JP5165503B2 - Load monitoring method and load monitoring system therefor - Google Patents

Description

  The present invention relates to a method and a system for monitoring the load of a transport vehicle. More specifically, the present invention relates to a load monitoring method for monitoring the behavior of a load during transportation unattended and notifying an abnormal behavior of the load, and a load monitoring system therefor.

  Conventionally, in order to monitor the collapse of a load during transportation or prevent mischief or theft of the load, a monitoring camera has been installed in the luggage compartment of the vehicle to monitor the monitor image at the driver's seat. It was. In addition, a load monitoring method and a load monitoring system for recording monitoring information and notifying the driver and the management center of an abnormality in case the monitor cannot be monitored at the driver's seat have been proposed (for example, patents). See literature 1 or 2.)

JP 2003-16540 A JP 2005-18472 A

  However, since conventional load monitoring methods and systems for that use video information, the main objective is to respond quickly and reduce damage to the load when a load collapse actually occurs. It was difficult to detect minute shaking. For this reason, movements such as minute shaking, resonance, and jumping during transportation that cause load collapse or friction cannot be detected by the surveillance camera, and the occurrence of load collapse or friction is notified in advance. It was not possible to prevent damage in advance. In addition, it is often impossible to cover theft or mischief of a load while it is stopped with a video image from the surveillance camera alone, and even if an open / close sensor is installed in the luggage room, it is not possible to fully monitor theft or mischief. It was difficult. Furthermore, the load monitoring method using a monitoring camera and many sensors has a large amount of information to be processed, and the analysis thereof is not easy, and eventually it was necessary to rely on human judgment.

  Therefore, the purpose of the present invention is to monitor the movement of the load during transportation, and when movement of the load that causes collapse or rubbing of the load, movement of fine shaking, resonance, jumping, etc. occurs, It is possible to notify that the load is likely to collapse or rub, prevent damage to the load, and detect abnormal movement of the load while the vehicle is stopped. Another object of the present invention is to provide a load monitoring method capable of notifying the occurrence of a load theft and a load monitoring system therefor.

The present inventor has found that the position of the load in the luggage room can be detected with high accuracy within a predetermined range by properly arranging the laser range sensor in the luggage room, and further, the load is detected from the position information of the load. The present invention has been completed by finding that it is possible to determine the movement of a load that causes load collapse and rubbing and to detect theft of the load from the movement of the load when the vehicle is stopped. That is, in the load monitoring method according to the present invention, the laser-type range sensor installed at a position higher than the uppermost part of the load in the luggage compartment of the vehicle and the laser-type measurement range and the outer surface of the uppermost part of the load in the luggage compartment. A vehicle running sensor installed in the vehicle by measuring a distance to the sensor and transmitting a distance information signal, processing the distance information by a position calculation device installed in the vehicle and transmitting the position information of the load. Vehicle travel information that informs whether the vehicle is traveling or stopped, and the vehicle travel information and the position information are subjected to information processing by a load behavior analysis device installed in the vehicle to perform a load behavior. When the load is swaying or vibrating more than a preset size while the vehicle is running, a load abnormality warning signal is sent to notify the abnormal behavior of the load and the vehicle stops. When the cargo is moved in, it transmits the cargo theft alarm signal for notifying the theft of the cargo, and characterized by recording by the recording apparatus to analyze the results of the load behavior.

  The load monitoring method according to the present invention further includes an alarm device that receives the load abnormality alarm signal and the theft alarm signal and issues an alarm, and manages these signals to centrally manage the driver and / or the load of the vehicle. It is preferable to notify the center. With the alarm device, it is possible to immediately know the abnormality that has occurred in the load, and it is possible to take measures to prevent the load from collapsing or to prevent theft.

The load monitoring system according to the present invention is a load monitoring system for monitoring a load that is loaded and transported in a luggage compartment of a vehicle. In order to measure the distance to the outermost surface of the load, One or two or more laser range sensors arranged at a position higher than the top of the vehicle, a position calculation device for calculating the position information of the load from the distance information of the laser range sensors, and a vehicle running A vehicle travel sensor for detecting whether the vehicle is running or stopped, a load behavior analysis device for analyzing the load behavior from the information of the vehicle travel sensor and the position information, and a record for recording the analysis result of the load behavior And a device.

  The load monitoring system according to the present invention further includes an alarm device for notifying the driver of the vehicle and / or a management center for centrally managing the load when the load behavior analyzing apparatus determines the abnormal behavior of the load. It is preferable to provide.

