific position and the position of the user from the image data A position detection unit for detection, and a specific position determination unit that compares the position of the user with the position of the mark and determines that the position of the user is the specific position. .

  The vehicle allocation system according to claim 5 is the vehicle allocation system according to any one of claims 1 to 4, wherein the image analysis device detects an operation of the user based on the image data. Determining whether or not the operation is a predetermined specific behavior, and the vehicle allocation device determines that the operation is the specific behavior by the image analysis device and uses the use by the image analysis device. When the person is authenticated as the qualified person, the specific vehicle is dispatched to the user.

Moreover, dispatch system according to claim 6, in dispatch system according to claim 5, before Kiga image analyzer, upper limb operation to detect at least part of the operation of the upper limb of the user from the image data When the detected motion is a hand-raising operation that raises a hand or an arm, a specific behavior determination unit that determines the motion as the specific behavior is provided.

  Further, the vehicle allocation system according to claim 7 is the vehicle allocation system according to any one of claims 1 to 6, wherein the vehicle allocation device is configured to provide information relating to the association between the qualified person and the manned unmanned vehicle. A vehicle information storage unit that stores vehicle information including, a specific vehicle selection unit that selects the specific vehicle from a plurality of the manned and unmanned combined vehicles based on the vehicle information, and the user to the specific vehicle A vehicle allocation signal transmission unit that transmits a vehicle allocation signal for movement.

  The vehicle allocation system according to claim 8 is the vehicle allocation system according to claim 7, further comprising a wireless communication device that wirelessly transmits the vehicle allocation signal to the specific vehicle.

  According to the present invention, it is possible to provide a vehicle allocation system that allows a user to easily request the allocation of a manned unmanned vehicle.

It is a schematic diagram of a dispatch system concerning one embodiment of the present invention. (A) * (B) It is a perspective view which shows an example of the allocation request | requirement place which concerns on the embodiment. It is a block diagram which shows schematic structure of the vehicle allocation system which concerns on the same embodiment. (A)-(C) It is a table | surface which shows an example of the information which concerns on correlation with a qualified person and a manned unmanned combined vehicle. It is a block diagram which shows schematic structure of the vehicle allocation system which concerns on a modification.

An embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the vehicle allocation system S includes a plurality of forklifts 1 </ b> A to 1 </ b> F (hereinafter collectively referred to as “forklift 1”), a camera 2, an image analysis device 3, a vehicle allocation device 4, and a wireless communication device 5. And a notification device 6. The dispatch system S dispatches the forklift 1 to the user H at the predetermined dispatch request place P.

  The forklift 1 is a manned unmanned system capable of switching between a manned operation mode operated by a passenger's (user on the forklift 1) manual operation and an unmanned operation mode operated autonomously without manual operation. It is a dual-purpose vehicle. The forklift 1 that has received the dispatch signal from the dispatching device 4 receives the user H (in the vicinity of the user H) immediately after the work is finished and immediately after the work is finished. Move to the pick-up position Q).

  In the present embodiment, the forklifts 1A and 1B, the forklifts 1C and 1D, and the forklifts 1E and 1F are classified into different models. For example, the forklifts 1A to 1D are classified as small models for transporting 1 to 3 tons of luggage N, and the forklifts 1E and 1F are classified as medium models for transporting 3 to 4 tons of luggage N. . The forklifts 1A, 1B, 1E, and 1F are classified as rear wheel steering models in which the front wheels cannot be steered and the rear wheels can be steered. Forklifts 1C and 1D are all wheels that can steer the front wheels and the rear wheels. It is classified as a steering model.

  The camera 2 is provided on the ceiling of the building so as to photograph the vehicle allocation request place P, and images the vehicle allocation request place P and generates image data. The camera 2 generates image data of the user H by photographing the user H present at the vehicle allocation request place P.

  The image analysis apparatus 3 recognizes the presence of the user H on the basis of the image data generated by the camera 2 and the user H is a predetermined qualified person (a person who is permitted to request a dispatch). Authenticate whether or not there is. Further, the image analysis device 3 detects the position of the user H based on the image data, and determines whether or not the detected position is a predetermined specific position R.

  When the position of the user H detected by the image analysis device 3 is determined to be the specific position R, and the vehicle allocation device 4 is authenticated by the image analysis device 3 that the user H is a qualified person, A specific vehicle corresponding to the user H is selected from the forklifts 1A to 1F, and a specific vehicle is allocated to the user H by transmitting a dispatch signal to the specific vehicle. That is, the vehicle allocation device 4 does not allocate the forklift 1 when the user H is not in the specific position R and when the user H is not authenticated as a qualified person.

