JP2021139704A - Vehicle-mounted device, operation control system, and operation control program - Google Patents

Abstract

To provide a vehicle-mounted device, operation control system, and operation control program, which allow for actuating a control target device at an accurate location.SOLUTION: A vehicle-mounted device is provided, comprising location information acquisition means 101 for acquiring first location information of a vehicle, location specifying means 102 for specifying second location information of the vehicle, determination means 104 configured to determine whether the first location information matches the second location information or not, and signal output means 105 configured to output a signal to the outside based on a determination result of the determination means.SELECTED DRAWING: Figure 1

Description

The present invention relates to an on-board unit, an operation control system and an operation control program.

Conventionally, when spraying a snow melting agent, an antifreeze agent, an anti-slip agent, etc. on a road surface by a work vehicle or the like, the driver manually turns on / off the spraying device as an operating device to perform the spraying work. ..
However, since human error such as a mistake in the spraying position occurs frequently, it is necessary to carry a worker dedicated to spraying, which causes a problem that labor cost increases.

In addition, in tank trucks that transport oil types such as gasoline, since operating equipment such as discharge valves are manually operated during unloading work at the transportation destination, accidents in which the oil type is mistaken due to human error (for example, kerosene) There is a risk of accidents such as mixing gasoline into the tank.

When such an accident occurs, there is a problem that it is costly to dispose of oil in the tank and clean it. In addition, if the oil is sold without noticing the mixed oil, it may lead to a serious accident such as a fire.
Therefore, a technique for automatically operating an operating device based on position information or the like has been proposed (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2018-3271

By the way, in the prior art, with respect to an in-vehicle device such as a drive recorder mounted on a vehicle, a portable device that transmits a position detection signal from the in-vehicle device, receives the signal, and transmits a response signal, and a vehicle and a portable device. This is a technology that outputs a lock signal when it is determined that the vehicle is separated.
In such an in-vehicle device according to the prior art, the operation of the door lock device or the like is controlled by the relative position between the vehicle and the portable device.
However, in the above-mentioned spraying work, unloading work of oil type, etc., it is necessary to operate the outside (operating equipment) such as the spraying device and the discharge valve at an accurate position.
Therefore, in the position detection by the on-board unit according to the prior art, there is a problem that the controlled object device cannot be operated at an accurate position.

The present invention has been made in view of the above problems, and an object of the present invention is to provide an on-board unit, an operation control system, and an operation control program capable of operating a controlled object device at an accurate position.

The vehicle-mounted device according to the aspect of the present invention includes a position information acquisition means for acquiring the first position information of the vehicle, a position information designating means for designating the second position information of the vehicle, and the first position information. A determination means for determining whether or not the second position information matches, and a signal output means for outputting a signal to the outside based on the determination result by the determination means.
It is preferable that the position information acquisition means acquires the first position information from a position positioning system using GPS.
The position information designating means preferably includes an input unit including a keyboard or a touch panel.

The on-board unit further includes an image acquisition means for acquiring an image of the surroundings of the vehicle, and the determination means is used when the deviation between the first position information and the second position information is within a predetermined range. , It is preferable to make a judgment in consideration of the peripheral image acquired by the image acquisition means.

The on-board unit includes a control means for controlling a control target device based on the signal from the signal output means, and the control target device includes a powder or liquid spraying device, a liquid discharge valve, and the vehicle. It is preferable to include a locking device provided.
The motion control system according to another aspect of the present invention includes the above-mentioned vehicle-mounted device and controls the motion of the device to be controlled.

The motion control program according to another aspect of the present invention is executed by an on-board unit mounted on a vehicle to acquire a position information acquisition process for acquiring the first position information of the vehicle and a second position information of the vehicle. A signal output is output to the outside based on the designated position information designation process, the determination process for determining whether or not the first position information and the second position information match, and the determination result by the determination process. It has a signal output process to be performed.

According to the present invention, it is possible to provide an on-board unit, an operation control system, and an operation control program capable of operating a controlled object device at an accurate position.