  According to the load monitoring method and the system therefor according to the present invention, the minute movement, resonance, jumping, etc. of the load during transportation are monitored, and the signs are displayed before the load is collapsed or rubbed. Therefore, it is possible to determine and notify the movement of the load, so that damage to the load can be prevented in advance. Furthermore, it can detect the abnormal movement of the load while it is stopped and notify the occurrence of theft or mischief of the load. You can deal with it.

  Hereinafter, the present invention will be described in detail with reference to embodiments. The embodiments described below are examples of the configuration of the present invention, and the present invention is not construed as being limited to these descriptions.

  FIG. 1 is a schematic side view showing an embodiment of a truck equipped with a load monitoring system according to the present invention. FIG. 2 is a block diagram showing an embodiment of a load monitoring method and a load monitoring system therefor according to the present invention.

  First, an embodiment of a load monitoring system according to the present invention will be described with reference to FIG. The load monitoring system shown in FIG. 1 includes a laser range sensor 11a, 11b installed in the luggage compartment 2 of the vehicle 1 to measure a distance to the load 30 in a predetermined range, and a laser range sensor 11a, The position calculation device 13 that calculates the distance information measured by 11b and transmits it as the position information of the load 30, and detects whether the vehicle 1 is traveling or stopped and transmits the traveling information of the vehicle 1 The vehicle travel sensor 17 that receives the position information of the load 30 from the position calculation device 13 and the travel information of the vehicle 1 from the vehicle travel sensor 17, analyzes the load behavior, and transmits the analysis result. And a recording device 19 that records and saves the analysis result of the loading behavior of the loading behavior analysis device 15. In FIG. 1, when the analysis result of the load behavior is a load abnormality alarm signal or a load theft alarm signal notifying the occurrence of the abnormal behavior of the load 30, an alarm device 21 and an alarm for receiving the signal and notifying the driver The system includes a radio transmission device 23 that transmits information to a management center outside the vehicle 1 by radio and an antenna 25. By installing the alarm device 21, it is possible to reliably notify the driver and the management center that an abnormal behavior has occurred in the load 30.

  Next, an embodiment of the load monitoring method according to the present invention will be described with reference to FIG. In FIG. 2, laser range sensors 11a and 11b installed in the luggage compartment of the vehicle perform laser scanning on a load 30 in a predetermined range at predetermined intervals, and the laser range sensors 11a and 11b. The distance information 40 with the load 30 is transmitted to the position calculation device 13. The position calculation device 13 calculates the position of the load 30 in the luggage compartment from the received distance information 40 and transmits the position information 41 of the load 30 to the load behavior analysis device 15. Further, the vehicle travel sensor 17 detects whether the vehicle is in a travel state or a stop state, and transmits vehicle travel information 42 to the load behavior analysis device 15. The load behavior analysis device 15 receives the position information 41 and the vehicle travel information 42, performs information processing, analyzes the load behavior, and moves and shakes the load 30 more than a preset size during the vehicle travel. Alternatively, when a vibration is generated, it is determined that the load 30 is an indication that the load 30 is collapsed or that the load 30 is easily rubbed, and the load abnormality warning signal 44 is transmitted. Further, when the load 30 moves while the vehicle is stopped, it is determined that the load has been stolen or mischief has occurred, and a load theft alarm signal 45 is transmitted. Further, the load behavior analysis result information 43 of the load behavior analysis device 15 is recorded by the recording device 19. The alarm device 21 receives the load abnormality alarm signal 44 and the load theft alarm signal 45, and notifies the driver 27 that an abnormality or theft of the load 30 has occurred by a transmission means such as an alarm sound or vibration. To do. Further, the alarm device 21 notifies the management center 29 via the wireless transmission device 23 and the antenna 25. Even when the driver 27 is away from the vehicle 1, the wireless transmitter 23 can notify the driver 27 that the load 30 has been stolen by a portable wireless receiver such as a mobile phone.

