JP2020071603A - Track management system and on-vehicle device - Google Patents

Abstract

To correct an error of a vehicle position to acquire correct track data even in a case where GPS data or data about the vehicle speed cannot be acquired.SOLUTION: A track management system 5 includes an on-vehicle device 10 mounted on a vehicle that moves in trenches having marks at prescribed positions, and an office PC 30 that manages the on-vehicle device 10. The on-vehicle device 10 includes a track generation unit 11a that, based on at least one of the orientation and inclination of the vehicle and the acceleration of the vehicle, generates track data indicating a track along which the vehicle has moved, and a position correction image matching unit 11b that, referring to a matching information database 56 that stores a correspondence between a matching image obtained by imaging a mark and a prescribed position at which the mark is located, determines whether a captured image obtained by a camera 23 mounted on the vehicle while the vehicle is moving agrees with the matching image. When they agree, the track generation unit 11a corrects positional information of the vehicle based on the prescribed position.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a trajectory management system and a vehicle-mounted device.

  BACKGROUND ART Vehicle running data acquired by an on-vehicle device mounted on a vehicle such as a truck is collected and analyzed by a management device on the office side that manages the vehicle. A method using GPS (Global Positioning System) is known as a method for managing the trajectory of the vehicle. In this method, when the signal (GPS data) from the GPS satellite cannot be acquired, the locus of the vehicle is created using the data output from the gyro sensor, the acceleration sensor, the speed sensor, and the like. It should be noted that there are techniques described in Patent Documents 1 to 3 as techniques for using image data in trajectory management of a moving body.

JP, 2016-103049, A JP, 2017-123025, A International Publication No. 2016/021121

  However, when the vehicle trajectory data is created by using a gyro sensor or the like without using the GPS data, the error in the sensor output accumulates and the error in the position information becomes large, which is not suitable for operation. If the vehicle speed cannot be acquired by the speed sensor, the trajectory data cannot be created. Further, there is a method of using a beacon as another trajectory acquisition method, but it is necessary to embed the beacon in the ground or paste it on the wall surface, and it is also necessary to secure a power source. Although Patent Document 3 discloses that the position of a moving body in a frame image is corrected by user input, in any of Patent Literatures 1 to 3, trajectory data of the moving body is used without using GPS data. Is not disclosed.

  The present invention has been made in view of the above-described circumstances, and an object thereof is to correct an error in a vehicle position to obtain accurate trajectory data even when GPS data or vehicle speed data cannot be acquired. An object is to provide a trajectory management system and an in-vehicle device that can be acquired.

In order to achieve the above-mentioned object, the trajectory management system and the vehicle-mounted device according to the present invention are characterized by the following (1) to (8).
(1) A trajectory management system including an on-vehicle device mounted on a vehicle moving in a yard having a marking at a predetermined position, and a management device managing the on-vehicle device,
A locus creating unit that creates locus data indicating a locus along which the vehicle has moved, based on at least one of the direction and the inclination of the vehicle and the acceleration of the vehicle.
The captured image captured by the camera mounted on the vehicle while the vehicle is moving is referred to by referring to the database that stores the correspondence between the matching image obtained by capturing the marking and the predetermined position where the marking is arranged. A determining unit that determines whether or not the image matches the matching image,
When the determination unit determines that the captured image and the matching image match, the trajectory generation unit corrects the position information of the vehicle based on the predetermined position, and uses the corrected position information. A locus management system characterized in that the locus data is re-created by using the above.
(2) The determination unit calculates a similarity rate between the captured image and the matching image, and determines that the captured image and the matching image match when the similarity rate is equal to or higher than a first threshold value. The trajectory management system according to (1) above.
(3) The matching image stored in the database is included in the captured image when the similarity rate is equal to or more than the first threshold and less than a second threshold that is greater than the first threshold. The trajectory management system according to (2) above, wherein the database is updated by changing the image of the marking to be displayed.
(4) An alarm unit for generating a maintenance alarm signal indicating that the marking needs maintenance when the number of updates of the database reaches a third threshold value. Trajectory management system.
(5) The trajectory management system according to any one of (1) to (4), wherein the database is provided in the vehicle-mounted device.
(6) The trajectory management system according to any one of (1) to (4), wherein the database is provided in the management device.
(7) An on-vehicle device mounted on a vehicle that moves in a yard having a marking at a predetermined position,
A locus creating unit that creates locus data indicating a locus along which the vehicle has moved, based on at least one of the direction and the inclination of the vehicle and the acceleration of the vehicle.
The captured image captured by the camera mounted on the vehicle while the vehicle is moving is referred to by referring to the database that stores the correspondence between the matching image captured with the marking and the predetermined position where the marking is arranged. A determining unit that determines whether or not the image matches the matching image,
When the determination unit determines that the captured image and the matching image match, the trajectory generation unit corrects the position information of the vehicle based on the predetermined position, and uses the corrected position information. The vehicle-mounted device, wherein the locus data is recreated by
(8) The locus creating unit is based on outputs from at least one of a magnetic sensor that detects the direction of the vehicle and a gyro sensor that detects the inclination of the vehicle, and an acceleration sensor that detects the acceleration of the vehicle. The vehicle-mounted device according to (7) above, wherein the locus data is created.