It is a functional block diagram which shows the functional structure of the operation control system using the vehicle-mounted device which concerns on embodiment. It is a block diagram which shows the structural example of the digital tachograph as an on-board unit which concerns on embodiment. It is a flowchart which shows the continuation of the processing procedure of the position determination processing executed by the operation control system which concerns on embodiment. It is a flowchart which shows the continuation of the processing procedure of the spraying device operation processing executed by the operation control system which concerns on embodiment. It is explanatory drawing which shows the example of the position of the spraying work. It is explanatory drawing which shows the message display example (a) at the start of a spraying work, and the message display example (b) at the end of a spraying work. It is a flowchart which shows the continuation of the processing procedure of the discharge valve operation processing executed by the operation control system which concerns on embodiment. It is explanatory drawing which shows the display example of the message at the time of starting a discharge operation. It is a flowchart which shows the continuation of the processing procedure of the lock operation control processing executed by the operation control system which concerns on embodiment. It is explanatory drawing which shows the display example of the message at the time of unlocking.

The operation control system S1 using the vehicle-mounted device DT1 according to the embodiment of the present invention will be described with reference to FIGS. 1 to 10.
(Functional configuration of in-vehicle device)
The functional configuration of the vehicle-mounted device DT1 according to the present embodiment will be described with reference to the functional block diagram of FIG.
Although not particularly limited, the on-board unit DT1 can be configured by a digital tachograph or the like.

The on-board unit DT1 is a GPS receiver equipped with a GPS sensor or the like that acquires the first position information of a vehicle of a work vehicle (scattering vehicle, etc.) from a positioning system (GPS system) 200 using GPS (Global Positioning System). The position information acquisition means 101 including the above is provided.
Further, the position information designating means 102 including an input unit such as a keyboard or a touch panel for designating the second position information of the vehicle is provided.
Further, the determination means 104 for determining whether or not the first position information and the second position information match is provided.
Further, the signal output means 105 that outputs a signal to the outside based on the determination result by the determination means 104 is provided.
Further, the image acquisition means 103 including an in-vehicle camera or the like for acquiring a peripheral image of the vehicle is further provided.

The determination means 104 can determine whether or not the first position information and the second position information match in consideration of the peripheral image acquired by the image acquisition means 103. As a result, the position of the vehicle can be grasped more accurately, and the controlled object device 100 can be operated at a more accurate position.
Further, the control means 106 including a microcomputer or the like that controls the control target device 100 based on the signal from the signal output means 105 is provided.

Here, the controlled device 100 is a spraying device 100a for a powder (for example, a snow melting agent, etc.) or a liquid (for example, spraying water, a cleaning agent, etc.), and a discharge valve for a liquid (for example, gasoline, kerosene, light oil, heavy oil, etc.). It can include 100b, a locking device (eg, a lock device for a safe, etc.) 100c provided in a vehicle (for example, an armored car).

According to such a configuration, it is determined that the first position information of the vehicle acquired from the GPS system 200 and the second position information designated by the position information designating means 102 such as the keyboard and the touch panel match. In this case, the control target device 100 can be controlled to operate.
Therefore, the spraying device 100a, the discharge valve 100b, the safe locking device 100c, and the like can be operated at accurate positions.

(Example of digital tachograph configuration)
The configuration of the digital tachograph DT1 will be described with reference to FIG.
Here, FIG. 2 is a block diagram showing a configuration example of a digital tachograph DT1 as an on-board unit applied to the on-board unit DT1.
The digital tachograph DT1 as an on-board unit shown in FIG. 2 is mounted on a vehicle such as a work vehicle (spraying vehicle, etc.) and includes driving data showing operating conditions such as engine rotation speed over, sudden start, sudden acceleration, and sudden deceleration. The operation data is recorded for each time.

