JP2021034010A - Mobile body and user identification management system - Google Patents

Abstract

To provide a technique of identifying and managing a mobile body and a user of the mobile body that enter a designated facility and exit from the facility.SOLUTION: A user identification management system includes: a line sensor 50 that is installed in a passage common to a mobile body 30 and a user in a facility, and scans an object passing through the passage in a traveling direction thereof to acquire a silhouette of the object; a determination unit that determines whether or not the object is the mobile body on the basis of the silhouette; a discrimination unit that, when the object is the mobile body, discriminates a kind of the mobile body on the basis of the silhouette; a transmitter 60 that transmits a unique signal in the facility; and a communication terminal 90 of the user that, when receiving the signal from the transmitter, in response thereto, transmits a user ID or a terminal ID in association of a facility ID specified by the received signal to an administration server 130. The administration server associates the facility ID, the kind of the mobile body and the user ID or the terminal ID with each other.SELECTED DRAWING: Figure 18

Description

The present invention enters or enters a designated facility by using a technique of non-contact shape identification of the object by scanning the object in one direction with a line sensor without using a camera. It relates to a technique for identifying and managing a moving object leaving the vehicle and a user who is a user of the moving object.

There is already a technique for visually identifying an object in a non-contact manner without using a camera by scanning the object in one direction with a line sensor.

An example thereof is disclosed in Patent Document 1. In this technique, for the purpose of determining the vehicle type of a vehicle body traveling on a horizontal support surface (for example, a road surface), a plurality of light emitting elements arranged one-dimensionally in the vertical direction and one-dimensional in the vertical direction are used. The silhouette sensor is configured as a line sensor by arranging a plurality of light receiving elements arranged in a manner so as to face each other in the horizontal direction.

Japanese Unexamined Patent Publication No. 5-296737

However, the technique disclosed in Patent Document 1 has a problem that the shape of an object to be identified cannot be accurately measured by the silhouette sensor.

Specifically, in the silhouette sensor, the light emitting element emits electromagnetic waves such as light, radio waves, or sound waves toward the light receiving element, but as long as the electromagnetic waves are normal, both the light emitting element and the light receiving element are usually emitted. , Has directivity.

If the electromagnetic wave is selected as the laser light, neither the light emitting element nor the light receiving element has directivity. However, in that case, there are problems that the system is expensive, the power consumption of the element is increased, and it is dangerous if the emitted laser light is incident on the eyes of everybody.

Therefore, if ordinary electromagnetic waves are used so as not to cause these problems, the electromagnetic waves emitted from one light emitting element travel in space with a spreading angle. Therefore, one electromagnetic wave is unexpectedly caused by a plurality of light receiving elements. It may be received at the same time.

As a result, when ordinary electromagnetic waves are used, the one-dimensional pattern represented by the plurality of light receiving elements that are shielded by the object to be identified and cannot receive the electromagnetic waves accurately reflects the actual silhouette of the object to be identified. There is a risk of not doing so.

Therefore, in the technique disclosed in Patent Document 1, if the light receiving element receives light from an unplanned light emitting element, the light cannot be removed as noise light, so that the shape of the object to be identified is accurately determined. There is a problem that it cannot be measured well.

As disclosed in Patent Document 1, the function (use) of identifying an object is embodied as a function of discriminating the type of an automobile traveling on a toll road, and for example, in a parking lot. , It is embodied as a function of identifying and classifying vehicles entering and leaving the parking lot.

Further, there is a need to accurately associate the vehicle identified in this way with the user as the occupant of the vehicle.

Against this background, the present invention is specified by using a technique for identifying the object in a non-contact manner by scanning the object in one direction with a line sensor without using a camera. It is an object of the present invention to provide a technique for identifying and managing a moving object that enters or exits a facility and a user who is a user of the moving object.

In order to solve the problem, according to one aspect of the present invention, a mobile body that enters or leaves a facility that should be remotely managed by a management server and a user who is a user of the mobile body. A system that identifies and manages
A passage provided in the facility and common to mobiles and users,
A line sensor installed in the passage and extending in a direction intersecting the traveling direction of an object passing through the passage, and scans the object relative to the traveling direction to acquire a silhouette of the object. things and,
A determination unit provided in the facility or the management server to determine whether or not the object is a moving object based on the acquired silhouette.
A discriminating unit provided in the facility or the management server and discriminating the type of the moving body based on the acquired silhouette when the object is determined to be a moving body.
A transmitter installed in the facility and transmitting a unique signal,
When a signal is received from the transmitter of the user's communication terminal, the user ID or the terminal ID of the communication terminal is associated with the facility ID unique to the facility specified by the received signal in response to the signal. To be sent to the management server
Including
The management server provides a mobile / user identification management system that associates the facility ID, the type of the mobile body, and the user ID or the terminal ID with each other, and registers these elements in a list.

According to the present invention, the following aspects can be obtained. Each aspect is divided into sections, each section is numbered, and the numbers of other sections are cited as necessary. This is to facilitate understanding of some of the technical features that can be adopted by the present invention and combinations thereof, and the technical features that can be adopted by the present invention and combinations thereof are limited to the following aspects. Should not be interpreted as. That is, it should be interpreted that it is not hindered from appropriately extracting and adopting the technical features described in the present specification as the technical features of the present invention, which are not described in the following aspects.

Furthermore, describing each term in the form of quoting the numbers of the other sections does not necessarily prevent the technical features described in each section from being separated and independent from the technical features described in the other sections. It does not mean, and it should be interpreted that the technical features described in each section can be made independent as appropriate according to their properties.

(1) An object identification method for identifying an object in a non-contact manner by scanning the object in one direction with a line sensor without using a camera.
The central space of a line sensor formed by arranging a row of transmitters, which is a row of a plurality of transmitters, and a row of receivers, which is a row of a plurality of receivers, so as to face each other with a central space in between. It is carried out during relative movement in which the object moves relative to the line sensor in a direction intersecting the length direction of the line sensor so as to pass through.
A transmission step in which the plurality of transmitters are continuously or time-discretely operated to transmit a plurality of signals from the transmitters.
A target reception step in which the plurality of transmitted signals are attempted to be received a plurality of times in a time-discrete manner by the plurality of receivers, and as a result, a plurality of reception events are executed, and each reception is performed. When the machine receives two or more signals from two or more transmitters at the same time, the oncoming transmitter that is pre-assigned to each receiver so as to have a one-to-one correspondence is set as the target transmitter, and the target is the target. The one that selects the signal transmitted from the transmitter as the valid signal, and the one that selects it.
In each reception event, among the plurality of receivers, those that received the valid signal from each opposite transmitter and those that did not receive the valid signal are distinguished from each other, and one-dimensional information is generated from the result, and the plurality of receivers are generated. A silhouette estimation step of converting a plurality of one-dimensional information generated in each reception event into two-dimensional information and estimating the actual silhouette of the object based on the two-dimensional information.
An object identification method including an object identification step of identifying an object based on a degree of shape approximation between the estimated actual silhouette and a plurality of predetermined reference silhouettes.

(2) Each transmitter is configured to transmit a signal representing a unique transmitter ID.
In the target receiving step, a transmitter ID is extracted from a signal received by each receiver from each transmitter, and a plurality of transmitter IDs represented by a plurality of signals received by each receiver at the same time from a plurality of transmitters. The object identification method according to item (1), which includes a step of selecting a signal representing a signal that matches the regular transmitter ID assigned to the opposite transmitter as the valid signal.

(3) Item (1) or (2), wherein each receiver (for example, a beacon receiver) receives a signal from each transmitter (for example, a beacon transmitter) by a short-range wireless communication method. The object identification method described in 1.

(4) Each transmitter is a light emitter (for example, LED light source, laser light source, etc.) that emits light that is visible light or infrared light in a unique blinking pattern.
Each receiver is a receiver (for example, a photodiode, an optical sensor, etc.) that receives the light emitted from each light emitter.
The object identification method according to item (1) or (2), wherein the target receiving step includes a step of extracting a blinking pattern from the light received by each receiver and converting the blinking pattern into a light emitter ID.

(5) The object identification method according to any one of (1) to (4), wherein the plurality of reference silhouettes have shapes unique to each of a plurality of object categories as a plurality of candidates for which the object is identified.

(6) Furthermore
A speed acquisition step of acquiring the moving speed of the object as it passes through the central space of the line sensor during the relative movement is included.
In the silhouette estimation step, the spatial interval between the plurality of one-dimensional information is determined using the acquired moving speed, and the plurality of one-dimensional information is arranged at the determined spatial interval. The object identification method according to any one of (1) to (5), which is converted into the two-dimensional information by the above method.

(7) The signal transmitted by the end transmitter located at one end of the plurality of transmitters is as long as the actual silhouette dimension of the object in the length direction of the line sensor does not exceed a predetermined upper limit dimension. (1) to (6), which are received by an end receiver located at one end of the plurality of receivers facing the end transmitter without being blocked by the object. The object identification method according to any one of.

(8) Further, when the end receiver does not receive a signal from the end transmitter, it includes a first abnormality determination unit that determines that there is an abnormality in the operating state of the line sensor (7). The object identification method described in the section.

(9) Further, the second abnormality determination unit for determining that the posture of the line sensor is abnormal when the end receiver does not receive a signal from the end transmitter is included (7) or The object identification method according to item (8).