  According to the trajectory management system having the above configuration (1), when the vehicle trajectory data is created, the markings placed on the floor of the premises and the captured images captured while the vehicle is moving are registered in the database in advance. By matching with the image, the position of the vehicle can be corrected and the trajectory data can be corrected. Therefore, even when GPS data or vehicle speed data cannot be acquired, it is possible to periodically correct the error in the vehicle position and acquire accurate trajectory data.

  According to the trajectory management system having the above configuration (2), it is possible to determine that the captured image and the matching image registered in the database in advance can be matched when the similarity is high.

  According to the trajectory management system having the above configuration (3), matching can be performed according to the actual marking situation.

  According to the trajectory management system configured as described in (4) above, the degree of weathering (deterioration, wear) of markings on the floor or the like varies depending on the usage situation, but an alarm based on the maintenance alarm signal is issued when the number of database updates is large. By issuing the alarm, it is possible to deal with weathering or the like triggered by an alarm, so that it is not necessary to constantly manage the marking state, and maintenance work can be reduced.

  According to the trajectory management system having the above configuration (5), the vehicle-mounted device can determine whether the captured image and the matching image match with each other without communicating with the outside.

  According to the trajectory management system of the above configuration (6), since the management device that manages the plurality of vehicle-mounted devices includes the database, when the database is updated, the updated database is shared by a plurality of vehicles. Can be used.

  According to the vehicle-mounted device having the above configuration (7), when the trajectory data of the vehicle is created, the marking image that is taken while the vehicle is moving and the matching image that is registered in the database in advance are placed on the floor of the premises. The vehicle position can be corrected and the trajectory data can be corrected by performing the matching with. Therefore, even when GPS data or vehicle speed data cannot be acquired, it is possible to periodically correct the error in the vehicle position and acquire accurate trajectory data.

  According to the vehicle-mounted device having the above configuration (8), accurate trajectory data can be created using the acceleration sensor and the magnetic sensor or the gyro sensor without using the GPS.

  According to the present invention, even when GPS data or vehicle speed data cannot be acquired, it is possible to correct the vehicle position error and acquire accurate trajectory data.

  The present invention has been briefly described above. Further, the details of the present invention will be further clarified by reading through a mode for carrying out the invention described below (hereinafter, referred to as “embodiment”) with reference to the accompanying drawings. ..

FIG. 1 is a diagram showing a configuration example of a trajectory management system. FIG. 2 is a diagram showing an outline of a yard with markings on the floor. FIG. 3 is a diagram for explaining the matching information database. FIG. 4 is a diagram showing a flow of processing by the trajectory management system. FIG. 5 is a diagram showing an example of trajectory data of a forklift created by the trajectory creating unit. FIG. 6 is a diagram showing an example of a locus of movement of a forklift on the premises. FIG. 7 is a diagram showing another configuration example of the trajectory management system.

  Specific embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a diagram showing a configuration example of a trajectory management system 5 in this embodiment. FIG. 2 is a diagram showing an outline of a premises in which markings A1 to A13 are attached on the floor. The trajectory management system 5 shown in FIG. 1 is introduced as a facility of a company such as a transportation company that uses a forklift (vehicle) in a premises such as a warehouse or a cargo terminal of an airport. As shown in FIG. 2, markings A1 to A13 are preliminarily attached to predetermined positions on the floor of the premises, specifically, on a passage between shelves and at a position where two passages intersect. The markings A1 to A13 are provided on the floor surface by a paint, a marking film, a marking seal, or the like. The markings A1 to A13 may be provided not only on the floor but also on the ceiling, pillars, wall surfaces, etc. in the premises. The marking is not limited to letters and numbers, but may be the shape of an object or the like.