The digital tachograph DT1 has a CPU 106, a speed / engine speed I / F112, an external input I / F113, a sensor input I / F114, a GPS receiver 101, a CAN_I / F16, an operation recording means 17, a card I / F18, and a voice I /. F19, speaker 204, RTC (clock IC) 21, warehousing / warehousing button SW input unit 22, display controller 23a to which the display 205 is connected, printing controller 23b to which the printer 206 is connected, communication unit 24, power supply unit 25, It has a memory 26, an LED display unit 403, and the like.
The CPU 106 is a control unit composed of a microcomputer, and controls the entire digital tachograph DT1 according to a program.

Data such as a program executed by the CPU 106 and constants required for control are stored in the memory 26. The memory 26 is non-volatile and can read and write predetermined programs and data.

The card I / F (interface) 18 is an interface for connecting a memory card conforming to a predetermined standard to the CPU 106, and includes a card slot for detachably holding the memory card. A predetermined memory card 55 possessed by each driver who drives a vehicle such as a work vehicle (spraying vehicle) is attached to the card I / F18. The memory card 55 has a built-in non-volatile memory, and is used in a state in which a number for identifying each driver or the like is registered.

The voice I / F 19 is an interface for synthesizing and outputting pseudo voice signals, and can output voice signals corresponding to various messages under the control of the CPU 106. A speaker 204 as a notification means is connected to the output of the voice I / F 19.

The RTC (real-time clock) 21 grasps the information of the current time by constantly counting a predetermined clock pulse. The RTC 21 also serves as a timer. By controlling the RTC 21, the CPU 106 can acquire information on the current time and use a timer.

The ON / OFF signal of the warehousing / warehousing button is input to the warehousing / warehousing button SW input unit 22. Therefore, the CPU 106 monitors the ON / OFF state of the warehousing / warehousing button via the warehousing / warehousing button SW input unit 22, and can grasp which state the own vehicle is in the warehousing / warehousing state. Can be obtained.

The display controller 23a controls the display content of the display 205. The display 205 is composed of, for example, a liquid crystal display device, an organic EL display device, or the like, and can display various information mixed with a graphic display.

The LED display unit 403 has a plurality of LEDs (light emitting diodes) built-in, and each LED can be turned on, off, or blinking under the control of the CPU 106 to display a communication or operation status.

Speed pulses and rotation pulses are input to the speed / engine rotation I / F 112 from the vehicle speed sensor and the engine rotation speed sensor, respectively. The speed / engine speed I / F 112 converts the input signal into a signal suitable for processing by the CPU 106.

The external input I / F 113 is an interface for connecting the outside to the CPU 106, and is connected to an in-vehicle camera (image acquisition means) 103, an input unit (position information designation means) 102 composed of a keyboard, a touch panel, and the like. ..
The sensor input I / F 114 is an interface for connecting various sensors to the CPU 106.

Sensor input Signals such as a temperature sensor that detects the engine temperature, a fuel sensor that detects the amount of fuel, and a G sensor that detects the acceleration (G value) of the vehicle are input to the input of the I / F 114.

The GPS receiving unit (GPS sensor) 202 receives radio waves from a plurality of GPS (Global Positioning System) satellites with the GPS antenna 101a, performs predetermined calculation processing, and performs predetermined calculation processing to obtain the latitude and longitude indicating the current position of the vehicle from the received signals. Get information. As a result, the position information of the vehicle can be acquired.

CAN_I / F116 is an interface for connecting to a CAN (Controller Area Network) standard communication network. The CPU 106 can communicate with various devices connected to the communication network on the vehicle via CAN_I / F116. In reality, various data such as speed, engine speed, and fuel amount are communicated.

The communication unit (communication means) 15 has a built-in predetermined wireless communication interface, and can perform data communication such as position information with the outside of the vehicle by using a wireless communication line.

The power supply unit 25 generates a stable voltage (for example, +5 [V]) required for the CPU 106 or the like to operate based on the electric power supplied from the vehicle battery or the like, and when the ignition switch is on, the digital tachograph DT1 It is designed to supply power to each circuit.

(Position judgment processing)
The processing procedure of the position determination process executed by the operation control system S1 according to the present embodiment will be described with reference to the flowchart of FIG.
First, in step S10, the position registration (acquisition of the second position information) is performed using the keyboard, touch panel, or the like as the input unit 102 for the work start location and the work end location. More specifically, the position is registered by specifying the area and inputting coordinates (latitude, longitude, etc.) from the keyboard, or by specifying the position on the touch panel displaying the map.

