JP2006012176A - Support and management method of master station control operation, and positioning method of mobile body - Google Patents

Support and management method of master station control operation, and positioning method of mobile body Download PDF

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JP2006012176A
JP2006012176A JP2005198863A JP2005198863A JP2006012176A JP 2006012176 A JP2006012176 A JP 2006012176A JP 2005198863 A JP2005198863 A JP 2005198863A JP 2005198863 A JP2005198863 A JP 2005198863A JP 2006012176 A JP2006012176 A JP 2006012176A
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station
master station
map
slave
current position
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JP2005198863A
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JP4575246B2 (en
Inventor
Sadanari Iwata
Masakazu Kikuchi
完成 岩田
雅一 菊池
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Dgs Computer:Kk
Hitachi Kokusai Electric Inc
株式会社デージーエス・コンピュータ
株式会社日立国際電気
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Abstract

[PROBLEMS] To achieve detailed positioning of a moving body and improvement / efficiency of operation support / management functions.
Map information is stored in a master station, and satellite signals and gyro information from a satellite signal receiving mechanism 127 and a gyroscope 129 of a slave station are sent to the master station. The master station detects the approximate position of the moving object from the satellite signal, determines the exact initial position together with the map, and then determines the position on the map in time series from the position and gyro information. Is sent to the slave station. Further, the master station collects information on roads and the like from the position of each slave station at each point in time, and transmits information on the roads and the like based on this information to the slave stations.
[Selection] Figure 2


Description

  The present invention relates to a mobile station control operation support and management method for a mobile body, and more particularly, a master suitable for performing operation management of a large number of mobile bodies using a communication system capable of bidirectional communication between the mobile body and the master station. It relates to station control.

  In a navigation system for mobile objects such as automobiles and ships, slave stations with built-in map information are loaded for each mobile object, and wireless communication is performed between the slave stations and a master station fixed on the ground. The slave station receives signals from satellites, etc., positions the moving body, displays the result together with the map information, and the operator (driver) sets the target and selects the route to the target. I can do it.

The prior art described above has the following problems.
(1) Since the map information is built in, the slave station apparatus becomes complicated and expensive, and can be stored, so that there is a limit to the amount of information that can be displayed.
(2) Although the position of the moving body was calculated by a computer in the slave station from a signal from a satellite or the like, sufficient accuracy could not be obtained.
(3) There is a problem that the setting of the target point of the moving body needs to be manually input by the operation operator when the traveling is stopped, and the work becomes complicated.
(4) When there are a plurality of target points, the setting is not only complicated, but it is also difficult to select an efficient operation route that reduces the operation distance, operation time, and the like.

  It is an object of the present invention to enable accurate positioning in a communication system capable of bidirectional communication between a mobile unit and a master station, and to display the position together with a more detailed map. The object of the present invention is to provide a master station control operation support and management method and a mobile body positioning method that do not require a point input burden and enable efficient operation route selection.

The present invention provides a master station control operation having a slave station installed in each of a plurality of automobiles, and a master station connected to the plurality of slave stations via a bidirectional wireless communication line and supporting and managing the operation of each automobile. In the support management system,
Each of the plurality of slave stations includes a transmission mechanism, a reception mechanism, a satellite signal reception means for positioning the vehicle, a gyroscope, and a map display means.
The transmission mechanism repeatedly repeats the moving amount of the moving object detected by the gyroscope, the satellite signal detected by the satellite signal receiving means, and the identification code of each automobile at time intervals. Is transmitted to the master station, the map information transmitted from the master station and received by the receiving mechanism, the current position and the traveling direction are displayed on the map display means of the slave station,
The master station includes a map information storage unit, a map display unit, and an input unit, and determines an initial position of the slave station based on satellite signals transmitted from the plurality of slave stations,
After the initial position is set, the amount of movement transmitted from the slave station is added to the current position calculated at that time. Repeat the process of calculating the current position to calculate the current position in time series,
Of the two directions of the road determined as the current position, a direction close to the amount of movement is determined as a traveling direction at the position,
The map information indicating the map around the current position calculated in this way is extracted from the map information storage means as a compressed still image, and is transmitted to the slave station together with the current position information, respectively. Disclose a support management system.