  The locus management system 5 shown in FIG. 1 includes an on-vehicle device 10 mounted on a forklift, which is a vehicle that moves on a premises such as a warehouse, and an office PC 30 (management device) installed in a business office or the like. .. The vehicle-mounted device 10 has a digital tachograph function and a drive recorder function. The office PC 30 is composed of a general-purpose computer device installed in the office, and manages the operation status of the vehicle including the trajectory data indicating the trajectory of the vehicle (forklift). One or more access points 8 are installed on the premises and are connected to the office PC 30 by wire. Further, the vehicle-mounted device 10 has a function of performing short-range wireless communication with the access point 8.

  The vehicle-mounted device 10 has a function of a digital tachograph, and records operation data such as traveling distance, traveling time, traveling speed, speed over, engine speed over, sudden start, sudden acceleration, sudden deceleration of a vehicle (forklift). .. Further, the vehicle-mounted device 10 has a function of a drive recorder, outputs a trigger signal when detecting an abnormal situation such as a vehicle collision, and outputs data including an image for a predetermined time in synchronization with the trigger signal. Can be automatically recorded and saved. In addition, the vehicle-mounted device 10 has a function of periodically correcting the current position of the vehicle by using the marking arranged at a predetermined position on the premises when creating the trajectory data indicating the trajectory of the vehicle.

  The vehicle-mounted device 10 includes a CPU 11, a non-volatile memory 26A, a volatile memory 26B, a recording unit 17, a card I / F 18, a voice I / F 19, an RTC (clock IC) 21, and a display unit 22.

  The CPU 11 centrally controls each unit of the vehicle-mounted device 10. Further, the CPU 11 has a locus creation unit 11a and a position correction image matching unit 11b (determination unit) described later. The non-volatile memory 26A stores an operation program executed by the CPU 11 and the like.

  The recording unit 17 records data such as operation data and images. A memory card 65 carried by a crew member is connected to the card I / F 18 so as to be freely inserted and removed. The CPU 11 writes operation data, video data, and the like in the memory card 65 connected to the card I / F 18. A built-in speaker 20 is connected to the audio I / F 19. The speaker 20 emits a sound such as an alarm. The RTC 21 (timekeeping unit) measures the current time. The display unit 22 is composed of an LCD (liquid crystal display), and displays alarms and the like in addition to communication and operation states.

  The vehicle-mounted device 10 also includes a sensor input I / F 14, a camera I / F 16, a communication unit 24, and a power supply unit 25.

  The sensor input I / F 14 is connected with an acceleration sensor (G sensor) 27 that detects acceleration (G value) (senses an impact), a magnetic sensor 28, and a gyro sensor 29, and the G sensor 27, the magnetic sensor 28, Also, a signal from the gyro sensor 29 is input. Examples of the G sensor include those having a method of reading mechanical displacement due to acceleration as vibration and a method of optically reading the same, but are not particularly limited. Further, the G sensor may detect an impact from the front of the vehicle (detect deceleration G), may detect an impact from the left and right directions (detect a lateral G), or an impact from the rear of the vehicle. May be sensed (acceleration G may be sensed). The G sensor is composed of one or a plurality of sensors so that these accelerations can be detected. The magnetic sensor 28 detects the direction (direction) of the vehicle, and the gyro sensor 29 detects the angular velocity and the inclination of the vehicle in the turning direction.