  The wireless communication device 5 is provided in a place where wireless communication with the forklift 1 is possible. By relaying communication between the vehicle allocation device 4 and the forklift 1, the vehicle allocation signal transmitted from the vehicle allocation device 4 is wirelessly transmitted to a specific vehicle. Send.

  The notification device 6 is provided in the vicinity of the vehicle allocation request place P, and when the vehicle allocation device 4 distributes the forklift 1, it notifies the user H that the vehicle allocation request has been received by visual means or auditory means. .

2A and 2B are perspective views showing a state where the user H stands at the specific position R, and shows an example of a mark M that is a mark of the specific position R. FIG.
As shown in FIG. 2, for example, the specific position R is a position in a circular area having a predetermined diameter, and a mark M indicating the specific position R with respect to the user H is provided on the road surface. As shown in FIG. 2A, for example, when the mark M has a shape along the outer periphery of the specific position R (that is, a closed shape), the user H stands inside the mark M. Thus, it can be located at the specific position R. Further, as shown in FIG. 2B, for example, when the mark M has a shape indicating the center of the specific position R, the user H stands at the specific position R by standing in the vicinity of the mark M. Can be located.

FIG. 3 shows a functional block diagram of the image analysis device 3 and the vehicle allocation device 4.
As shown in FIG. 3, the image analysis device 3 includes a position detection unit 31, a specific position determination unit 32, a face data extraction unit 33, a specific face data storage unit 34, and an authentication unit 35. The vehicle allocation device 4 includes a vehicle information storage unit 41, a specific vehicle selection unit 42, and a vehicle allocation signal transmission unit 43.

  The position detection unit 31 detects the position of the user H and the position of the mark M from the image data. The specific position determination unit 32 compares the position of the user H detected by the position detection unit 31 with the position of the mark M detected by the position detection unit 31 so that the position of the user H is the specific position R. Is determined. Specifically, for example, when the position of the mark M shown in FIG. 2A is detected by the position detection unit 31, the specific position determination unit 32 causes the position of the user H and the position of the mark M to overlap. The position of the user H is determined to be the specific position R. For example, when the position of the mark M shown in FIG. 2B is detected by the position detection unit 31, the specific position determination unit 32 determines that the distance from the position of the mark M to the position of the user H is a predetermined distance. When it is less than, it is determined that the position of the user H is the specific position R.

  The face data extraction unit 33 extracts face data related to the face of the user H from the image data generated by the camera 2. The specific face data storage unit 34 stores specific face data related to a qualified person's face. The authentication unit 35 compares the face data extracted by the face data extraction unit 33 with the specific face data stored in the specific face data storage unit 34, and if the degree of coincidence of each data is high, the user H Authenticate that is qualified.

  The vehicle information storage unit 41 stores vehicle information including information related to the association between the qualified user H and the forklift 1. When the specific position determination unit 32 determines that the position of the user H is the specific position R and the authentication unit 35 authenticates that the user H is a qualified person, the specific vehicle selection unit 42 Based on the vehicle information stored in the storage unit 41, a specific vehicle to be dispatched to the user H from the plurality of forklifts 1A to 1F is selected. Specifically, the specific vehicle selection unit 42 selects a specific vehicle according to the authenticated user H based on information relating to the association between the qualified person and the forklift 1. The vehicle allocation signal transmission unit 43 transmits a vehicle allocation signal for moving the specific vehicle selected by the specific vehicle selection unit 42 to the source of the user H (receiving position Q).

4A to 4C are tables showing an example of information related to the association between a qualified person and the forklift 1.
FIG. 4A shows an example in which one specific vehicle is associated with each of three qualified users H1 to H3. For example, when the user H1 is authenticated based on the information related to the association shown in FIG. 4A, the specific vehicle selection unit 42 selects the forklift 1A as the specific vehicle to be dispatched to the user H1, When the user H2 is authenticated, the forklift 1D is selected as the specific vehicle to be allocated to the user H2, and when the user H3 is authenticated, the forklift 1E is selected as the specific vehicle to be allocated to the user H3. To do.

  FIG. 4B shows an example in which two or more specific vehicles are associated with each of three qualified users H1 to H3. For example, when the user H1 is authenticated based on the information related to the association illustrated in FIG. 4B, the specific vehicle selection unit 42 selects any of the forklifts 1A and 1B as the specific vehicle to be dispatched to the user H1. When one of the forklifts 1D and 1E is selected as a specific vehicle to be dispatched to the user H2 and the user H3 is authenticated, One of the forklifts 1E and 1F is selected as a specific vehicle to be dispatched to the user H3.