(10) Further, a failure diagnosis step of performing a failure diagnosis on the operating state of the line sensor prior to the actual operation of object identification is included.
The failure diagnosis process ignores the correspondence between the transmitter and the receiver, and determines for each receiver whether or not the receiver has received all the signals from the plurality of transmitters. However, if not all receivers receive the signal from the same transmitter, it is determined that the transmitter is out of order, while one of the receivers receives the signal from any of the transmitters. If not, the object identification method according to any one of (1) to (9), wherein it is determined that one of the receivers is out of order.

(11) A program executed by a computer to carry out the object identification method according to any one of (1) to (10).

Throughout this specification, the term "program" may be interpreted to mean, for example, a combination of instructions executed by a computer to perform its function, or not only a combination of those instructions, but also each instruction. It can be interpreted to include, but is not limited to, files and data processed according to.

In addition, this program may achieve its intended purpose by being executed by a computer alone, or by being executed by a computer together with other programs. Yes, but not limited to them. In the latter case, the program according to this section may be based on data, but is not limited thereto.

(12) A recording medium on which the program described in item (11) is recorded so as to be readable by a computer.

Throughout the specification, the term "recording medium" can be interpreted to mean various types of recording media, such recording media being magnetic recordings such as, for example, flexible discs. It includes, but is not limited to, media, optical recording media such as CDs and CD-ROMs, magneto-optical recording media such as MOs, and unremovable storage such as ROMs.

(13) The object identification method according to any one of (1) to (10), wherein the minimum dimension of the central space between the transmitter row and the receiver row is 30 cm, 50 cm, 1 m or 2 m. ..

(14) The object identification method according to any one of (1) to (10), wherein the object includes a vehicle including a bicycle, a motorcycle and an automobile.

(15) The object identification method according to any one of (1) to (10), wherein the plurality of reference silhouettes include a plurality of standard silhouettes for each of a vehicle, a human being, and an animal.

(16) The item according to any one of (1) to (10), wherein the line sensor includes a first line sensor and a second line sensor installed at two positions separated from each other in the traveling direction of the object. Object identification method.

(17) The object travels in a predetermined passage and
The transmitter row and the receiver row are installed at two locations facing each other so as to sandwich the passage.
The object identification method according to any one of (1) to (10), wherein the object is identified while the object is traveling in one direction in the passage.

(18) The passage is arranged so as to connect the open space and the dead end space to each other.
The object travels in both forward and reverse directions in the passage.
The object identification method according to item (17), wherein the line sensor includes an outer line sensor installed on the side of the open space and an inner line sensor installed on the side of the dead end space in the passage.

(19) An object identification system that identifies an object in a non-contact manner by scanning the object in one direction with a line sensor without using a camera.
A line sensor in which a row of transmitters, which is a row of a plurality of transmitters, and a row of receivers, which is a row of a plurality of receivers, are arranged in a space so as to face each other across a central space. An object that moves relative to the line sensor in a direction that intersects the length direction of the line sensor so as to pass through the central space.
A target receiver that attempts to receive the plurality of transmitted signals multiple times in a time-discrete manner by the plurality of receivers, thereby executing a plurality of reception events, and each reception. When the machine receives two or more signals from two or more transmitters at the same time, the oncoming transmitter that is pre-assigned to each receiver so as to have a one-to-one correspondence is set as the target transmitter, and the target is the target. The one that selects the signal transmitted from the transmitter as the valid signal, and the one that selects it.
In each reception event, among the plurality of receivers, those that received the valid signal from each opposite transmitter and those that did not receive the valid signal are distinguished from each other, and one-dimensional information is generated from the result, and the plurality of receivers are generated. A silhouette estimation unit that converts a plurality of one-dimensional information generated in each reception event into two-dimensional information and estimates the actual silhouette of the object based on the two-dimensional information.
An object identification system including an object identification unit that identifies an object based on the degree of shape approximation between the estimated actual silhouette and a plurality of predetermined reference silhouettes.

(20) An object identification system that identifies an object in a non-contact manner by scanning the object in one direction with a line sensor without using a camera.
A line sensor in which a row of transmitters, which is a row of a plurality of transmitters, and a row of receivers, which is a row of a plurality of receivers, are arranged in a space so as to face each other across a central space. The object moves relative to the line sensor in a direction intersecting the length direction of the line sensor so as to pass through the central space, and the plurality of signals transmitted from the plurality of transmitters are at least partially. That is blocked by the object and does not reach the receiver row,
An object that estimates the actual silhouette of the object based on the reception result of the line sensor, and identifies the object based on the degree of shape approximation between the estimated actual silhouette and a plurality of predetermined reference silhouettes. Including the identification part
The object includes a vehicle
The communication terminal is carried by a user who is an occupant of the vehicle while riding, or is mounted on the vehicle.
Each transmitter emits a signal representing a unique transmitter ID,
The communication terminal receives a portion of a plurality of signals from the plurality of transmitters that enter the vehicle during the boarding.
The object identification system further
A management server capable of communicating with the communication terminal,
Including a communication unit capable of transmitting a signal representing the reception status of the plurality of receivers and / or the object identification result of the object identification unit to the management server.
When the communication terminal receives a signal from at least one of the plurality of transmitters, the communication terminal extracts a transmitter ID from the signal, associates the transmitter ID with user identification information, and transmits the signal to the management server. ,
When the management server receives the transmitter ID from the communication terminal in a state where the line sensor detects the object and the object is identified as a vehicle, the transmitter ID becomes the line sensor. In the case of belonging to, the object identification system includes a user / vehicle linking portion that links the user and the vehicle.

FIG. 1 schematically illustrates a hardware configuration of an object identification system according to an exemplary first embodiment of the present invention, which is implemented to identify an object entering or exiting a parking lot having an entrance / exit passage. It is a plan view which represents. FIG. 2 is a perspective view schematically showing a hardware configuration of the object identification system shown in FIG. 1, and a functional block diagram conceptually showing a software configuration of the object identification system. FIG. 3 is a front view common to the outer line sensor and the inner line sensor shown in FIG. 2, and a plurality of signals transmitted from the transmitter post shown in the figure pass through the space without being blocked by an object. It is for explaining how it is classified into a thing and a thing blocked by an object. FIG. 4 is a side view showing an inner surface of the transmitter post (or receiver post) shown in FIG. FIG. 5 is a partial front view common to the outer line sensor and the inner line sensor shown in FIG. 2, and emits a signal omnidirectionally (for example, radially) from one of the transmitter posts. As a result, it is for explaining that the transmitted signal may be simultaneously received by a plurality of receivers including an opposite transmitter facing the transmitter. FIG. 6 shows the numbers of a plurality of receivers for each of the outer line sensor and the inner line sensor shown in FIG. 2, the numbers of a plurality of transmitters having a one-to-one correspondence with each of the receivers, and the numbers of each transmitter. It is a figure which shows the relationship with a plurality of transmitter IDs in a tabular form. FIG. 7 is a side view for explaining how an object is identified by being scanned in one direction by an outer line sensor while the object is traveling in one direction through the entrance / exit passage of the parking lot shown in FIG. is there. In FIG. 8, as a result of scanning an object in one direction by an outer line sensor as shown in FIG. 7, a plurality of one-dimensional information about the object is generated in a time-discrete manner, and the one-dimensional information is two-dimensional. It is a figure that conceptually represents the appearance that the actual silhouette of the object is estimated by being synthesized with information. FIG. 9 is a diagram conceptually representing an exemplary relationship between a plurality of object categories and a plurality of reference silhouettes. FIG. 10 is a flowchart conceptually representing an exemplary object identification program executed in the object identification unit shown in FIG. FIG. 11 is a flowchart conceptually representing an exemplary warehousing / delivery discriminating program executed in the warehousing / delivery discriminating unit shown in FIG. FIG. 12A describes an example of how the reception states of the outer line sensor and the inner line sensor change in time series in the warehousing stage in which the object enters the parking lot through the entrance / exit passage shown in FIG. In the figure (b), the reception states of the outer line sensor and the inner line sensor are in chronological order in the warehousing stage where the object exits the parking lot through the entrance / exit passage shown in FIG. It is a figure for demonstrating an example of how it changes. FIG. 13 is a continuation of the functional block diagram showing the signal processing unit shown in FIG. FIG. 14 is a flowchart conceptually representing an exemplary first abnormality determination program executed in the first abnormality determination unit shown in FIG. 13. FIG. 15 is a flowchart conceptually representing an exemplary second abnormality determination program executed in the second abnormality determination unit shown in FIG. 13. FIG. 16 is a flowchart conceptually representing an exemplary failure diagnosis program executed in the failure diagnosis unit shown in FIG. FIG. 17 is a flowchart conceptually showing an exemplary parking lot management program executed on the management server shown in FIG. 2 together with a parking lot utilization program executed on the user's communication terminal. FIG. 18 is a front view of the outer line sensor of the object identification system according to the second exemplary embodiment of the present invention, in which a plurality of signals transmitted from the transmitter post shown in the figure are a plurality of signals of the vehicle. Those that reach the receiver post through the space without being blocked by the outer panel, those that are blocked by the outer panel of the vehicle, and those that pass through the window glass of the vehicle and enter the passenger compartment to enter the passenger compartment The state of being classified into those received by the communication terminal is shown together with a functional block diagram conceptually showing the software configuration of the object identification system. FIG. 19 is a flowchart conceptually showing an exemplary user / vehicle linking program executed in the user / vehicle linking unit shown in FIG. 18 together with a user identification support program executed in the user's communication terminal. FIG. 20 is a diagram conceptually representing an exemplary user / vehicle association list created by the user / vehicle association unit shown in FIG. 18 in a tabular format.