  The camera I / F 16 is connected to a camera 23 that is installed in a vehicle (forklift) and that captures image data around the vehicle (for example, in front) to obtain image data. The camera 23 inputs image data (captured image) obtained by imaging, for example, the front of the vehicle while the vehicle is moving to the CPU 11 via the camera I / F 16. The image data input to the CPU 11 is used by the position correction image matching unit 11b, as described later. The camera 23 has an image sensor in which, for example, 300,000 pixels, 1 million pixels, and 2 million pixels are arranged on an imaging surface for imaging through a fisheye lens, for example. The image sensor is composed of a known sensor such as a CMOS (complementary metal oxide semiconductor) sensor or a CCD (charge coupled device) sensor. The video (image data) captured by the camera 23 is recorded in the recording unit 17 in time series, but is repeatedly overwritten so as to be recorded for a predetermined time. The predetermined time is a time corresponding to several seconds (for example, 2 seconds, 4 seconds, 10 seconds, etc.) before and after the accident so that the situation of the accident can be understood when the accident occurs. The image captured by the camera 23 may be a still image or a moving image.

  In addition to the front of the vehicle, a plurality of cameras 23 may be provided so that the rear, left side, and right side of the vehicle can be imaged, and a plurality of image sensors for imaging each direction are provided in one casing. It may be housed in the body. Therefore, the camera 23 can simultaneously pick up an image in the left-right direction and an image in the rear in addition to the image in the front of the vehicle. Note that the camera 23 may be capable of capturing an image in an arbitrary angle direction (for example, 45 ° direction), without being limited to image capturing in the front, left-right direction, and rear of the vehicle.

  The communication unit 24 is a wireless communication module compatible with a wireless LAN communication standard such as Wifi (registered trademark), and can secure a wireless communication line with a predetermined access point. In the present embodiment, the communication unit 24 can connect to the access point 8 via the antenna when the vehicle-mounted device 10 exists within a predetermined range (for example, a radius of about 100 m) from the access point 8 installed on the premises. It becomes a state. The power supply unit 25 supplies power to each unit of the vehicle-mounted device 10 by turning on an ignition switch or the like. It also outputs a binary signal representing the on / off state of the ignition switch to the CPU 11. Note that at least a part of the above configuration does not necessarily have to be included in the same housing. For example, the G sensor 27, the magnetic sensor 28, the gyro sensor 29, and the camera 23 may be mounted on the vehicle separately from the main body of the vehicle-mounted device 10.

  The trajectory creation unit 11a of the CPU 11 selects at least one of the direction and the inclination of the vehicle (forklift) from the data input from the G sensor 27, the magnetic sensor 28, and the gyro sensor 29 via the sensor input I / F 14. Based on the vehicle acceleration and the vehicle acceleration, trajectory data indicating the trajectory of the vehicle is created. The trajectory data is created using a known method. Although the locus data can be created by using either the magnetic sensor 28 or the gyro sensor 29 and the G sensor 27, the accuracy of the locus data can be obtained by using all of the magnetic sensor 28, the gyro sensor 29, and the G sensor 27. Can be improved. In addition, the position correction image matching unit 11b of the CPU 11 refers to the matching information database 56, and the captured image captured by the camera 23 mounted on the vehicle while the vehicle is moving is stored in the matching information database 56. It is determined whether or not it matches any of the matching images MI1 to MI13 (see FIG. 3). The position correction image matching unit 11b calculates a similarity rate (correlation rate) between the captured image and each of the matching images MI1 to MI13. Then, when the similarity rate is equal to or higher than a predetermined value (first threshold value, for example, 60%), the position correction image matching unit 11b determines that one of the matching images MI1 whose similarity rate is equal to or higher than the predetermined value in the captured image. ~ MI13 is determined to match. Further, when the position correction image matching unit 11b determines that the captured image matches any of the matching images MI1 to MI13, the locus creating unit 11a uses the vehicle position information as one of the matching images MI1 to MI13. Is corrected based on the predetermined position corresponding to. For example, it is assumed that the position correction image matching unit 11b determines that the captured image captured by the camera 23 while the vehicle is moving matches the matching image MI1 that is an image of the marking A1 captured in advance. In this case, the trajectory creating unit 11a corrects the vehicle position information based on the position information of the predetermined position P (see FIG. 2) with the marking A1 and uses the corrected vehicle position information to obtain the trajectory data. To create again. Since the matching images MI1 to MI13 stored in the matching information database 56 are also held in the volatile memory 26B of the vehicle-mounted device 10, the vehicle-mounted device 10 is used for position correction without performing communication via the access point 8. The determination can be performed by the image matching unit 11b. With this configuration, it is possible to perform image matching in real time.