Next, in step S11, it is determined whether or not the GPS position information (first position information) acquired from the GPS system 200 matches the work start position registered in step S10.
Then, when the determination result is "No", the process proceeds to step S12.
In step S12, it is determined whether or not it is within a predetermined range (for example, within a radius of 0.5 m with respect to the registered work start position) from the registered work start position.
If the determination result is "No", the process returns to step S10, and if the determination result is "Yes", the process proceeds to step S13.
If "Yes" is determined in step S11, the process proceeds to step S13.
In step S13, it is determined whether or not the work can be started based on the peripheral image of the vehicle taken by the vehicle-mounted camera 103.
If the determination result is "No", the process returns to step S10, and if the determination result is "Yes", the process proceeds to step S14.
In step S14, the start signal is output to the control target device 100, and the process proceeds to step S15.

In step S15, it is determined whether or not the GPS position information (first position information) acquired from the GPS system 200 and the work end position registered in step S10 match.
Then, when the determination result is "No", the process proceeds to step S16.
In step S16, it is determined whether or not it is within a predetermined range (for example, within a radius of 0.5 m with respect to the registered work end position) from the registered work end position.
If the determination result is "No", the process returns to step S15, and if the determination result is "Yes", the process proceeds to step S17.
In step S17, the end signal is output to the controlled device 100 to end the process.
By such a process, it is possible to control the operation start and operation end of the controlled target device 100 such as the spraying device 100a, the discharge valve 100b, and the safe lock device 100c at an accurate position.

(Sprayer operation control process)
The spraying device operation control process executed by the operation control system S1 according to the present embodiment will be described with reference to FIGS. 4 to 6.
This spraying device operation control process is a process that enables safe automatic spraying of a snow melting agent or the like by a spraying vehicle V provided with a spraying device 100a.

Here, FIG. 4 is a flowchart showing the continuation of the processing procedure of the spraying device operation processing executed by the operation control system S1 according to the present embodiment, and FIG. 5 is an explanatory view and a diagram showing an example of the position of the spraying work. 6 (a) is an explanatory diagram showing an example of displaying a message at the start of the spraying work, and FIG. 6 (b) is an explanatory diagram showing an example of displaying a message at the end of the spraying work.

In the flowchart of FIG. 4, in step S20, the position registration (acquisition of the second position information) is performed by using the keyboard, the touch panel, or the like as the input unit 102 for the spraying start place and the spraying end place. More specifically, the area is specified and the coordinates are input (latitude, longitude, etc. are input) from the keyboard, or the position (spraying start position P1 and spraying end position P2) is displayed from the touch panel displaying the map M as shown in FIG. ) Is specified to register the location.

In step S21, it is determined whether or not the GPS position information (first position information) acquired from the GPS system 200 and the spraying work start position registered in step S20 match.
Then, when the determination result is "No", the process proceeds to step S22.

In step S22, it is determined whether or not the area is within a predetermined range from the registered spraying start position (for example, as shown in FIG. 5, a spraying start range A1 having a radius of 0.5 m or less around the registered spraying start position P1). Will be done.
If the determination result is "No", the process returns to step S20, and if the determination result is "Yes", the process proceeds to step S23.
If "Yes" is determined in step S21, the process proceeds to step S23.

In step S23, it is determined whether the spraying can be started based on the peripheral image of the spraying vehicle V by the vehicle-mounted camera 103 (for example, whether there are other vehicles or people around the spraying vehicle V).
If the determination result is "No", the process returns to step S20, and if the determination result is "Yes", the process proceeds to step S24.
In step S24, the start signal is output to the spraying device 100a as the control target device 100, and the process proceeds to step S25.
The spraying vehicle V travels on the route R1 designated in advance as shown in FIG. 5, for example, while performing the spraying work.