  The laser range sensors 11a and 11b are installed inside the luggage compartment 2 of the vehicle 1 and perform laser scanning on the load 30 at predetermined time intervals to measure the distance to the load 30. The laser range sensors 11a and 11b are sensors that can scan the laser in a wide range in a short time and obtain distance information 40 regarding the direction and distance to the object that reflects the laser. The laser scanning range may be linear (one-dimensional scanning) in the range of the scanning angle (field of view). In the case of one-dimensional scanning, the distance to the outer surface of the load 30 at a predetermined height is detected. be able to. In general, the uppermost portion of the load 30 being transported is most swaying and becomes the starting point of the collapse of the load. Therefore, it is preferable to set the outer surface of the uppermost portion of the load 30 within the range of laser scanning. Further, by using a laser range sensor or a plurality of laser range sensors capable of making a laser scan into a planar (two-dimensional) range, a wide range of outer surfaces can be laser scanned. . The laser scanning time of the laser range sensor is preferably 100 ms / scan or less, more preferably 50 ms / scan or less. When the scanning time is larger than 100 ms / scanning, there is a possibility that main vibrations generated during the transportation of the load 30 cannot be detected. Note that the laser scanning time of the laser range sensor can be shortened if the number of measurement points per scan is reduced, and it is preferable that 100 or more measurement points can be measured per scan. Each measurement point of the load 30 whose distance is measured by the laser range sensor is fixed, and information on movement of each measurement point is continuously measured from the start to the end of transportation of the load 30. The distance measurement accuracy is preferably ± 50 mm or less. If the distance measurement accuracy is greater than ± 50 mm, the movement of the load 30 necessary for predicting the collapse of the load may not be detected. Furthermore, in order to reduce the number of laser range sensors installed in the luggage compartment 2 and to make an inexpensive and simple system, the laser range sensors have a large range and a scanning angle (field of view). With a large distance, a distance measurement range of 3 m or more, and a scanning angle (field of view) of 100 ° or more are preferred. For example, a laser range sensor (model HTM-30LX, manufactured by Hokuyo Electric Co., Ltd., distance measurement range 30 m, scanning angle 270 °, scanning time 25 ms / scanning at 1080 measurement points) , Ranging accuracy ± 30 mm) can be used.

  The position calculation device 13 receives the distance information 40 from the laser range sensors 11a and 11b via wire or wireless, calculates the position of the load 30, and transmits the position information 41 of the load 30. In FIG. 2, the position calculation device 13 is installed in the luggage compartment 2 of the vehicle 1, but may be installed in the driver's cab 3 or anywhere in the vehicle 1.

  The vehicle travel sensor 17 receives information that can determine the travel and stop state of the vehicle, such as a speedometer, an accelerometer, and GPS (Global Positioning System) information, and identifies whether the vehicle is traveling or stopped. The vehicle travel information 42 to be transmitted is transmitted to the load behavior analysis device 15 via wired or wireless. The vehicle travel information 42 transmitted from the vehicle travel sensor 17 may include information on the position of the vehicle 1 using GPS information. If the position information of the vehicle 1 is present, the location of the road when the load 30 exhibits an abnormal behavior and the location where the load 30 was stolen can be identified, and an appropriate response to the occurrence of an abnormality in the load 30 can be taken. Further, although the vehicle travel sensor 17 is installed in the cab 3, it may be installed in any location of the vehicle 1.

  In the load behavior analyzing apparatus 15, the magnitude of the predetermined swing or vibration of the load is determined by at least one parameter of the amplitude in the swing of the load or the amplitude or frequency in the vibration. The numerical values of parameters such as amplitude and frequency that are set in advance to determine signs of occurrence of load damage such as load collapse and load rubbing differ depending on the load form and packing conditions of the load 30, and actual transportation or transportation Determined by testing.

  FIG. 3 is a flowchart showing an embodiment of the analysis operation of the load behavior analysis apparatus. The analysis operation of the load behavior analyzer 15 will be described with reference to FIG. The load behavior analysis device 15 receives position information and vehicle travel information of the load 30 (S1), determines whether the vehicle 1 is traveling or stopped (S2), and then the vehicle 1 When the vehicle is traveling, it is compared whether the load 30 is moving more than the magnitude of the movement, shaking or vibration set in advance for the determination of the sign of collapse of the load (S3). If movement, shaking, or vibration has occurred, it is determined that the load 30 is likely to cause collapse, and a load abnormality alarm signal 44 is transmitted to warn the occurrence of collapse (S4). If it is determined that there is no risk of the cargo 30 collapsing, the load 30 will vibrate more than the magnitude of the vibration of the cargo 30 set in advance for the determination of the deterioration of the contents of the cargo or the sign of rubbing. (S5), if the load 30 is vibrating more than the set value, the content of the load 30 is highly likely to be deteriorated by the vibration, or the load 30 may be rubbed and damaged. It is determined that there is a high possibility of causing damage to the load, such as a high possibility, and a load abnormality warning signal 44 is transmitted to warn of the deterioration of the contents or the occurrence of rubbing (S6). When the vehicle 1 is stopped, it is determined whether the load 30 has been stolen or mischievous to the load 30 depending on whether the load 30 has moved (S7). If the load 30 has moved, It is determined that the load 30 has been tampered with, and a load theft alarm signal 45 is transmitted to notify the theft or mischief of the load 30 (S8). In addition, when the alarm signal is not transmitted as a result of the determination operations S5 and S7 and after the alarm signals S4, S6 and S8 are transmitted, the position information and the vehicle travel information are received again (S1), and the cargo being transported Analysis of 30 loading behaviors is performed continuously.