  On the other hand, the office PC 30 is composed of a PC that operates on a general-purpose operating system. The office PC 30 functions as a management device that manages the vehicle-mounted device 10, and includes the CPU 31, the communication unit 32, the display unit 33, the storage unit 34, the card I / F 35, the operation unit 36, the output unit 37, the voice I / F 38, and the outside. It has an I / F 48.

  The CPU 31 centrally controls each unit of the office PC 30. The communication unit 32 can communicate with the vehicle-mounted device 10 via the access point 8.

  The display unit 33 displays an operation video including an operation management screen including a trajectory of a vehicle on which the vehicle-mounted device 10 is mounted, an accident video, and the like. The storage unit 34 stores various programs such as system analysis software for displaying an image received from the vehicle-mounted device 10 and displaying vehicle position information on a map.

  A memory card 65 is detachably attached to the card I / F 35. The card I / F 35 inputs operation data measured by the vehicle-mounted device 10 and stored in the memory card 65. The operation unit 36 has a keyboard, a mouse, and the like, and receives an operation of an administrator of the office. The output unit 37 outputs various data. A speaker 42 is connected to the audio I / F 38. The manager of the office can issue an alarm to the driver of the vehicle using the speaker 42.

  In the present embodiment, the operation data held in the memory card 65 can be transferred to the office PC 30 by using the communication function of the wireless LAN, so that it is not necessary to remove the memory card 65 from the vehicle-mounted device 10. Further, the card I / F 35 of the office PC 30 can be omitted.

  A matching information database 56 is connected to the external I / F 48. FIG. 3 is a diagram for explaining the matching information database 56. As shown in FIG. 3, the matching information database 56 stores the matching images MI1 to MI13. The matching images MI1 to MI13 are images in which the markings A1 to A13 respectively arranged at predetermined positions on the premises are taken by the camera 23 previously attached to the forklift. The matching information database 56 stores each of the matching images MI1 to MI13 in association with each of the predetermined positions where the markings A1 to A13 are arranged on the premises.

  FIG. 4 is a diagram showing a flow of processing by the trajectory management system 5. First, in the vehicle-mounted device 10 mounted on the forklift, the locus creating unit 11a selects at least one of the direction and the inclination of the forklift from the data output from the G sensor 27, the magnetic sensor 28, and the gyro sensor 29, and the forklift. The locus data indicating the locus of the movement of the forklift is calculated based on the acceleration of (step S11). Then, in step S11, the created trajectory data is stored in the volatile memory 26B. Next, the position correction image matching unit 11b refers to the matching information database 56, and the captured images captured by the camera 23 while the forklift is moving are stored in the matching information database 56. It is determined whether any of MI13 matches (step S12). The determination in step S12 is performed by calculating the similarity rates of the captured image and each of the matching images MI1 to MI13. When the orientations of the markings A1 to A13 included in the captured image are different from the orientations of the matching images MI1 to MI13 stored in the matching information database 56, the position correction image matching unit 11b matches the orientations of the two by image processing. Then, the similarity rate is calculated.

  The position correction image matching unit 11b determines that one of the matching images MI1 to MI13 matches the captured image when the calculated similarity rate exceeds a predetermined value (first threshold value) (step S13). In step S13, when the captured image does not match any of the matching images MI1 to MI13, the CPU 11 ends the process. On the other hand, in step S13, when the captured image matches any of the matching images MI1 to MI13, the locus creating unit 11a associates the matching image MI1 to MI13 with any one of the matching predetermined positions (FIG. 2). The position information of the forklift is corrected based on the reference (step S15). For example, the locus creating unit 11a causes the position of the forklift at the time of shooting the shot image to match a predetermined position of any of the matching images MI1 to MI13 that matches the shot image, among the loci represented by the locus data. , Correct the position information. In addition, in step S15, the trajectory creating unit 11a recreates trajectory data using the corrected position information. The locus data thus created by the locus creating unit 11a may be stored in the volatile memory 26B or may be transmitted to the office PC 30 and stored in the storage unit 34. Further, the locus data may be displayed on the display unit 22 of the vehicle-mounted device 10 or the display unit 33 of the office PC 30 so as to be superimposed on the map (premise map) data. FIG. 5 is a diagram showing an example of the trajectory data L of the forklift created by the trajectory creating unit 11a. According to the trajectory management system 5 of the present embodiment, the trajectory creation unit 11a corrects the forklift position error based on the determination result by the position correction image matching unit 11b, and thus accurate trajectory data L can be acquired. The accuracy of the trajectory data L is about the same as the trajectory data created using GPS.