Hereinafter, some of the more specific exemplary embodiments of the present invention will be described in detail with reference to the drawings.

[First Embodiment]

FIG. 1 schematically shows a hardware configuration of an object identification system 10 (hereinafter, simply referred to as “system 10”) according to an exemplary first embodiment of the present invention in a plan view. The system 10 is designed to implement an object identification method according to an exemplary embodiment of the invention.

In the present embodiment, this system 10 is incorporated in a part of the parking lot management system 1000 that manages the parking lot 20 unmanned and remotely.

Briefly, the system 10 is designed to shapely identify a three-dimensional object in a non-contact manner without the use of a camera by scanning the object in one direction with a line sensor. There is.

This system 10 is implemented to identify whether the object entering and exiting the parking lot 20 is a vehicle 30, a human being, or an animal. The parking lot 20 connects an inner region (dead end space) 34 having a plurality of cabins 32 capable of accommodating a plurality of vehicles and an outer region (open space) 38 which is a road 36 adjacent to the parking lot 20 to each other. It has an entrance / exit passage 40.

The vehicle 30 travels along a common entrance / exit passage 40 both when entering the parking lot 20 and when leaving the parking lot 20. Specifically, the vehicle 30 travels in the entrance / exit passage 40 in one direction (direction from the outside to the inside) at the time of warehousing, while the vehicle 30 travels in the opposite direction (direction from the inside to the outside) at the time of warehousing. ) Proceed to.

As shown in FIG. 1, the system 10 includes an outer line sensor 50 installed on the outer region 38 side and an inner line sensor 52 installed on the inner region 34 side of the entrance / exit passage 40. There is. Both the outer line sensor 50 and the inner line sensor 52 are installed on the support surface (for example, road surface, ground, etc.) 54 of the parking lot 20 in an upright posture extending generally vertically from the support surface 54.

As shown in FIGS. 2 and 3, both the outer line sensor 50 and the inner line sensor 52 have a transmitter post 62 in which a row of transmitters, which is a row of a plurality of transmitters 60, is housed in a housing 74. A receiver post 72, which is a row of a plurality of receivers 70 and is housed in a housing 76, is arranged on the space so as to face each other with a central space 77 in between. In both the transmitter post 62 and the receiver post 72, a plurality of sensor elements (this term is used to collectively refer to the transmitter 60 and the receiver 70) are one-dimensionally (eg, a straight or curved center). It is arranged and composed (along the line).

Further, regarding the outer line sensor 50 and the inner line sensor 52, one transmitter 60 and one receiver 70 paired with each other among the plurality of transmitters 60 and the plurality of receivers 70 are shown in FIG. As shown, they are arranged so as to face each other in the horizontal direction.

The transmitter post 62 and the receiver post 72 have columnar housings 74 and 76 that generally extend vertically from the support surface 54, respectively, and within those housings 74 and 76, a plurality of transmitters 60 and a plurality of receivers, respectively. The 70 is housed so as to have a waterproof function (so as not to be damaged by the intrusion of rainwater or a puddle).

In the present embodiment, both the transmitter 60 and the receiver 70 are sensor elements (for example, a beacon transmitter and a beacon receiver) of a type that communicate using invisible light (for example, radio waves), but instead. Sensor elements of the type that use visible light, infrared light, sound waves or ultrasonic waves, for example, a combination of an LED light source and an optical sensor, a combination of an infrared light source and an infrared sensor, a combination of a laser light source and an optical sensor, and a sound wave. A combination of a generator and a sound source sensor may be used.

In one example, each transmitter 60 is a light emitter 60 that emits light, which is visible light or infrared light, in a unique blinking pattern. On the other hand, each receiver 70 is a receiver 70 that receives the light emitted from each light emitter 60. In this case, the target receiving unit 108 extracts a blinking pattern from the light received by each receiver 70, converts the blinking pattern into a light emitter ID, and thereby the light emitter 60 that emits the received light is generated. It is determined whether or not it is an opposite light emitter (an example of a regular transmitter), that is, a regular light emitter (an example of a regular transmitter).

As shown in the front view of FIG. 3, the plurality of transmitters 60 simultaneously transmit a plurality of signals during the object identification operation. Of these signals, the portion blocked by the vehicle 30 does not enter the oncoming receiver 70, while the portion not blocked by the vehicle 30 passes through the central space 77 and enters the oncoming receiver 70. To do.

As shown in the side view in FIG. 4, the outer line sensor 50, the inner line sensor 52, the transmitter post 62, and the receiver post 72 are among a plurality of sensor elements 60, 70 arranged in a row. The topmost one (topmost transmitter (an example of the "end transmitter") 60 and the topmost receiver (an example of the "end receiver") 70) are as shown in FIGS. 2 and 3. The height of the top-end transmitter 60 and the top-end receiver 70 so that the signal transmitted by the top-end transmitter 60 is received by the top-end receiver 70 for all types of vehicles 30 that fit in size. The orientation position is selected.

Therefore, the signal transmitted by the uppermost transmitter 60 is not blocked by the object 30 unless the actual silhouette dimension of the object 30 in the length direction of each of the line sensors 50 and 52 exceeds a predetermined upper limit dimension. , Received by the top-most receiver 70, which faces the top-end transmitter 60.

Further, as shown in the side view in FIG. 4, the outer line sensor 50, the inner line sensor 52, the transmitter post 62, and the receiver post 72 are a plurality of sensor elements 60, 70 arranged in a row. The one at the lowermost end (the lowermost end transmitter 60 and the lowermost end receiver 70) is for all types of vehicles 30 when the tires (wheels, wheels) 78 of the vehicle 30 pass through the line sensors 50 and 52. The height position of the lowermost transmitter 60 and the lowermost receiver 70 is selected so that the signal transmitted from the lowermost transmitter 60 is blocked by the tire 78 and not received by the lowermost receiver 70. .. As a result, it is possible to detect the timing at which the tire 78 of the vehicle 30 has passed the line sensors 50 and 52.

As shown in the front view of FIG. 5, for both the outer line sensor 50 and the inner line sensor 60, each transmitter 60 of the transmitter posts 62 emits a signal omnidirectionally (for example, radially). Therefore, the signal transmitted from one transmitter 60 is transmitted not only by the opposite receiver 70 facing the transmitter 60 (for example, one opposite receiver) 70, but also by a plurality of receivers 70 located in the vicinity thereof. , May be received at the same time.

In order to eliminate this possibility, in the present embodiment, target reception is performed for each receiver 70. Specifically, when each receiver 70 receives two or more signals from two or more transmitters 60 at the same time, it is pre-assigned to each receiver 70 among those transmitters 60 so as to have a one-to-one correspondence. Signal processing is performed in which the signal transmitted from the oncoming transmitter 60 is selected as an valid signal, and the other signals are excluded as invalid signals. This is also referred to as a fillering process.

In this regard, FIG. 6 shows the numbers of the plurality of receivers 70 for each of the outer line sensor 50 and the inner line sensor 52, and a plurality of transmitters (regular) having a one-to-one correspondence with each of the receivers 70. The relationship between the number of the transmitter) 60 and a plurality of transmitter IDs (regular transmitter IDs) for each transmitter 60 is shown in a table format.

Specifically, in the above-mentioned target reception, for each receiver 70, one opposite transmitter 60 corresponding thereto and a transmitter ID assigned to the opposite transmitter 60, that is, a regular transmitter ID are determined. To do. When each receiver 70 receives two or more signals from two or more transmitters 60 at the same time, among those transmitters 60, the signal representing the regular transmitter ID is selected as an effective signal, while the other signals are ignored. .. This is also referred to as soft filtering processing.

That is, in the above-mentioned target reception, when each receiver 70 simultaneously receives two or more signals from two or more transmitters 60, one target is one oncoming transmitter 60 assigned one regular transmitter ID. It is selected as the transmitter 60 and attempts to receive signals from, in effect, only its target transmitter 60.

On the other hand, in random reception, each receiver 70 ignores whether or not which transmitter 60 is the above-mentioned regular transmitter, and receives at least one signal randomly received by at least one fruit. It means that it is converted into a transmitter ID and at least one actual transmitter ID is assigned to each receiver 70.

In the present embodiment, for the plurality of receivers 70, the above-mentioned target reception is directed from the uppermost receiver 70 toward the lowermost receiver 70 (in the opposite direction or in a different direction). This is done sequentially, but this is done when the relative movement between the outer line sensor 50 and the object 30 is referred to as a physical scan (x-direction scan, anteroposterior scan), that is, the outer line sensor 50 or a plurality. It is called a soft scan (y-direction scan, vertical-direction scan) for the receiver 70.

In this embodiment, the inner line sensor 52 is designed to have the same configuration as the outer line sensor 50. However, in the present embodiment, the object identification is performed exclusively by using the outer line sensor 50. However, instead of this, the present invention may be carried out in a mode in which object identification is performed exclusively using the inner line sensor 52, or an embodiment in which object identification is performed using both line sensors 50 and 52. The present invention may be carried out in.