  The recording device 19 preferably records the load behavior analysis result information 43 of the load behavior analysis device 15 as well as the load position information and vehicle travel information 42 (including vehicle position information by GPS). . Although the recording device 19 is installed inside the vehicle 1, when the load behavior analysis result information 43 from the load behavior analysis device 15 is transmitted via radio, it is installed in the management center 29 outside the vehicle 1. May be. The data recorded in the recording device 19 is effective in selecting a travel route and preventing a travel method for preventing cargo damage such as load collapse and rubbing. In addition, it is possible to specify the position of the vehicle where the load was stolen or mischief occurred.

  The load monitoring method and the load monitoring system therefor according to the present invention can be used for monitoring theft, unloading and mischief of loads in the luggage compartment of vehicles, and also for theft, unloading and inventory management of markets and warehouses. Can be used. In this case, a laser range sensor is installed in the market or warehouse, and an alarm is transmitted when a non-related person moves the load.

1 is a schematic side view showing an embodiment of a truck equipped with a load monitoring system according to the present invention. 1 is a block diagram showing an embodiment of a load monitoring method and a load monitoring system therefor according to the present invention. It is a flowchart which shows one Embodiment of the analysis operation | movement of a cargo behavior analysis apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Luggage room 3 Driver's cab 11a, 11b Laser type range sensor 13 Position calculating device 15 Load behavior analysis device 17 Vehicle travel sensor 19 Recording device 21 Alarm device 23 Radio transmission device 25 Antenna 27 Driver 29 Management center 30 Load 40 Distance information 41 Position information 42 Vehicle travel information 43 Load behavior analysis result information 44 Load abnormality alarm signal 45 Load theft alarm signal Load behavior analysis information S1 to S8 Operation of the load behavior analysis device

Claims (4)

The distance between the outer surface of the top of the load in the luggage compartment and the laser range sensor is measured by a laser range sensor installed at a position higher than the top of the load in the luggage compartment of the vehicle. Send a signal,
The distance information is processed by a position calculation device installed in the vehicle and the load position information is transmitted,
Sending vehicle running information that informs whether the vehicle is running or stopped by a vehicle running sensor installed in the vehicle;
The vehicle travel information and the position information are processed by a load behavior analyzer installed in the vehicle to analyze the load behavior, and the vehicle generates a vibration or vibration greater than a preset size during vehicle travel. A load abnormality alarm signal for notifying the load abnormal behavior, and when the load moves while the vehicle is stopped, a load theft alarm signal for notifying the theft of the load is transmitted, and the load behavior is transmitted. The load monitoring method, wherein the analysis result is recorded by a recording device.   An alarm device that receives the cargo abnormality alarm signal and the theft alarm signal and issues an alarm is further provided, and these signals are notified to a driver of the vehicle and / or a management center that centrally manages the cargo. The load monitoring method according to claim 1. In the load monitoring system that monitors the load that is loaded and transported in the luggage compartment of the vehicle,
One or more laser range sensors located in a position higher than the top of the load in the luggage compartment to measure the distance to the outer surface of the top of the load ;
From the distance information of the laser range sensor, a position calculation device that calculates the position information of the load,
A vehicle travel sensor that senses whether the vehicle is running or stopped;
A load behavior analysis device for analyzing the load behavior from the information of the vehicle running sensor and the position information;
A recording device for recording the analysis result of the loading behavior;
A cargo monitoring system characterized by comprising:   The system further comprises an alarm device for notifying the driver of the vehicle and / or a management center for centrally managing the load when the behavior analysis device determines an abnormal behavior of the load. 3. The load monitoring system according to 3.

Images