  Then, the position correction image matching unit 11b determines whether or not the similarity rate calculated in step S12 is less than a prescribed value (second threshold, for example, 80%) higher than a predetermined value (first threshold) (step). S16). If it is less than the specified value, the matching information database 56 is updated by an instruction from the CPU 11 to the CPU 31 for any of the matching images MI1 to MI13 that could be matched in step S13 (step S17). As shown in FIG. 2, the update in step S17 includes any of the matching images MI1 to MI13, which are stored in the matching information database 56 and are to be updated, that are included in the captured image and can be matched. It is performed by changing the images MI′1 to MI′13 of the markings A1 to A13. That is, the update in step S17 is performed for each of the matching images MI1 to MI13 for each of the markings A1 to A13. In FIG. 3, matching images MI′1 to MI′13 indicate that the matching images MI1 to MI13 are updated once for all the markings A1 to A13. By updating the matching information database 56 in this way, matching can be performed according to the actual marking situation. Further, in step S17, the updated matching images MI'1 to MI'13 are transmitted to the vehicle-mounted device 10 according to the instruction of the CPU 31. Then, in the vehicle-mounted device 10, the matching images MI1 to MI13 stored in the volatile memory 26B are changed to the updated matching images MI′1 to MI′13. Thereby, in the vehicle-mounted device 10, it is possible to perform image matching in real time using the updated matching images MI′1 to MI′13. Since the matching information database 56 is held on the server connected to the office PC 30, the updated matching information database 56 can be commonly used by a plurality of vehicles managed by the office PC 30.

  After that, the CPU 11 determines whether or not the number of updates of any of the matching images MI1 to MI13 that can be matched in step S13 is the specified number of times (third threshold value, for example, 3 times) (step S18). If the number of updates is the specified number in step S18, the marking on the floor may be weathered, so the CPU 11 (alarm unit) creates a maintenance alarm signal indicating that the marking needs maintenance. (Step S19). The CPU 11 transmits the created maintenance warning signal to the office PC 30. The CPU 31 of the office PC 30 may store the received maintenance warning signal in the storage unit 34, display a maintenance warning on the display unit 33, or perform voice maintenance from the speaker 42 based on the received maintenance warning signal. An alarm may be output. Each of the markings A1 to A13 on the floor has a different degree of weathering depending on the usage situation, but since it is possible to deal with markings such as weathering triggered by a maintenance alarm, it is not necessary to constantly manage the state of the markings A1 to A13. You can reduce the effort. On the other hand, if the number of updates is other than the specified number in step S18, or if the similarity is greater than or equal to the specified value in step S16, the CPU 11 ends the process. It should be noted that the CPU 11 may generate the maintenance warning signal even when the number of times the image is updated is greater than the specified number in step S18.

  FIG. 6 is a diagram showing an example of the locus of movement of the forklift from the original location 3 to the shipping location 1 in the premises. In this example, the forklift equipped with the vehicle-mounted device 10 does not use the shortest route that linearly moves from the original location 3 (to the right in FIG. 6) to the shipping location 1 but moves to the farthest location 2 from the original location 3. It follows the route of moving to the shipping location 1. From this, it is conceivable that the forklift, for example, had a work to be performed at the location 2 before going from the original location 3 to the shipping location 1. In this case, it is considered that the forklift can move the shortest distance by changing the arrangement of the premises so that the work to be performed at the place 2 can be performed between the place 3 and the place 1. In this way, by managing the trajectory of the forklift, it is possible to improve the efficiency of work on the premises.

  As described above, according to the trajectory management system 5 of the present embodiment, when the trajectory data of a forklift in a premises such as a warehouse is created, it is registered in advance in the matching information database 56 with the captured image captured while the forklift is moving. Matching is performed by calculating the similarity rate with the matching images MI1 to MI13. As a result, the position of the forklift can be corrected and the trajectory data can be corrected. Therefore, the trajectory management system 5 according to the present embodiment acquires highly accurate trajectory data by periodically correcting the error of the vehicle (forklift) position even when GPS data or vehicle speed data cannot be acquired. can do. Further, according to the present embodiment, accurate locus data can be acquired by using the camera of the vehicle-mounted device without using the beacon embedded in the floor or the like, so that an inexpensive locus management system can be provided. Furthermore, by updating the matching information database 56 based on the similarity and managing the number of updates, it is possible to reduce the time and effort required for maintenance regarding weathering of floor markings.