Therefore, as will be described later, the inner line sensor 52 is simplified from the outer line sensor 50 so as to have the minimum configuration necessary for jointly performing the warehousing / delivery determination with the outer line sensor 50 (for example, each other). The number of sensor element pairs (transmissive opposed sensor elements) including the transmitter 60 and the receiver 70 facing each other may be one or more, or may be reduced from the number of sensor element pairs in the outer line sensor 50).

As described above, the system 10 physically scans the three-dimensional object 30 in one direction with the outer line sensor 50 so as to visually identify the object 30 in a non-contact manner without using a camera. Is designed for.

Specifically, as shown in the side view in FIG. 7, the vehicle 30 as an example of an object is traveling in one direction through the entrance / exit passage 40 of the parking lot 20, and the vehicle 30 is scanned in one direction by the outer line sensor 50. The vehicle 30 is identified.

The vehicle 30 as a moving body moves so as to pass through the central space 77 relative to the outer line sensor 50 as a stationary object, so that the vehicle 30 intersects the length direction of the outer line sensor 50. Relative movement that moves relative to the outer line sensor 50 in the direction (scan direction) is realized.

FIG. 8 shows the presence or absence of reception for each receiver 70 by a dot pattern (for each receiver 70, the non-reception state due to signal interruption, that is, the OFF state of the receiver 70 is indicated by dots). As a result of the vehicle 30 being scanned in one direction by the outer line sensor 50, a plurality of one-dimensional information about the vehicle 30 is generated in a time-discrete manner. The one-dimensional information is sequentially generated in a predetermined sampling period Δt.

In the example shown in FIG. 8, time t ₁ is associated with _{time t 1} in the example shown in FIG. 7. 7, of the object 30, the one-dimensional information obtained when a portion indicated by a time t ₁ is determined by the outer line sensor 50 is shown in Figure 8 with a dot pattern. Similarly, time t ₂ in FIG. 8 is associated with the site indicated by time t _{2 in FIG.} The same applies to the other times t ₃ and t _4.

Further, as shown in FIG. 8, a plurality of one-dimensional information (one dot sequence) generated by the above-mentioned one-way scan is combined with two-dimensional information (a plurality of dot sequences), whereby the object 30 The actual silhouette of is estimated. The shape of the actual silhouette is represented by, for example, an envelope circumscribing a plurality of dots representing two-dimensional information.

The composition of a plurality of one-dimensional information may be performed by evenly arranging the one-dimensional information at a space interval common to them. The length of the space interval at that time may be a fixed value or a variable value set according to the measured value of the moving speed of the object 30.

Instead of this, the moving speed of the object 30 (for example, vehicle traveling speed, vehicle speed) is acquired at substantially the same timing as the sampling timing of the one-dimensional information, and a plurality of spatial intervals corresponding to the acquired multiple actual speeds are acquired. You may arrange a plurality of one-dimensional information unevenly with.

Specifically, the spatial intervals between the plurality of one-dimensional information are determined using the acquired plurality of moving speeds, and the one-dimensional information is arranged at the determined spatial intervals. It may be converted into two-dimensional information.

As described above, this system 10 is implemented to identify whether the object 30 entering and exiting the parking lot 20 is a vehicle, a human being, or an animal. On the other hand, a plurality of reference silhouettes are prepared for object identification, and it is determined whether or not the actual silhouette estimated as described above is most similar in shape to any of the reference silhouettes, and is the closest approximation. It is determined that the object category corresponding to the reference silhouette is the current object 30.

Therefore, in the present embodiment, as illustrated in FIG. 9, a plurality of reference silhouettes are a vehicle, a human (for example, a silhouette having a simple shape elongated vertically) and an animal (for example, a silhouette having a simple shape elongated horizontally). ) Includes multiple standard silhouettes for each.

The degree of approximation (or similarity) regarding the shape between the actual silhouette and each reference silhouette is calculated, for example, for each reference silhouette, the degree of shape approximation between the actual silhouette and each reference silhouette. The shape approximation degree can be calculated as, for example, the number of a plurality of bits occupying an area in which the bitmap data representing the actual silhouette and the bitmap data representing each reference silhouette overlap each other.

Further, when calculating the shape approximation between the actual silhouette and each reference silhouette, the baseline of the actual silhouette (representing the position of the support surface 54) and the baseline of each reference silhouette are aligned with each other. The actual silhouette and each reference silhouette are superimposed on the bitmap memory. As a result, the actual silhouette and each reference silhouette are relatively positioned with respect to the vertical direction (y direction). On the other hand, the relative positioning in the horizontal direction (x direction) is performed by calculation so that the overlapping area between the actual silhouette and each reference silhouette is maximized.

Further, for each reference silhouette, the shape approximation degree with each reference silhouette is maximized while changing the magnification of the actual silhouette, and the maximum value is used as the representative approximation degree. The representative approximation of the reference silhouette is compared with the representative approximation calculated in the same manner for the remaining reference silhouettes, and as the object category corresponding to the one for which the maximum representative approximation is obtained among all the reference silhouettes. Identify the object 30 this time.

FIG. 9 conceptually represents an exemplary relationship between a plurality of object categories and a plurality of reference silhouettes. As shown in the figure, the reference silhouette for humans is (for example, a silhouette with a simple shape elongated vertically, and the reference silhouette for animals is, for example, a silhouette with a simple shape elongated horizontally. Each reference silhouette has a straight line representing the support surface 54 as a baseline, and is positioned relative to the baseline.

In the example shown in FIG. 9, as the plurality of reference silhouettes of the vehicle, a plurality of standard silhouettes (according to the shape classification used when the vehicle is standardly classified from its shape) are selected. However, instead of this, a plurality of individual silhouettes for each vehicle type may be selected. Then, when the object 30 is identified as a vehicle, it is possible to further identify which vehicle type (for example, the vehicle manufacturer name is also) the vehicle 30 is.

At the lower side of FIG. 2, the software configuration of the system 10 is conceptually represented by a functional block diagram.

The user uses the communication terminal 90. The communication terminal 90 may be a device carried by a user and having a wireless communication function, for example, a mobile phone, a smartphone, a laptop computer, a tablet computer, a PDA, or the like. Instead, the communication terminal 90 may be something that is not carried by the user, for example, an in-vehicle communication terminal mounted on the vehicle 30 or an in-vehicle computer.

The system 10 has a signal processing unit 100 connected to transmitter posts 62, 62 and receiver posts 72, 72 of the line sensors 50, 52, respectively. The signal processing unit 100 is configured to perform object identification and warehousing / delivery determination based on a plurality of signals from receiver posts 72 and 72 of the line sensors 50 and 52.

Specifically, the signal processing unit 100 is configured to include a computer (processor) 160 and a memory 162 in terms of hardware configuration. The memory 162 has a first storage unit 102 that stores the relationship exemplified in FIG. 6, and a second storage unit 104 that stores the relationship exemplified in FIG. 9.

The signal processing unit 100 further includes a transmitter 106 that operates a plurality of transmitters 60 simultaneously and continuously (even if they are time-discrete), and a target receiver (filtering unit) for performing the target reception described above. Includes) 108 and.

The signal processing unit 100 further includes a silhouette estimation unit 110 for estimating the actual silhouette of the vehicle 30 based on the reception result by the target receiving unit 108, and an object that identifies the object 30 based on the estimated actual silhouette. It has an identification unit 112.

The signal processing unit 100 further uses two line sensors 50 and 52 to determine whether the vehicle 30 (after the object 30 is identified as a vehicle) is in the warehousing stage or the warehousing stage. It is configured to have a unit 114 and a speed acquisition unit 116 for acquiring the moving speed of the object 30. The acquired moving speed is used, for example, when the silhouette estimation unit 110 synthesizes a plurality of one-dimensional information and converts it into two-dimensional information as described above.

The silhouette estimation unit 110 estimates the actual silhouette of the object 30 by positioning the two-dimensional information relative to the baseline with the straight line representing the support surface 54 as the baseline (see FIG. 9).

The speed acquisition unit 116 may be configured to receive, for example, a signal representing the moving speed of the object 30 from the object 30 and acquire the moving speed of the object 30 from the signal, or may be configured as a Doppler type speedometer. You may.

Instead of these, in the speed acquisition unit 116, the timing at which the object 30 passes through the outer line sensor 50 (one of the receivers 72 in the outer line sensor 50 or a predetermined number of receivers 72 continuous with each other is the first. The timing when the same object 30 passes through the inner line sensor 52 (the timing when it is turned off) and the timing when any of the receivers 72 in the inner line sensor 52 or a predetermined number of receivers 72 which are continuous with each other are turned off first. The average moving speed of the object 30 is obtained by dividing the distance between the installation position of the outer line sensor 50 and the installation position of the inner line sensor 52 by the time difference from the timing. It may be configured.

The signal processing unit 100 further has a communication device 300 (see FIG. 18) for transmitting at least the execution result of the object identification unit 112 and the execution result of the warehousing / delivery determination unit 114 to the management server 130. The communication device 300 has, for example, a long-distance wireless communication function.

The system 10 further includes a drive unit 120 connected to transmitter posts 62, 62 and receiver posts 72, 72 of the line sensors 50, 52, and a power supply unit 122, respectively. The drive unit 120 supplies electric power to the transmitter 60 and the receiver 70 from a power supply unit (commercial power source, solar cell, battery, etc.) 122. As a result, the drive unit 120 shifts to a state of transmitting a signal in the transmitter 60, and attempts to receive a signal from some transmitters 60 in the receiver 70. Move to the state.