In step S25, it is determined whether or not the GPS position information (first position information) acquired from the GPS system 200 and the spraying end position registered in step S10 match.
Then, when the determination result is "No", the process proceeds to step S26.

In step S26, it is determined whether or not the area is within a predetermined range from the registered spraying end position (for example, a spraying end range A2 within a radius of 0.5 m centered on the registered spraying end position P2 as shown in FIG. 5). NS.
If the determination result is "No", the process returns to step S25, and if the determination result is "Yes", the process proceeds to step S27.
In step S27, the end signal is output to the spraying device 100a to end the process.
By such a process, the spraying device 100a can be started and ended at an accurate position.

Information such as a spraying start location and a spraying end location may be transmitted from the on-board unit DT1 to the vehicle management system or the like, and the spraying operation may be performed according to an instruction from the administrator.

In addition, as shown in FIG. 6A, when the spraying vehicle V reaches the spraying start position, the display 205 of the on-board unit DT1 says, "Since the spraying start position has been reached, the spraying work will start." Etc. can be displayed to notify the driver of the start of work. Further, the same message may be output by voice from the speaker 204.

Further, as shown in FIG. 6B, when the spraying vehicle V reaches the spraying end position, the display 205 of the on-board unit DT1 says, "Since the spraying end position has been reached, the spraying work is finished." Etc. can be displayed to notify the driver of the end of work. Further, the same message may be output by voice from the speaker 204.

(Discharge valve operation control process)
The discharge valve operation control process executed by the operation control system S1 according to the present embodiment will be described with reference to FIGS. 7 and 8.
This discharge valve operation control process is a process of safely opening the discharge valve 100b by a tank truck equipped with the discharge valve 100b.
Here, FIG. 7 is a flowchart showing the continuation of the processing procedure of the discharge valve operation process executed by the operation control system S1 according to the present embodiment, and FIG. 8 is a description showing an example of displaying a message at the start of the discharge operation. It is a figure.

In the flowchart of FIG. 7, in step S30, the transportation location and the type to be unloaded are registered (acquired of the second position information) by using a keyboard, a touch panel, or the like as the input unit 102. More specifically, the location is registered by specifying the area and inputting coordinates (latitude, longitude, etc.) from the keyboard, or specifying the transportation location from the touch panel displaying the map.

In step S31, it is determined whether or not the GPS position information (first position information) acquired from the GPS system 200 matches the transportation location registered in step S30.
Then, when the determination result is "No", the process proceeds to step S32.
In step S32, it is determined whether or not the area is within a predetermined range (for example, within a radius of 0.5 m with respect to the registered transportation location) from the registered transportation location.
If the determination result is "No", the process returns to step S20, and if the determination result is "Yes", the process proceeds to step S33.
If "Yes" is determined in step S31, the process proceeds to step S33.

In step S33, it is determined whether the work can be started based on the peripheral image of the tank truck by the vehicle-mounted camera 103 (for example, whether the tank type and the registered type match).
If the determination result is "No", the process returns to step S30, and if the determination result is "Yes", the process proceeds to step S34.

In step S34, it is determined whether or not a certain operation (for example, work such as attachment of a ground wire and attachment of a hose) has been performed by determination by image recognition based on the peripheral image of the tank truck by the vehicle-mounted camera 103.
If the determination result is "No", the process waits, and if the determination result is "Yes", the process proceeds to step S35.
In step S35, the unlock signal is output to the discharge valve 100b to end the process.
By such a process, the discharge valve 100b can be operated at an accurate position.

Further, as shown in FIG. 8, when the tank lorry vehicle reaches the transportation location, a message such as "The discharge valve has reached the operating position and the discharge work is started" is displayed on the display 205 of the on-board unit DT1. Can be displayed to notify the driver of the start of work. Further, the same message may be output by voice from the speaker 204.