Furthermore, the present invention provides a master station control navigation system having a plurality of mobile stations that move and a master station that performs bidirectional communication with the plurality of slave stations using a mobile telephone system.
Each of the plurality of slave stations includes a transmission mechanism, a reception mechanism, satellite signal reception means for positioning the slave station, and map display means, and the transmission mechanism is detected by the satellite signal reception means. The satellite signal and the identification code of each slave station are repeatedly transmitted to the parent station by the transmission mechanism at time intervals, the map information transmitted from the parent station and received by the reception mechanism, the current position and Display the traveling direction on the map display means of the slave station,
The master station comprises map information storage means and a central processing unit,
The central processing unit calculates the current position of the slave station in time series without identifying the zone in which the slave station is located based on the satellite signals transmitted from the plurality of slave stations. A master station control navigation system characterized in that map information indicating a map around a current position is taken out from the map information storage means as a compressed still image, and transmitted to the slave station together with the calculated current position information. Disclose.

  According to the present invention, it is possible to accurately position a moving body, and it is possible to grasp a situation such as a road that is an operation route, and it is possible to perform efficient operation management.

Hereinafter, the present invention will be described according to the embodiments. 1 and 2 are block diagrams showing an embodiment of a master station and a slave station equipped with a master station control operation support and management method according to the present invention.
FIG. 1 shows the configuration of a master station. A central processing unit 100 including a RAM, a ROM, etc., a CD-ROM 101 for storing map information, etc., a magnetic disk device 102 as an external storage means for the central processing unit 100, a target point, etc. A computer unit composed of a tablet 103, a keyboard (or function key) 104 and an image display device 105 for inputting data on a map, and transmission / reception composed of a transmission mechanism 107, a reception mechanism 108, a directional circuit 109, and an antenna 106 It consists of a part.

On the other hand, the slave station shown in FIG. 2 is mounted on a mobile unit, and includes a computer unit including a central processing unit 120 including a RAM and a ROM, a keyboard (or function key) 121, and an image display mechanism 122, and a transmission mechanism. 123, a reception mechanism 124, a directivity circuit 125, and a transmission / reception unit including a antenna 126, and a position information detection unit including a satellite signal reception antenna 128, a satellite signal reception mechanism 127, and a gyroscope 129 for positioning a moving body It is composed of
Of the above configuration, the bidirectional communication system including the transmission / reception unit of the master station and the slave station can use, for example, a mobile telephone system as a public telephone line or a radio system such as a taxi radio.

Next, operations related to positioning of the slave station and storing / displaying map information in the above configuration will be described. In the configuration of FIG. 1, the slave station does not have a means for storing map information, and all necessary map information is stored in the CD-ROM 101 or the magnetic disk device 102 of the master station. For the input from the tablet 103, the same map (sheet such as paper) as prepared in these storage means is prepared.
On the other hand, signals for positioning the moving body are a satellite signal obtained from the satellite signal receiving mechanism 127 and a gyro signal obtained from the gyroscope 129. The satellite signal can measure the absolute position of the moving body, but the measurement error is about 30 to 150 m. In this case, for example, a path through which a car can pass is identified, and the position of what address is identified. It is not possible. For this reason, the gyroscope 129 is provided with extremely high accuracy compared to the above measurement error, but the configuration and type of the gyroscope are not particularly limited in the present invention. When the gyroscope 129 moves from a certain position, the amount of movement (relative position) is output as gyro information. Therefore, the gyro information, the satellite signal, and the identification code of the mobile body are used for positioning the mobile body. The signal is transmitted as a signal to the master station via the slave station transmission mechanism 123, the directivity circuit 125, and the antenna 126.

  In the master station, when the above signal is received via the antenna 106, the directivity circuit 109, and the receiving mechanism 108, the computer unit performs positioning processing of the moving object represented by the identification code. This positioning consists of two parts. First, for positioning when starting operation or when the current position is not known at all for some reason, the current position is obtained using a satellite signal in the same manner as in the past, and a map around the position is obtained from the CD-ROM 101 or the disk device 102 It is read out and displayed on the image display mechanism 105. Then, the operator designates an accurate position from the keyboard 104 or the tablet 103, thereby accurately determining the position on the map. Here, when the tablet 103 is used, a map (paper) in the same area as that displayed on the image display mechanism 105 is placed on the tablet, and pointing is performed on the map to designate the position on the map.