However, the transmitter 60 and the receiver 70 may be of a self-supporting type that can operate without external power supply by combining a solar cell and a rechargeable battery (rechargeable battery).

The system 10 further has a management server 130 operated by a management center 124 installed in a remote location from the parking lot 20. The management server 130 is capable of long-distance wireless communication with the signal processing unit 100.

The management server 130 includes a signal received from a signal processing unit (for example, a signal installed in the parking lot 20 but may be installed outside the parking lot 20) 100 and a signal received from the user's communication terminal 90. Based on the above, the parking lot management unit 132 that manages the parking lot 20 is provided.

The management server 130 is connected to the payment server 140 in order to electronically settle the parking fee by the user.

<Object identification>

In FIG. 10, an exemplary object identification program executed by the object identification unit 112 of the signal processing unit 100 shown in FIG. 2 is conceptually represented by a flowchart. In the present embodiment, only the outer line sensor 50 is used for object identification, and the remaining inner line sensor 52 is used together with the outer line sensor 50 at the time of warehousing / delivery determination.

This object identification program is stored in memory 162 in advance, and is appropriately executed by a computer (particularly a processor) 160.

When this object identification program is executed, first, in step S1001, a plurality of transmitters 60 in the outer line sensor 50 are driven all at once, whereby the plurality of transmitters 60 each represent a unique transmitter ID. Send the signal of.

Next, in step S1002, the current scan is started for the object 30 (strictly speaking, the object 30 is not always in the vicinity of the outer line sensor 50), and the current time is set to the current scan timing t. _{It is timed and stored in the memory 162 as n} (n = 1 this time, and in the example shown in FIG. 7, n = 1, 2, 3, 4, ...). Here, the "scan" is not a soft scan (sequential target reception for each receiver 70) but a physical scan, for example, at a certain moment, a plurality of transmitters 60 and a plurality of receivers 70. It is similar to an event that attempts to photograph the object 30 with and.

Subsequently, in step S1003, the mode shifts to the above-mentioned target reception mode for each receiver 70 in sequence.

After that, in step S1004, the speed acquisition unit 116 is used to prepare for the synthesis process (step S1016) described later, which converts a plurality of one-dimensional information into two-dimensional information (actual silhouette of the object 30). The vehicle speed is acquired and stored in the memory 162 in association with the current scan timing t _n.

Subsequently, in step S1005, any one of the plurality of receivers 70 (for example, the uppermost receiver 70 or the lowermost receiver 70) is selected as the object to be implemented this time, and one receiver 70 of this time is selected. , The corresponding regular transmitter ID, that is, as shown in FIG. 6, the regular transmitter ID assigned in advance to one transmitter (regular transmitter) 60 facing each receiver 70 is read from the memory 162.

After that, in step S1006, at least one signal received by the receiver 70 from at least one transmitter 60 is converted into an actual transmitter ID, and one of the actual transmitter IDs is the read normal. It is determined whether or not it matches the transmitter ID. If they match, the determination in step S1006 becomes YES, and in step S1007, it is determined that the receiver 70 this time has received the valid signal. Subsequently, in step S1008, it is determined that the receiver 70 this time is in the ON state.

On the other hand, when none of at least one actual transmitter ID converted from the signal received by the receiver 70 this time matches the read legitimate transmitter ID (the receiver 70 this time). (Including the case where no signal is received from any of the transmitters 60), the determination in step S1006 is NO, and subsequently, in step S1009, it is determined that the receiver 70 this time did not receive the valid signal. Subsequently, in step S1010, it is determined that the receiver 70 this time is in the OFF state.

In any case, after that, in step S1011 whether or not the target reception for all the receivers 70 is completed, that is, whether or not the plurality of target receptions (one reception event) belonging to this scan are completed. Judge whether or not. If it does not end, the determination in step S1011 becomes NO, the process returns to step S1005, and target reception is performed for the next receiver 70.

When the target reception (one reception event) for all the receivers 70 is completed, the determination in step S1011 becomes YES, and subsequently, in S1012, whether or not the plurality of receivers 70 have received the valid signal is described above. As shown on the left side in FIG. 8, for example, the plurality of determination results of the above are shown in a bitmap format so as to distinguish whether they are in the ON state or the OFF state in association with the height position of each receiver 70. In addition, it is stored in the memory 162. As a result, one-dimensional information for one column is generated for this received event. That is, among the plurality of receivers 70, those that have received the valid signal from each opposite transmitter 60 and those that have not received the valid signal are distinguished from each other, and one-dimensional information is generated from the result.

After that, in step S1013, it is determined whether or not all of the plurality of locations of the object 30 arranged spatially discretely in the front-rear direction have been scanned (time-discrete predetermined multiple physical scans). .. Specifically, for example, it is determined whether or not the _{number of scans n has reached the preset upper limit value n max.}

This time, assuming that the number of scans n has _{not reached the upper limit value n max} , the determination in step S1013 becomes NO, and in step S1014, the predetermined interval between a plurality of scans adjacent to each other is determined from the _{current scan timing t n.} Wait for the time interval, that is, one sampling cycle Δt (see FIG. 8) to elapse. The sampling period Δt is one fixed value that is common to each other during all scan-to-scan time intervals (scan periods), but may be, for example, a variable value.

When the sampling cycle Δt for one time elapses, the determination in step S1014 becomes YES, the process returns to step S1002, and the next scan for another part of the same object 30 is started.

As a result of repeating the execution of steps S1002-S1012 the required number of times, when the number of scans n _{reaches the upper limit value n max} , the determination in step S1013 becomes YES, and in step S1015, as illustrated in FIG. 11, the above-mentioned plurality of columns The one-dimensional information (dot sequence) of the above is expanded or arranged on the bitmap 180 with an interval Δx in each x direction, thereby generating bitmap data as one two-dimensional information.

As illustrated in FIG. 8, the bitmap data on the bitmap 180 has a plurality of black dots arranged two-dimensionally and a plurality of white dots.

A plurality of black dots in the bitmap data indicate that the corresponding receiver 70 is in the OFF state (transmitter signal cutoff state). On the other hand, the plurality of white dots indicate that the corresponding receiver 70 is in the ON state (transmitter signal transmission state).

The bit map 180 is a virtual two-dimensional map formed on the memory 162. Specifically, the horizontal axis is the traveling direction dimension (x direction dimension) of the object 30, and the vertical axis is the height direction dimension of the object 30. (Y-direction dimension) is an assigned two-dimensional coordinate plane. The height dimension of each part of the object 30 corresponds to each part from the baseline representing the height of the support surface 54, that is, the height dimension position of each receiver 70.

On the other hand, when the traveling direction dimension of the object 30 is explained, on the bitmap 180, the distance Δx between a plurality of dot rows adjacent to each other is a fixed value common to the plurality of dot rows. However, in the present embodiment, it is a common variable value for a plurality of dot strings.

Specifically, Δx is calculated as the product of the moving speed v of the object 30 and the sampling period Δt, and as a result, the larger the moving speed v, the longer Δx. The moving speed v of the object 30 is defined as the average moving speed when the object 30 passes through the entrance / exit passage 40.

On the other hand, the moving speed v of the object 30 may be defined as, for example, an individual moving speed when the object 30 passes through each scan position on the entrance / exit passage 40, and in this case, it is illustrated in FIG. As such, the value of Δx is calculated for each scan, i.e. for each dot sequence.

Further, in step S1015, the envelope circumscribing the outer line of a collection of a plurality of black dots in the bitmap data is estimated as the actual silhouette of the object 30.

Then, in step S1016, as described above, the degree of shape approximation between the estimated actual silhouette and each of the plurality of reference silhouettes (see FIG. 9) as the plurality of candidates is calculated.

Subsequently, in step S1017, the one having the largest of the plurality of calculated shape approximations among the plurality of reference silhouettes is selected as one reference silhouette representing the actual silhouette of the object 30 this time. The silhouette.

Then, in step S1018, from one selected reference silhouette, it is identified whether the object 30 this time is a vehicle, a human being, or a non-human animal according to the relationship illustrated in FIG. .. The object 30 this time is identified as a vehicle in the illustrated example. The identification result is stored in the memory 142, and the latest identification result is constantly shared with other programs in the signal processing unit 100, a program in the communication terminal 90, and a program in the management server 130.

When any of the receivers 70 is in the ON state, neither of the reference silhouettes is selected. At this time, the program determines in step S1018 that none of the objects exists in the entrance / exit passage 40. ..

The program then returns to step S1002 to start the next scan process.

As is clear from the above description, according to the present embodiment, even if each receiver 70 receives a signal from an unscheduled transmitter 60, the signal is a noise signal (a plurality of signals for each receiver 70). Since it can be removed as a received signal (which does not correspond to the valid signal), the shape of the object to be identified can be measured accurately.

<Delivery / delivery discrimination>

In FIG. 11, an exemplary warehousing / delivery discriminating program executed by the warehousing / delivery discriminating unit 114 of the signal processing unit 100 shown in FIG. 2 is conceptually represented by a flowchart. In this embodiment, both the outer line sensor 50 and the inner line sensor 52 are used for warehousing / delivery determination.