  FIG. 4C shows an example in which two or more specific vehicles are associated with each of the five users H1 to H5 who are qualified persons, and the same forklift 1 is associated with different qualified persons. Show. For example, when the user H4 is authenticated based on the information relating to the association shown in FIG. 4C, the specific vehicle selection unit 42 is a forklift 1A, 1B, When one of the 1C and 1D that is not used by the users H1 and H2 is selected and the user H5 is authenticated, the user among the forklifts 1E and 1F is designated as the specific vehicle to be dispatched to the user H5. Select one that is not used by H3.

  In the vehicle allocation system S configured as described above, when the user H who is a qualified person who is permitted to request vehicle allocation stands at the specific position R, the forklift 1 that is predetermined according to the user H is used. Is dispatched to the user H. Then, the user H can board the forklift 1 that has arrived at the pick-up position Q and switch from the unmanned operation mode to the manned operation mode to operate the forklift 1 and perform a cargo handling operation.

In the above embodiment, the following effects can be obtained.
(1) When the user H is authenticated by the image analysis device 3 as a qualified person, a specific vehicle (one forklift 1) is dispatched to the user H. For this reason, the user H can request a vehicle dispatch by being shown in the camera 2 in the specific position R, without operating a portable terminal. Therefore, in the dispatch system S of the present invention, the user H can easily request the dispatch of the forklift 1. In addition, since a specific vehicle determined in advance from a plurality of forklifts 1A to 1F is allocated to the user H, the same or the same kind of forklifts 1 can be allocated to the same user H. By using the forklift 1 that is familiar with, it can be expected that the work efficiency of cargo handling will be improved.

  (2) It is authenticated that the user H is a qualified person by comparing the face data of the user H with the specific face data of the qualified person. For this reason, it can authenticate in detail whether the user H is a qualified person.

  (3) When it is determined that the position of the user H is the specific position R and the user H is authenticated as a qualified person, the forklift 1 is dispatched to the user H. For this reason, when the user H exists in positions other than the specific position R, it is possible to prevent the forklift 1 from being dispatched. That is, it is possible to prevent the vehicle H from being assigned to the user H who is unintentionally captured by the camera 2.

  (4) The position of the user H and the position of the mark M are compared to determine that the position of the user H is the specific position R. For this reason, the change of the specific position R for a vehicle allocation request | requirement can be easily performed by changing the position of the mark M.

  (5) A specific vehicle is selected from the plurality of forklifts 1 </ b> A to 1 </ b> F based on vehicle information including information relating to the association between the qualified person and the forklift 1. For this reason, the forklift 1 dispatched to the user H can be changed by changing the information regarding the association between the qualified person and the forklift 1.

  (6) The vehicle allocation system S includes a wireless communication device 5 that wirelessly transmits a vehicle allocation signal to a specific vehicle. For this reason, it is possible to easily instruct the forklift 1 operating in the unattended operation mode to dispatch vehicles.

  The present invention is not limited to the above embodiment, and the above configuration can be changed as appropriate. For example, the embodiment described above may be modified as follows, or may be implemented by combining the following modifications.

  The vehicle allocation device 4 does not determine whether or not the position of the user H is the specific position R when the image analysis device 3 authenticates the user H to be a qualified person. Specific vehicles may be dispatched.

  The image analysis device 3 may detect the operation of the user H based on the image data, and may determine whether the operation is a predetermined specific behavior. The vehicle allocation device 4 When it is determined that the action of the user H detected by the analysis device 3 is a predetermined specific behavior and the user H is authenticated by the image analysis device 3 as a qualified person, the user H is informed On the other hand, a specific vehicle may be dispatched. FIG. 5 is a functional block diagram of the image analysis device 3 and the vehicle allocation device 4 according to this modification.

As shown in FIG. 5, the image analysis apparatus 3 according to the modification includes an upper limb motion detection unit 36 and a specific behavior determination unit 37 instead of the position detection unit 31 and the specific position determination unit 32.
The upper limb motion detection unit 36 detects the motion of at least a part of the upper limb of the user H from the image data. When the motion detected by the upper limb motion detection unit 36 is a hand-raising motion that raises the hand or arm higher than the head, the specific behavior determination unit 37 determines the motion as a specific behavior for requesting a vehicle dispatch. In the modification, the specific vehicle selection unit 42 determines that the operation of the user H is determined as the specific behavior by the specific behavior determination unit 37 and is authenticated by the authentication unit 35 that the user H is a qualified person. Based on the vehicle information stored in the vehicle information storage unit 41, a specific vehicle is selected from the plurality of forklifts 1A to 1F. Therefore, in the vehicle allocation system S configured as in this modified example, when a user H who is a qualified person permitted to request vehicle allocation raises his hand or arm at the vehicle allocation request location P, the user H is Accordingly, a predetermined forklift 1 is dispatched to the user H.