Once the current position is accurately recorded on the map information in this way, positioning accompanying the movement is performed at regular intervals using the gyro information and the map information. That is, when the current position is determined at a certain time point, a new current position is obtained by adding the movement amount indicated by the gyro information to the current position at the next time point. If the position is deviated from the following, for example, the position is moved to the position on the nearest road and the position is set as the new current position. According to this method, if the measurement error by the gyroscope of the movement amount during the above-mentioned fixed time is sufficiently small compared with the normal road interval, accurate positioning can always be performed at each time point. There is no accumulation of errors.
It is also easy to determine the traveling direction of the moving body together with the above position determination. That is, since the gyro information includes a size and a direction, the direction can be easily understood. Even if the direction deviates from the direction of the road determined as the current position, an error that causes the direction to reverse is not generated, so that the correct direction can always be displayed on the map. In addition, in the present embodiment, since the processing and the storage of the map information necessary for the processing are all performed by the processing device and storage means of the parent station, the device of the child station is not complicated.

  When the accurate position and traveling direction of the moving body are determined as described above, the slave station position information and traveling direction information, and the map information around the position indicated by the position information are extracted from the CD-ROM 101 or the like. Then, the data is transmitted to the mobile station of the mobile body through the transmission mechanism 107, the directional circuit 109, and the antenna 106. In this transmission, the map information is a still image, and if the information is compressed and transmitted by a method such as JPEG, the amount of transmission information can be greatly reduced. The transmitted information is received by the slave station, displayed on the image display mechanism 122 as map information, and the exact position and traveling direction calculated by the master station are displayed on the displayed map. Is done.

Next, in the configuration of FIG. 1, when a plurality of moving objects are operated, a function for efficiently performing operation management of these moving objects will be described.
One of the operation management is the setting of the target point of each moving body. In the conventional navigation system, this is done by the operator, but here it is done at the master station. In this case, it is necessary to set the target point itself and to determine which moving body to instruct it. Among these, the setting of the target point is set by the operator of the master station using the keyboard 104 or the tablet 103 in the same manner as the initial positioning setting. On the other hand, when the mobile object for setting the target point is not determined in advance, the location of each mobile object is displayed on the image display mechanism 105 together with a map, and the position is determined with reference to the position. For example, in the case of taxi operation management, the vehicle is selected from vehicles near the target point. By transmitting the target point determined in this way to the corresponding mobile unit and displaying it on the image display mechanism of the slave station, there is no need for the operator to set the target point, and while watching the overall operation status Therefore, efficient management of operation becomes possible.

  Next, the functions related to the selection of the vehicle operation route will be described. The required time, mileage, taxi fare, etc. vary depending on which road (route) is selected to reach the target point by car. To know this, in addition to road conditions such as road construction and accidents, It is necessary to know the traffic situation at the time. For this purpose, road information such as the Metropolitan Police Department is also useful, but more detailed traffic conditions are often required. Therefore, in the present invention, paying attention to the fact that the master station accurately calculates the momentary position of a moving body such as a vehicle under management, this is used to grasp a more detailed traffic jam situation and to manage the operation. To do.

  In this case, if the moving speed of the vehicle is 40 km / hour, for example, it is about 11 m per second. At this time, if positioning is performed once per second, it is sufficient to know the average speed on each road. Since this is for one vehicle, for example, if there are 100 vehicles under the control of one master station and these vehicles are communicated in a time-sharing manner, each vehicle is positioned 10 ms. If the communication / positioning process is performed, the average speed on each road can be known. This can be realized with a sufficient margin in view of the capabilities of today's communication devices and computers.

  Once the master station knows the average speed of each road that represents traffic congestion, it can calculate the estimated time required for any vehicle to reach the target point set from its current location, along with the distance, fee, etc. . Therefore, by transmitting the calculated information to the vehicle and displaying it on the image display mechanism 122 of the slave station, it is possible to assist the route selection of the operation operator. In addition, if the master station calculates a minimum required time route, a minimum fee route, etc. for a plurality of routes, and transmits them to the vehicle for display, the operation operator can be supported more efficiently. In the case of a taxi, passengers can select whether to select “minimum time” or “minimum fare”, which helps to improve the service.

  In addition to information related to target points and operating routes as described above, for example, in the case of delivery vehicle management, it is more effective if information related to operation management is sent together from the master station, such as cargo information. Needless to say, it can be easily managed.

  In addition, when a part of the mobile body does not have a two-way communication terminal such as a mobile phone or a taxi radio, and only has a one-way communication terminal from a master station such as a pager, it is collected as described above. By efficiently transmitting information on traffic conditions, target point setting information, or information on cargo from the master station, it is possible to efficiently provide support and management including mobile units that only have one-way communication terminals. Can do.