This warehousing / delivery determination program is stored in the memory 162 in advance, and is appropriately executed by the computer (particularly the processor) 160.

<Detection of initial state>

When this warehousing / delivery determination program is executed, first, in step S1101, the outer line sensor 50 is completely turned on (since no object exists in the vicinity of the outer line sensor 50, all receivers 70 are turned on. It is determined whether or not it is in the state). If the outer line sensor 50 is at least partially OFF (a state in which one of the receivers 70 is in the OFF state because one of the objects is in the vicinity of the outer line sensor 50), the object is present. Since there is a possibility, the determination becomes NO, and the process returns to step S1101.

On the other hand, if the outer line sensor 50 is completely ON, the determination in step S1101 is YES, and subsequently, in step S1102, the inner line sensor 52 is completely ON (all objects are inside). It is determined whether or not the line sensor 52 is in a state where it does not exist in the vicinity of the line sensor 52. If the inner line sensor 52 is at least partially OFF, there is a possibility that an object exists, so the determination is NO, and the process returns to step S1101.

On the other hand, if both the outer line sensor 50 and the inner line sensor 52 are completely ON, the determination in step S1101 and the determination in step S1102 are YES, and the initial state for warehousing / delivery determination, that is, in the entry / exit passage 40. It is confirmed that the state in which no object exists in any of the above positions is established. This initial state is indicated by _{"t 1} " in each of the examples shown in FIGS. 12 (a) and 12 (b).

<Detection of warehousing stage>

Subsequently, in step S1103, it is determined whether or not the outer line sensor 50 is at least partially OFF (a state in which any object exists in the vicinity of the outer line sensor 50). If it is in the OFF state at least partially, there is a possibility that an object exists, so the determination is YES, and the process proceeds to step S1104.

In step S1104, it is determined whether or not the inner line sensor 52 is in a completely ON state (a state in which none of the objects exists in the vicinity of the inner line sensor 52). If it is completely ON, there is a possibility that the object does not exist, so the determination is YES. _{This state is indicated by "t 2} " in the example shown in FIG. 12 (a).

Subsequently, in step S1105, it is determined whether or not the outer line sensor 50 is in a completely ON state (a state in which none of the objects exists in the vicinity of the outer line sensor 50). If it is in the completely ON state, there is a possibility that the object does not exist, so the determination is YES, and the process proceeds to step S1106.

In step S1106, it is determined whether or not the inner line sensor 52 is at least partially OFF (a state in which any object exists in the vicinity of the inner line sensor 52). If it is in the OFF state at least partially, there is a possibility that an object exists, so the determination is YES. _{This state is indicated by "t 3} " in the example shown in FIG. 12 (a).

After that, in step S1107, it is determined that the object this time is in the warehousing stage. The determination result is stored in the memory 142, and the latest determination result is constantly shared with other programs in the signal processing unit 100, a program in the communication terminal 90, and a program in the management server 130.

The program then returns to stage S1101.

<Detection of delivery stage>

If the determination in step S1103 or 1104 is NO, in step S1108, it is determined whether or not the outer line sensor 50 is completely in the ON state. If it is in the completely ON state, there is a possibility that the object does not exist, so the determination is YES, and the process proceeds to step S1109.

In step S1109, it is determined whether or not the inner line sensor 52 is at least partially turned off. If it is in the OFF state at least partially, there is a possibility that an object exists, so the determination is YES. _{This state is indicated by "t 2} " in the example shown in FIG. 12 (b).

Subsequently, in step S1110, it is determined whether or not the outer line sensor 50 is at least partially turned off. If it is in the OFF state at least partially, there is a possibility that an object exists, so the determination is YES, and the process proceeds to step S1111.

In step S1111, it is determined whether or not the inner line sensor 52 is completely in the ON state. If it is completely ON, there is a possibility that the object does not exist, so the determination is YES. _{This state is indicated by "t 3} " in the example shown in FIG. 12 (b).

After that, in step S1112, it is determined that the object this time is in the delivery stage. The determination result is stored in the memory 142, and the latest determination result is constantly shared with other programs in the signal processing unit 100, a program in the communication terminal 90, and a program in the management server 130.

The program then returns to stage S1101.

<First abnormality judgment>

As shown in FIG. 13, an exemplary first abnormality determination program executed by the first abnormality determination unit 200 of the signal processing unit 100 is conceptually represented by a flowchart. This first abnormality determination program is executed for each of the line sensors 50 and 52 to determine whether the operating states of the topmost transmitter 60 and the topmost receiver 70 are normal or abnormal.

When this first abnormality determination program is executed, first, in step S1401, the outer line sensor 50 is selected as the determination target line sensor this time.

Next, in step S1402, it is determined whether or not the topmost receiver 70 effectively receives the signal from the topmost transmitter 60 for the line sensor to be determined this time. If the reception is valid, the determination in step S1402 becomes YES, and in step S1403, it is determined that the operating states of the topmost transmitter 60 and the topmost receiver 70 are both normal for the line sensor to be determined this time. To do.

On the other hand, for the line sensor to be determined this time, when the uppermost receiver 70 does not effectively receive the signal from the uppermost transmitter 60, the determination in step S1402 becomes NO, and in step S1404, this time. For the line sensor to be determined, it is determined that the operating state of at least one of the uppermost transmitter 60 and the uppermost receiver 70 is abnormal.

After that, in step S1405, the abnormality determination result indicating that at least one of the topmost transmitter 60 and the topmost receiver 70 is abnormal is transmitted to the management server 130 for the line sensor to be determined this time.

In response to the abnormality determination result, the management server 130 dispatches a worker to the corresponding parking lot 20, inspects, repairs, and repairs the uppermost transmitter 60 and the uppermost receiver 70 for the line sensor to be determined this time. Have them exchange.

In either case, after that, in step S1406, the line sensor on the side opposite to the current determination target line sensor is selected as the next determination target line sensor. Subsequently, this program proceeds to step S1402, and steps S1402-S1405 are executed for the outer line sensor 50 and the inner line sensor 52, which are different from the previous ones.

<Second abnormality judgment>

As shown in FIG. 13, an exemplary second abnormality determination program executed by the second abnormality determination unit 202 of the signal processing unit 100 is conceptually represented by a flowchart. This second abnormality determination program is executed to determine whether the postures of the line sensors 50 and 52 in the installed state are normal or abnormal.

When this first abnormality determination program is executed, first, in step S1501, the outer line sensor 50 is selected as the determination target line sensor this time.

Next, in step S1502, it is determined whether or not the topmost receiver 70 effectively receives the signal from the topmost transmitter 60 for the line sensor to be determined this time. If the reception is valid, the determination in step S1502 is YES, and in step S1503, it is determined that both the transmitter post 62 and the receiver post 72 are upright for the line sensor to be determined this time.

This is because, as long as the operating state of the line sensor to be determined this time is normal, if both the transmitter post 62 and the receiver post 72 are upright, the topmost receiver 70 and the topmost transmitter 60 will be mutually exclusive. This is because they face each other and there are no obstacles between them.

On the other hand, for the line sensor to be determined this time, when the uppermost receiver 70 does not effectively receive the signal from the uppermost transmitter 60, the determination in step S1502 becomes NO, and in step S1504, this time. It is determined that at least one of the transmitter post 62 and the receiver post 72 may be tilted with respect to the line sensor to be determined.

This is because, as long as the operating state of the line sensor to be determined this time is normal, if at least one of the transmitter post 62 and the receiver post 72 is tilted, the topmost receiver 70 and the topmost transmitter 60 This is because they may not face each other or there may be obstacles between them.

After that, in step S1505, the abnormality determination result indicating that at least one of the transmitter post 62 and the receiver post 72 may be tilted is transmitted to the management server 130 for the line sensor to be determined this time.

In response to the abnormality determination result, the management server 130 dispatches a worker to the corresponding parking lot 20 to inspect, repair, and replace the transmitter post 62 and the receiver post 72 for the line sensor to be determined this time. Let me do it.

In either case, after that, in step S1506, the line sensor on the side opposite to the current determination target line sensor is selected as the next determination target line sensor. Subsequently, this program proceeds to step S1502, and steps S1502-S1505 are executed for the outer line sensor 50 and the inner line sensor 52, which are different from the previous ones.

In addition, in the present embodiment, the first abnormality determination unit 200 exists to determine whether or not there is an abnormality in the operating state of the end transmitter and the end receiver, and the second abnormality determination unit 202 Exists to determine the presence or absence of abnormal posture of the line sensors 50 and 52.

However, since the first abnormality determination unit 200 and the second abnormality determination unit 202 pay attention to the same phenomenon of the presence or absence of communication between the end transmitter and the end receiver, strictly speaking, they end. It is not possible to detect the phenomenon of abnormal operating conditions of the transmitter and end receiver and the phenomenon of abnormal posture of the line sensors 50 and 52 separately.

Therefore, if the first abnormality determination unit 200 and the second abnormality determination unit 202 are combined and there is no communication between the end transmitter and the end receiver, the end transmitter and the end receiver side The present invention may be carried out in a mode in which it is determined that at least one of the device abnormality and the posture abnormality on the line sensors 50 and 52 side exists.