In the above modification, the following effects can be obtained.
(7) When it is determined that the action of the user H is a specific behavior of raising a hand or an arm and the user H is authenticated as a qualified person, the forklift 1 is dispatched to the user H . For this reason, the user H can request a vehicle dispatch by only showing the camera 2 while raising his hand or arm without operating the portable terminal.

  (8) When the operation of the user H is a hand-raising operation for raising a hand or an arm, the operation is determined as a specific behavior for a vehicle allocation request. For this reason, it is possible to easily detect that the user H is performing an operation for a vehicle allocation request.

  In the above modification, the operation determined as the specific behavior for the vehicle allocation request is not limited to the operation of raising the hand or arm. For example, an operation in which the user H claps his hand or an operation in which the user H shakes his / her hand or arm can be determined as a specific behavior for a vehicle allocation request.

  -It can also authenticate that user H is a qualified person, without comparing face data and specific face data. For example, it is also possible to authenticate that the user H is a qualified person by identifying the color of the clothes of the user H, the color of the hat, the color of the helmet, or a combination thereof.

1A, 1B, 1C, 1D, 1E, 1F Forklift (Manned unmanned vehicle)
2 Camera 3 Image analysis device 4 Vehicle allocation device 5 Wireless communication device 6 Notification device 31 Position detection unit 32 Specific position determination unit 33 Face data extraction unit 34 Specific face data storage unit 35 Authentication unit 36 Upper limb motion detection unit 37 Specific behavior determination unit 41 Vehicle information storage unit 42 Specific vehicle selection unit 43 Vehicle allocation signal transmission unit H, H1, H2, H3, H4, H5 User P Vehicle allocation request location Q Pickup location S Vehicle allocation system

Claims (8)

A plurality of manned and unmanned vehicles capable of switching between a manned driving mode and an unmanned driving mode;
A camera that is provided to photograph a predetermined vehicle allocation request location, and that captures the vehicle allocation request location and generates image data;
Based on the image data, an image analysis device that recognizes the presence of the user and authenticates whether the user is a predetermined qualified person,
When the image analysis device authenticates the user as the qualified person, the specific vehicle corresponding to the user is selected from the plurality of manned and unmanned vehicles, and the specific vehicle is selected for the user. A vehicle allocation system comprising a vehicle allocation device for vehicle allocation. The image analysis device includes:
A face data extraction unit that extracts face data relating to the user's face from the image data;
A specific face data storage unit storing specific face data relating to the face of the qualified person,
The vehicle allocation system according to claim 1, further comprising: an authentication unit that compares the face data with the specific face data and authenticates that the user is the qualified person. The image analysis device detects the position of the user based on the image data, determines whether the position is a predetermined specific position,
When the position is determined to be the specific position by the image analysis device and the user is authenticated as the qualified person by the image analysis device, the vehicle allocation device The vehicle allocation system according to claim 1 or 2, wherein the specific vehicle is allocated. Before outs image analyzer,
A position detection unit that detects the position of the user and the position of the mark indicating the specific position from the image data;
The vehicle allocation according to claim 3, further comprising: a specific position determination unit that compares the position of the user and the position of the mark to determine that the position of the user is the specific position. system. The image analysis device detects an operation of the user based on the image data, determines whether the operation is a predetermined specific behavior,
The vehicle allocation apparatus determines that the operation is the specific behavior by the image analysis apparatus, and the user is authenticated by the image analysis apparatus as the qualified person. The vehicle allocation system according to any one of claims 1 to 4, wherein the specific vehicle is allocated. Before outs image analyzer,
An upper limb motion detection unit for detecting an operation of at least a part of the upper limb of the user from the image data;
The vehicle allocation system according to claim 5, further comprising: a specific behavior determining unit that determines the detected motion as the specific behavior when the detected motion is a hand or arm raising hand motion. The vehicle allocation device is
A vehicle information storage unit storing vehicle information including information related to the association between the qualified person and the manned unmanned vehicle,
Based on the vehicle information, a specific vehicle selection unit that selects the specific vehicle from a plurality of manned and unmanned vehicles,
The dispatch system as described in any one of Claims 1-6 provided with the dispatch signal transmission part which transmits the dispatch signal for making the said specific vehicle move to the said user's origin. The vehicle allocation system according to claim 7, further comprising a wireless communication device that wirelessly transmits the vehicle allocation signal to the specific vehicle.

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