  It should be noted that the present invention is not limited to the above-described embodiments, and modifications, improvements, etc. can be appropriately made. In addition, the material, shape, size, numerical value, form, number, arrangement location, etc. of each constituent element in the above-described embodiment are arbitrary and are not limited as long as the present invention can be achieved. For example, in the present embodiment, the example in which the locus creating unit 11a is provided in the vehicle-mounted device 10 has been described, but as shown in FIG. 7, the locus creating unit 31a may be provided in the office PC 30. In this case, the data output from the G sensor 27, the magnetic sensor 28, and the gyro sensor 29 and the image matching result by the position correction image matching unit 11b, which are used to create the trajectory data, are obtained from the vehicle-mounted device 10 via the access point 8. It is transmitted to the office PC 30 via. The locus creating unit 31a creates the locus data of the forklift in the same manner as the locus creating unit 11a.

  In addition, in the present embodiment, an example in which the position correction image matching unit 11b is provided in the vehicle-mounted device 10 has been described, but the position correction image matching unit is provided in the office PC 30 and the captured image captured by the camera 23 is mounted in the vehicle. It may be transmitted from the device 10 to the office PC 30.

  Further, in the present embodiment, an example in which the matching information database 56 is held on the server has been described, but the matching information database 56 may be held in the vehicle-mounted device 10. In this case, the vehicle-mounted device 10 can determine whether the captured image matches any one of the matching images MI1 to MI13 by the vehicle-mounted device 10 alone without communicating with the outside.

  Furthermore, by placing markings at intersections where multiple vehicles are likely to concentrate and managing the trajectories of multiple vehicles passing through these intersections, it is possible to shift the work time and ease the concentration of multiple vehicles. It is possible to improve work efficiency. In this way, by arranging the markings according to the purpose of the business operator, it is possible to contribute to the business improvement of the business operator.

Here, the features of the trajectory management system and the vehicle-mounted device according to the embodiment of the present invention described above will be briefly summarized and listed in [1] to [8] below.
[1] A trajectory management system including an on-vehicle device (10) mounted on a vehicle that has markings (A1 to A13) at predetermined positions and is installed in a vehicle, and a management device (office PC 30) that manages the on-vehicle device. (5)
A locus creating unit (11a, 31a) that creates locus data (L) indicating a locus along which the vehicle has moved based on at least one of the direction and the inclination of the vehicle and the acceleration of the vehicle;
The matching image (MI1 to MI13) obtained by photographing the marking and the database (matching information database 56) that stores the correspondence between the marking and the predetermined position are mounted on the vehicle while the vehicle is moving. A determination unit (position correction image matching unit 11b) that determines whether or not the captured image captured by the captured camera (23) matches the matching image,
When the determination unit determines that the captured image and the matching image match, the trajectory generation unit corrects the position information of the vehicle based on the predetermined position, and uses the corrected position information. The locus management system is characterized in that the locus data (L) is created again.
[2] The determination unit calculates a similarity rate between the captured image and the matching image, and determines that the captured image and the matching image match when the similarity rate is equal to or higher than a first threshold value (predetermined value). The trajectory management system according to [1] above.
[3] When the similarity rate is equal to or higher than the first threshold value and is lower than a second threshold value (specified value) that is higher than the first threshold value, the matching image stored in the database is The trajectory management system according to the above [2], wherein the database is updated by changing the image of the marking included in the captured image.
[4] An alarm unit (CPU 11) is provided that creates a maintenance alarm signal indicating that maintenance of the marking is required when the number of updates of the database reaches a third threshold value (specified number). The trajectory management system according to [3] above.
[5] The trajectory management system according to any one of the above [1] to [4], wherein the database is provided in the vehicle-mounted device.
[6] The trajectory management system according to any one of [1] to [4], wherein the database is provided in the management device.
[7] An on-vehicle device (10) mounted on a vehicle moving on a premises having markings (A1 to A13) at predetermined positions,
A locus creating unit (11a) that creates locus data (L) indicating a locus of movement of the vehicle based on at least one of the direction and the inclination of the vehicle and the acceleration of the vehicle;
The matching image (MI1 to MI13) obtained by photographing the marking and the database (matching information database 56) that stores the correspondence between the marking and the predetermined position are mounted on the vehicle while the vehicle is moving. A determination unit (position correction image matching unit 11b) that determines whether or not the captured image captured by the captured camera (23) matches the matching image,
When the determination unit determines that the captured image and the matching image match, the trajectory generation unit corrects the position information of the vehicle based on the predetermined position, and uses the corrected position information. The in-vehicle device characterized in that the locus data (L) is recreated.
[8] The trajectory generation unit includes at least one of a magnetic sensor (28) that detects the orientation of the vehicle and a gyro sensor (29) that detects the inclination of the vehicle, and an acceleration sensor ( 27) The vehicle-mounted device according to the above [7], wherein the trajectory data is created based on the outputs from