Even in this embodiment, the true type of abnormality may not be determined remotely and accurately, but it is possible to remotely and accurately determine whether or not it is necessary to dispatch a worker to the parking lot 20. Therefore, it is easier to reduce the labor cost for the worker than when the worker is regularly dispatched to the parking lot 20 in anticipation of waste.

<Failure diagnosis>

As shown in FIG. 13, an exemplary failure diagnosis program executed by the failure diagnosis unit 204 of the signal processing unit 100 is conceptually represented by a flowchart.

When this failure diagnosis program is executed, first, in step S1601, it is determined whether or not an interrupt signal is generated by executing another start timing control program (not shown). The interrupt signal is a signal for controlling the start timing of this failure diagnosis program.

If the interrupt signal does not exist, the determination in step S1601 becomes NO, and the execution of the same step is repeated. However, if the interrupt signal exists, the determination in step S1601 becomes YES, and in step S1602, the object shown in FIG. Execution of the identification program, the warehousing / delivery determination program shown in FIG. 11, the first abnormality determination program shown in FIG. 12, and the second abnormality determination program shown in FIG. 13, that is, the actual operation of the object identification system 10 (line sensors 50 and 52). Processing using) is temporarily prohibited.

Subsequently, in step S1603, the plurality of transmitters 60 in the outer line sensor 50 and the plurality of transmitters 60 in the inner line sensor 52 are driven all at once, whereby the transmitters 60 have their own unique transmitter IDs. Send multiple signals to represent.

Then, in step S1604, the above-mentioned random reception is sequentially performed on the plurality of receivers 70 on the outer line sensor 50 and the plurality of receivers 70 on the inner line sensor 52, that is, sequentially. As a result, it is originally expected that at least one actual transmitter ID is assigned to each receiver 70 for each of the outer line sensor 50 and the inner line sensor 52.

Subsequently, in step S1605, for each of the outer line sensor 50 and the inner line sensor 52, all the receivers are referred to by referring to the plurality of actual transmitter IDs assigned to each receiver 70 as described above. It is determined whether or not 70 does not receive a signal from the same transmitter 60.

If all receivers 70 do not receive signals from the same transmitter 60 for both or any of the outer line sensor 50 and the inner line sensor 52, the determination in step S1605 is YES, and in step S1606, the outer line sensor It is determined that the transmitter 60 of the corresponding one of the 50 and the inner line sensor 52 is out of order. That is, it is determined that the transmitter 60 is a faulty transmitter.

Subsequently, in step S1607, with respect to the corresponding one of the outer line sensor 50 and the inner line sensor 52 (the one in which the fault transmitter 60 exists), the fault diagnosis result indicating that the transmitter 60 is faulty is obtained. It is transmitted to the management server 130 in association with the transmitter ID for identifying the transmitter 60. The program then returns to step S1601.

Upon receiving the failure diagnosis result, the management server 130 dispatches a worker to the corresponding parking lot 20 to inspect, repair, and replace the failure transmitter 60.

On the other hand, when the determination in step S1605 is NO, in step S1608, by referring to the plurality of actual transmitter IDs, any receiver 70 receives a signal from any transmitter 60. Determine if not.

If either receiver 70 has not received a signal from any transmitter 60 for both or any of the outer line sensor 50 and the inner line sensor 52, the determination in step S1608 is YES, and step S1609 In the corresponding one of the outer line sensor 50 and the inner line sensor 52 (the one in which the failure receiver 70 exists), it is determined that the receiver 70 is out of order. That is, it is determined that the receiver 70 is a faulty receiver.

Subsequently, in step S1610, with respect to the corresponding one of the outer line sensor 50 and the inner line sensor 52 (the one in which the failure receiver 70 exists), the failure diagnosis result indicating that the receiver 70 has failed is obtained. It is transmitted to the management server 130 in association with the transmitter ID for identifying the receiver 70. The program then returns to step S1601.

Upon receiving the failure diagnosis result, the management server 130 dispatches a worker to the corresponding parking lot 20 to inspect, repair, and replace the failure receiver 70.

On the other hand, when the determination in step S1605 and the determination in step S1708 are NO, in step S1611, the corresponding outer line sensor 50 and inner line sensor 52 (both the failure receiver 70 and the failure transmitter 60). For those that do not exist), it is determined that all transmitters 60 and all receivers 70 are normal.

Then, in step S1612, the resumption of the production operation is permitted. Subsequently, this program returns to step S1601.

<Parking lot management>

In FIG. 17, an exemplary parking lot management program executed by the parking lot management unit 132 of the management server 130 shown in FIG. 13 is conceptually represented by a flowchart.

When this parking lot management program is executed, first, in step S1701, the user's communication terminal 90 transmits a request signal for logging in to the management server 130 to the management server 130 together with necessary personal information such as a user ID. To do. On the other hand, when the request signal is received, the management server 130 recognizes the communication terminal 90 and establishes communication with the communication terminal 90.

In step S1711, the management server 130 communicates with the signal processing unit 100, receives the object identification result from the memory 162, and by referring to the object identification result, the object 30 passing through the entrance / exit passage 40 of the parking lot 20 is a vehicle. Determine if it exists. If the object 30 is not a vehicle, the determination is NO and the process returns to step S1711, but if the object 30 is a vehicle, the determination is YES and the process proceeds to step S1712.

In step S1712, the management server 130 communicates with the signal processing unit 100, receives the warehousing / delivery determination result from the memory 162, and refers to the warehousing / delivery determination result to determine whether or not the vehicle 30 has entered the parking lot 20. judge. When it is determined that the vehicle 30 has entered the parking lot 20, the determination in step S1712 becomes YES, and the process proceeds to step S1713.

In step S1713, the management server 130 selects one of the plurality of vacant rooms in the parking lot 20 as the vehicle room of the user this time. The relationship between the user ID and the number of the passenger compartment in use is stored in the memory of the management server 130.

When the user's cabin is selected, the management server 130 transmits the selected cabin to the user's communication terminal 90 in step S1714.

On the other hand, the communication terminal 90 receives the information about the vehicle interior from the management server 130 in step S1702, and subsequently transmits the warehousing request to the management server 130 in step S1703.

Upon receiving the warehousing request, the management server 130 measures the current time in step S1715 and stores the warehousing time in the memory as the current time. Subsequently, in step S1716, a warehousing completion signal indicating that the warehousing procedure has been completed is transmitted to the communication terminal 90 of the user this time.

On the other hand, in step S1704, the communication terminal 90 receives the warehousing completion signal from the management server 130.

As described above, in step S1712, the case where the management server 130 determines that the vehicle 30 has entered the parking lot 20 has been described. However, when it is determined that the vehicle 30 has left the parking lot 20, the determination in step S1712 becomes NO, and then the step In S1717, if the management server 130 determines whether or not the vehicle 30 has left the parking lot 20, the determination is YES. If the determination in step S1717 is NO, the process returns to step S1711.

After that, in step S1718, the management server 130 measures the current time and saves the delivery time as the current time in the memory. Subsequently, in step S1719, the warehousing time for the current user is read from the memory, and the parking time is calculated as the elapsed time from the warehousing time to the current warehousing time.

After that, in step S1720, the management server 130 calculates a parking fee of an amount corresponding to the calculated length of the parking time, and transmits data representing the parking fee to the communication terminal 90 of the user this time.

On the other hand, the communication terminal 90 receives the data representing the parking fee from the management server 130 in step S1705, and subsequently transmits the delivery request to the management server 130 in step S1706.

Upon receiving the delivery request, the management server 130 electronically setstles the parking fee by communicating with the payment server 140 in step S1721. Subsequently, in step S1722, a delivery completion signal indicating that the delivery procedure has been completed is transmitted to the communication terminal 90 of the user this time.

On the other hand, in step S1707, the communication terminal 90 receives the delivery completion signal from the management server 130.

By the way, in the stage where the vehicle 30 enters the parking lot 20, usually, the vehicle 30 first approaches the entrance / exit passage 40 of the parking lot 20 from the outside of the parking lot 20, and then the vehicle 30 is the vehicle. With the user on board 30, the outer line sensor 50 passes inward.

After that, when the user drives the vehicle 30 to a predetermined cabin, enters the vehicle, and parks the vehicle, the user gets off the vehicle 30. Subsequently, the user alone walks in the parking lot 20 to move to the entrance / exit passage 40, and eventually passes through the outer line sensor 50 in the opposite direction, that is, outward.

At this time, the user's communication terminal 90 passes through the outer line sensor 50 outward and receives a signal from at least one transmitter 60 at that time, so that the actual transmission of the at least one transmitter 60 is performed. The machine ID can be obtained.

Therefore, even if the communication terminal 90 transmits the acquired actual transmitter ID together with the user ID (an example of the user identification information) to the management server 130 in the above-mentioned step S1701 (however, at the time of warehousing) shown in FIG. Good.

In this case, the management server 130 may determine whether or not the actual transmitter ID received from the communication terminal 90 belongs to the outer line sensor 50 of the parking lot 20.

When it is determined that the actual transmitter ID belongs to the outer line sensor 50 of the parking lot 20, the management server 130 executes the received user ID and the object identification program among the plurality of vehicle categories shown in FIG. (For example, in the example shown in FIG. 2, the object category No. 1) may be associated with the one identified by, and the pair of the user and the vehicle 30 may be stored in the memory.

Similarly, in the stage where the vehicle 30 exits the parking lot 20, the user usually first walks alone from the outside of the parking lot 20 to approach the entrance / exit passage 40, and then turns the outer line sensor 50 inward. Pass through.