  As a modification, there is a configuration in which a printer is provided in the slave station. For example, when a plurality of target points are set, they are printed out in the order in which they are visited, or the above-mentioned load information is printed out and the load placement reference when storing the load in the loading platform is used. This is useful when These pieces of information are not to be seen on the image display mechanism only when they are sent, but are information that should be seen at a later time. Such information should be printed on paper. It is because it is easy to use.

  Another modification is a configuration in which a CD-ROM or the like is provided in the slave station to store part or all of the map information. In this case, the slave station apparatus becomes complicated by the amount of map information stored in the slave station, but the amount of map information transmitted from the master station to the slave station is reduced or unnecessary. However, since the positioning process is performed in the master station, it is necessary to store map information in the master station.

  As yet another modification, there is a configuration in which all map information is stored and positioning processing is performed in the slave station. In this case, the slave station apparatus is further complicated for storing map information and sophisticating the computer, which is disadvantageous in terms of miniaturization and economy. And the location information calculated in each slave station is transmitted to the master station, the master station collects this, the master station calculates the traffic congestion situation such as roads, and the route selection etc. is managed based on this Become. These various modifications may be selected depending on the purpose and configuration of the operation system, particularly the size of the slave station.

It is a figure which shows the structural example of the master station which comprised the master station control operation support and management method which become this invention. It is a figure which shows the structural example of the sub_station | mobile_unit equipped with the main | base station control operation support and management method which become this invention.

Explanation of symbols

100, 120 Central processing unit 101 CD-ROM
DESCRIPTION OF SYMBOLS 102 Magnetic disk apparatus 103 Tablet 104, 121 Keyboard 105, 122 Image display mechanism 107, 123 Transmission mechanism 108, 124 Reception mechanism 127 Satellite signal reception mechanism 128 Satellite signal reception antenna 109 Gyroscope

Claims (2)

  1. In a master station control operation support management system having a slave station installed in each of a plurality of automobiles and a master station connected to the plurality of slave stations via a bidirectional wireless communication line and supporting and managing the operation of each automobile ,
    Each of the plurality of slave stations includes a transmission mechanism, a reception mechanism, a satellite signal reception means for positioning the vehicle, a gyroscope, and a map display means.
    The transmission mechanism repeatedly repeats the moving amount of the moving object detected by the gyroscope, the satellite signal detected by the satellite signal receiving means, and the identification code of each automobile at time intervals. Is transmitted to the master station, the map information transmitted from the master station and received by the receiving mechanism, the current position and the traveling direction are displayed on the map display means of the slave station,
    The master station includes a map information storage unit, a map display unit, and an input unit, and determines an initial position of the slave station based on satellite signals transmitted from the plurality of slave stations,
    After the initial position is set, the amount of movement transmitted from the slave station is added to the current position calculated at that time, and when it is off the road on the map, it moves to the nearest road and moves to a new one. Repeat the process of calculating the current position to calculate the current position in time series,
    Of the two directions of the road determined as the current position, the direction close to the amount of movement is determined as the traveling direction at the position,
    The map information indicating the map around the current position calculated in this way is extracted from the map information storage means as a compressed still image, and is transmitted to the slave station together with the current position information, respectively. Support management system.
  2. In a master station control navigation system having a plurality of slave stations that move, and a master station that performs two-way communication with the plurality of slave stations using a mobile telephone system,
    Each of the plurality of slave stations includes a transmission mechanism, a reception mechanism, satellite signal reception means for positioning the slave station, and map display means, and the transmission mechanism is detected by the satellite signal reception means. The satellite signal and the identification code of each slave station are repeatedly transmitted to the parent station by the transmission mechanism at time intervals, the map information transmitted from the parent station and received by the reception mechanism, the current position and Display the traveling direction on the map display means of the slave station,
    The master station comprises map information storage means and a central processing unit,
    The central processing unit calculates the current position of the slave station in time series without identifying the zone in which the slave station is located based on the satellite signals transmitted from the plurality of slave stations. A master station control navigation system characterized in that map information indicating a map around a current position is extracted from the map information storage means as a compressed still image and transmitted to the slave station together with the calculated current position information.
JP2005198863A 2005-07-07 2005-07-07 Master station control operation support and management method, mobile object positioning method Expired - Lifetime JP4575246B2 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104748756A (en) * 2013-12-31 2015-07-01 现代自动车株式会社 Method for measuring position of vehicle using cloud computing

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104748756A (en) * 2013-12-31 2015-07-01 现代自动车株式会社 Method for measuring position of vehicle using cloud computing
US9465099B2 (en) 2013-12-31 2016-10-11 Hyundai Motor Company Method for measuring position of vehicle using cloud computing

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