(Lock operation control process)
The lock operation control process executed by the operation control system S1 according to the present embodiment will be described with reference to FIGS. 9 and 10.
This lock operation control process is a process of safely unlocking the lock device 100c by a cash transport vehicle equipped with a safe equipped with the lock device 100c.
Here, FIG. 9 is a flowchart showing the continuation of the processing procedure of the lock operation control process executed by the operation control system S1 according to the present embodiment, and FIG. 8 is an explanatory diagram showing an example of displaying a message at the time of unlocking. Is.

In the flowchart of FIG. 9, in step S40, position registration (acquisition of the second position information) is performed using a keyboard, a touch panel, or the like with the transportation location as the input unit 102. More specifically, the location is registered by specifying the area and inputting coordinates (latitude, longitude, etc.) from the keyboard, or specifying the transportation location from the touch panel displaying the map.

In step S41, it is determined whether or not the GPS position information (first position information) acquired from the GPS system 200 matches the transportation location registered in step S40.
Then, when the determination result is "No", the process proceeds to step S42.
In step S42, it is determined whether or not the range is within a predetermined range (for example, within a radius of 0.5 m with respect to the registered transport location) from the registered transport location.
If the determination result is "No", the process returns to step S40, and if the determination result is "Yes", the process proceeds to step S43.
If "Yes" is determined in step S41, the process proceeds to step S43.
In step S43, an arrival signal is transmitted from the vehicle-mounted device DT1 to the customer management system, and the process proceeds to step S44.
In step S44, it is determined whether or not the unlock OK signal is received from the management system within the set time.
If the determination result is "No", the process is terminated as it is, and if it is "Yes", the process proceeds to step S45.
In step S45, the unlock signal is output to the lock device 100c of the safe to end the process.
By such a process, the lock device 100c of the safe can be unlocked at an accurate and safe position.
The lock / unlock permission from the customer's management system may be granted based on the instruction by the administrator.

In addition, as shown in FIG. 10, when the cash transport vehicle reaches the transportation location, a message such as "The safe has been unlocked because it has reached the designated position" is displayed on the display 205 of the on-board unit DT1. It can be displayed to notify the driver of unlocking. Further, the same message may be output by voice from the speaker 204.

Although the vehicle-mounted device, the motion control system, and the motion control program of the present invention have been described above based on the illustrated embodiment, the present invention is not limited to this, and the configuration of each part is arbitrary having the same function. Can be replaced with the one with the configuration of.

S1 Operation control system DT1 On-board unit (digital tachograph)
100 Control target device 100a Spraying device 100b Discharge valve 100c Safe lock device 101 Position information acquisition means 102 Position information designation means (input unit)
103 Image acquisition means (vehicle-mounted camera)
104 Judgment means 105 Signal output means 106 Control means 200 GPS system

Claims (7)

Position information acquisition means for acquiring the first position information of the vehicle,
A position information designating means for designating the second position information of the vehicle, and
A determination means for determining whether or not the first position information and the second position information match.
A signal output means that outputs a signal to the outside based on the determination result by the determination means, and
On-board unit equipped with. The vehicle-mounted device according to claim 1, wherein the position information acquisition means acquires the first position information from a position positioning system using GPS. The vehicle-mounted device according to claim 1, wherein the position information designating means includes an input unit including a keyboard or a touch panel. Further provided with an image acquisition means for acquiring a peripheral image of the vehicle,
Claim 1 in which the determination means determines when the deviation between the first position information and the second position information is within a predetermined range, in consideration of the peripheral image acquired by the image acquisition means. The vehicle-mounted device according to any one of claims 3. A control means for controlling a control target device based on the signal from the signal output means is provided.
The vehicle-mounted device according to any one of claims 1 to 4, wherein the controlled device includes a powder or liquid spraying device, a liquid discharge valve, and a locking device included in the vehicle. An motion control system including the vehicle-mounted device according to any one of claims 1 to 5, which controls the operation of the controlled device. It is executed by the on-board unit mounted on the vehicle,
The position information acquisition process for acquiring the first position information of the vehicle and
The position information designation process for designating the second position information of the vehicle and
A determination process for determining whether or not the first position information and the second position information match.
A signal output process that outputs a signal to the outside based on the judgment result of the judgment process, and
An operation control program having.

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