After that, the user walks in the parking lot 20 to his / her own cabin and gets on the vehicle 30 parked there. Subsequently, the user departs the vehicle 30 and travels in the parking lot 20 to approach the entrance / exit passage 40. After that, the vehicle 30 passes the outer line sensor 50 outward.

At this time, the user's communication terminal 90 passes through the outer line sensor 50 inward and receives a signal from at least one transmitter 60 at that time, so that the actual transmission of the at least one transmitter 60 is performed. The machine ID can be obtained.

Therefore, the communication terminal 90 may transmit the acquired actual transmitter ID together with the user ID to the management server 130 in step S1701 (however, at the time of delivery) described above.

In this case, the management server 130 may determine whether or not the actual transmitter ID received from the communication terminal 90 belongs to the outer line sensor 50 of the parking lot 20.

When it is determined that the actual transmitter ID belongs to the outer line sensor 50 of the parking lot 20, the management server 130 executes the received user ID and the object identification program among the plurality of vehicle categories shown in FIG. (For example, in the example shown in FIG. 2, the object category No. 1) may be associated with the one identified by, and the pair of the user and the vehicle 30 may be stored in the memory.

When the pair stored in the memory at the time of warehousing and the pair stored in the memory at the time of warehousing match each other, it can be determined that the user this time is classified into the same vehicle category. This may be interpreted as meaning that the accuracy of object identification was high, and by extension, the accuracy of linking the user and the vehicle 30 was high.

As a result, for example, when the user repeatedly uses the parking lot 20, the management center 124 can acquire valuable information such as the type of vehicle 30 to be used as personal information about the individual user. .. The management center 124 can also utilize this personal information for future parking lot marketing.

Further, when the plurality of reference silhouettes are more vehicle model silhouettes (for example, silhouettes for all vehicle models sold in Japan) than the plurality of standard silhouettes illustrated in FIG. 9, the same vehicle is parked. When parked in the parking lot 20 multiple times, the vehicle is normally classified as the same vehicle type silhouette, but due to the measurement error of the outer line sensor 50, the vehicle is distributed and classified into a plurality of vehicle type silhouettes. there is a possibility.

However, every time the same vehicle parks in the parking lot 20, the user is associated with the vehicle category, and as a result, when the same user is associated with a plurality of vehicle categories, it is most often associated with the same user. It is possible to identify one vehicle category as a true vehicle category. In this case, as the number of associations, that is, the number of sample data increases, the vehicle identification accuracy improves.

[Second Embodiment]

Next, the object identification system 10 according to the second embodiment of the present invention will be described, but the elements common to the first embodiment will be referred to by using the same name or reference numeral. Duplicate explanations will be omitted, and only the different elements will be explained in detail.

In the first embodiment, the outer line sensor 50 is used to realize the function (use) of object identification and the function (use) of warehousing / delivery discrimination, but in the present embodiment, further It is also used to realize the function (use) of identifying the user and associating the user with the vehicle.

Of the system 10 according to the present embodiment, the part for realizing the function (use) of object identification and the function (use) of warehousing / delivery discrimination is common to the first embodiment, so duplicate description is omitted. However, the part for realizing the function (use) of identifying the user and associating the user with the vehicle will be described in detail.

FIG. 18 shows a front view of the outer line sensor 50 of the object identification system 10 according to the present embodiment. The plurality of signals transmitted from the transmitter post 62 shown in the figure are those that pass through the space and reach the receiver post 72 without being blocked by the outer panel of the vehicle 30, and those that are blocked by the outer panel of the vehicle 30. And, it is classified into those that pass through the window glass of the vehicle 30 and enter the vehicle interior and are received by the communication terminal 90 of the user as a occupant.

As shown in the figure, the signal processing unit 100 has a communication device 300, and the management server 130 has a user / vehicle linking unit 310. The signal processing unit 100 transmits necessary information to the management server 130 via the communication device 300, and the user / vehicle linking unit 310 is activated based on the necessary information. The management server 130 also communicates with the user's communication terminal 90.

In FIG. 19, an exemplary user / vehicle linking program executed in the user / vehicle linking unit 310 is conceptually represented by a flowchart together with a user identification support program executed in the user's communication terminal 90. ..

When the user / vehicle association program is activated, the management server 130 first receives a signal representing the reception result of the receiver post 72 of the outer line sensor 50 from the signal processing unit 100 in step S1931. Further, based on the signal, whether or not the outer line sensor 50 is at least partially turned off, that is, the outer line sensor 50 is detecting some object (currently on the entrance / exit passage 40 of the parking lot 20). It is determined whether or not the object exists).

If the outer line sensor 50 is not at least partially OFF, the determination is NO and the process returns to step S1931, but if the outer line sensor 50 is not at least partially OFF. , The determination in step S1931 becomes YES, and the process proceeds to step S1932.

In step S1932, a reception request is transmitted to the user's communication terminal 90 by referring to the user ID.

On the other hand, in step S1901, the communication terminal 90 attempts to receive signals from the plurality of transmitters 60. Subsequently, in step S1902, each received signal is converted into an actual transmitter ID. After that, in step S1903, the actual transmitter ID is associated with the user ID and transmitted to the management server 130.

On the other hand, in step S1933, the management server 130 associates the actual transmitter ID with the user ID and receives it from the communication terminal 90. Subsequently, in step S1934, the object identification result, which is the execution result of the object identification unit 112, is received from the signal processing unit 100. After that, in step S1935, the object identification unit 112 determines whether or not the object has been identified as the vehicle 30.

If the object is not identified as the vehicle 30 by the object identification unit 112, the determination is NO and the process returns to step S1931, but if the object is identified as the vehicle 30, the determination in step S1935 is YES. In step S1936, whether or not the actual transmitter ID received from the communication terminal 90 belongs to the outer line sensor 50, that is, a plurality of actual transmissions of the plurality of transmitters 60 belonging to the transmitter post 62 of the outer line sensor 50. It is determined whether or not it matches any of the machine IDs.

If the actual transmitter ID received from the communication terminal 90 does not belong to the outer line sensor 50, the determination is NO and the process returns to step S1931, but if it belongs, the determination is YES, and in step S1937, this time. The vehicle reference silhouette number (or vehicle type) assigned to the vehicle 30 is received from the signal processing unit 100.

Subsequently, in step S1938, the management server 130 associates the current user (for example, the user ID) with the current vehicle 30 (for example, the current vehicle reference silhouette number (or vehicle model)). After that, in step S1939, the linking result is listed and saved in the user / vehicle linking list as illustrated in FIG.

As described above, in the parking lot 20, the plurality of exemplary embodiments of the present invention simply identify the vehicle 30 as a three-dimensional object passing through the entrance / exit passage 40 as a predetermined passage from only one direction and have a shape. Although the scenario used for the purpose of classifying into is described, the same embodiment can be used for other purposes.

As an example of such other applications, in a distribution center, sheet-like, plate-like, or three-dimensional articles flowing along a predetermined passage (for example, a conveyor) are identified and morphologically classified (eg, for example). There are applications such as classification by size (classification by maximum dimension) and multiple classifications such as near square, portrait or landscape (classification by aspect ratio).

Another example is commercial facilities (eg department stores, restaurants, food courts, bookstores) or public facilities used by the public (eg roads, underpasses, museums, schools, city halls, stations, airports, bus stops, buses, libraries. ), Identify and shapely classify humans (three-dimensional objects) flowing along a predetermined passage (eg, accompanied by a human walking independently, a human walking in a wheelchair, a caregiver or a caregiver dog). There are multiple categories of humans, adults, children, etc.).

Although a plurality of exemplary embodiments of the present invention have been described in detail with reference to the drawings, these are examples, and knowledge of those skilled in the art, including the embodiments described in the [Summary of Invention] column. It is possible to carry out the present invention in other forms with various modifications and improvements based on the above.

Claims (5)

A system that identifies and manages a mobile that enters or leaves a facility that should be remotely managed by a management server and a user who is a user of the mobile.
A passage provided in the facility and common to mobiles and users,
A line sensor installed in the passage and extending in a direction intersecting the traveling direction of an object passing through the passage, and scans the object relative to the traveling direction to acquire a silhouette of the object. things and,
A determination unit provided in the facility or the management server to determine whether or not the object is a moving object based on the acquired silhouette.
A discriminating unit provided in the facility or the management server and discriminating the type of the moving body based on the acquired silhouette when the object is determined to be a moving body.
A transmitter installed in the facility and transmitting a unique signal,
When a signal is received from the transmitter of the user's communication terminal, the user ID or the terminal ID of the communication terminal is associated with the facility ID unique to the facility specified by the received signal in response to the signal. Including those to be sent to the management server
The management server is a mobile / user identification management system that associates the facility ID, the type of the mobile body, and the user ID or the terminal ID with each other, and registers these elements in a list. The line sensor includes an element array in which a plurality of electromagnetic wave emitting elements are arranged in a row.
The mobile / user identification management system according to claim 1, wherein the transmitter is at least one of the electromagnetic wave emitting elements. A program for operating a computer as a communication terminal according to claim 1 or 2. The program for operating a computer as the management server according to claim 1 or 2. A recording medium in which the program according to claim 3 or 4 is recorded in a computer-readable manner.

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