5 Track management system 8 Access point 10 In-vehicle device 11 CPU
11a Trajectory creation unit 11b Position correction image matching unit 14 Sensor input I / F
16 Camera input I / F
17 recording unit 18 card I / F
19 Voice I / F
20 speaker 21 RTC
22 display unit 23 camera 24 communication unit 25 power supply unit 26A non-volatile memory 26B volatile memory 27 acceleration sensor 28 magnetic sensor 29 gyro sensor 30 office PC
31 CPU
31a trajectory creation unit 32 communication unit 33 display unit 34 storage unit 35 card I / F
36 Operation unit 37 Output unit 38 Voice I / F
42 speaker 48 external I / F
56 matching information database 65 memory cards A1 to A13 markings MI1 to MI13, MI'1 to MI'13 matching images

Claims (8)

A trajectory management system comprising: an on-vehicle device mounted on a vehicle moving on a premises having markings at predetermined positions; and a management device for managing the on-vehicle device,
A locus creating unit that creates locus data indicating a locus along which the vehicle has moved, based on at least one of the direction and the inclination of the vehicle and the acceleration of the vehicle.
The captured image captured by the camera mounted on the vehicle while the vehicle is moving is referred to by referring to the database that stores the correspondence between the matching image obtained by capturing the marking and the predetermined position where the marking is arranged. A determining unit that determines whether or not the image matches the matching image,
When the determination unit determines that the captured image and the matching image match, the trajectory generation unit corrects the position information of the vehicle based on the predetermined position, and uses the corrected position information. A trajectory management system characterized in that the trajectory data is created again by using The determination unit calculates a similarity rate between the captured image and the matching image, and determines that the captured image and the matching image match when the similarity rate is equal to or higher than a first threshold value. The trajectory management system according to Item 1. When the similarity is equal to or higher than the first threshold and is lower than a second threshold that is greater than the first threshold, the matching image stored in the database is the marking included in the captured image. The trajectory management system according to claim 2, wherein the database is updated by changing the image to. The trajectory management system according to claim 3, further comprising: an alarm unit that generates a maintenance alarm signal indicating that maintenance of the marking is required when the number of updates of the database reaches a third threshold value. .. The trajectory management system according to any one of claims 1 to 4, wherein the database is provided in the vehicle-mounted device. The trajectory management system according to claim 1, wherein the database is provided in the management device. An in-vehicle device mounted on a vehicle moving on a premises having markings at predetermined positions,
A locus creating unit that creates locus data indicating a locus along which the vehicle has moved, based on at least one of the direction and the inclination of the vehicle and the acceleration of the vehicle.
The captured image captured by the camera mounted on the vehicle while the vehicle is moving is referred to by referring to the database that stores the correspondence between the matching image obtained by capturing the marking and the predetermined position where the marking is arranged. A determining unit that determines whether or not the image matches the matching image,
When the determination unit determines that the captured image and the matching image match, the trajectory generation unit corrects the position information of the vehicle based on the predetermined position, and uses the corrected position information. An on-vehicle device characterized in that the locus data is created again by using The locus creating unit, based on an output from at least one of a magnetic sensor that detects the direction of the vehicle and a gyro sensor that detects the inclination of the vehicle, and an acceleration sensor that detects the acceleration of the vehicle, the locus. The vehicle-mounted device according to claim 7, wherein data is created.

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