JP6329671B1 - Dispatch system - Google Patents

Abstract

Provided is a vehicle allocation system that allows a user to easily request a vehicle allocation and prevents the vehicle from being unnecessarily allocated. A vehicle allocation system Sa detects a position of a user H based on a forklift 1 of a manned and unmanned vehicle, a camera 2 that captures a vehicle allocation request place P and generates image data, and image data. The image analysis device 3a that determines whether or not the position is a predetermined specific position R, and when the position of the user H detected by the image analysis device 3a is determined to be the specific position R And a vehicle allocation device 4a for distributing the forklift 1 to the person H. The image analysis device 3a determines whether or not the user H remains at the specific position R after the vehicle is dispatched. The vehicle allocation device 4a cancels the vehicle allocation when it is determined by the image analysis device 3a that the user H is not staying at the specific position R. [Selection] Figure 1

Description

  The present invention relates to a vehicle allocation system for distributing a manned unmanned combined vehicle to a user.

  2. Description of the Related Art Conventionally, a manned unmanned vehicle capable of switching between a manned operation mode that operates by a user's manual operation and an unmanned operation mode that operates autonomously regardless of a user's manual operation is known (for example, Patent Documents). 1). A user can call a manned unmanned vehicle when necessary, and use the manned unmanned vehicle that has moved in the unmanned driving mode by switching to the manned driving mode.

  A calling method using a portable terminal is known as a calling method for this type of manned unmanned vehicle (see, for example, Patent Document 2). In this method, when the user requests the vehicle allocation management server to operate the mobile terminal, the vehicle allocation management server that receives the request distributes the manned unmanned vehicle.

JP 2010-222108 A Japanese Unexamined Patent Publication No. 2016-210417

  However, in the above conventional method, since the user has to operate the portable terminal, it is very time-consuming to request the dispatch. Further, in the above conventional method, if the user loses the portable terminal, the user cannot request a vehicle dispatch.

  Furthermore, in the above conventional method, since it is not considered that the user recalls the errand after requesting the vehicle dispatch and leaves the place, the vehicle may be dispatched unnecessarily. In this case, the manned unmanned combined vehicle wastes time and fuel.

  Accordingly, an object of the present invention is to provide a vehicle allocation system that allows a user to easily request vehicle allocation and that can prevent unnecessary vehicle allocation.

In order to solve the above problems, a vehicle allocation system (1) according to the present invention is provided so as to photograph a manned unmanned combined vehicle capable of switching between a manned operation mode and an unmanned operation mode, and a predetermined vehicle allocation request location. A camera that generates image data of a requested vehicle allocation location, and based on the image data, recognizes the presence of the user, detects the position of the user, and determines whether the position is a predetermined specific position. A face data extracting unit that extracts face data relating to the user's face from the image data, and specific face data relating to a predetermined qualified person's face are stored. and specific face data storage unit, by comparing the face data and the specific face data, and that the user has a determining authentication unit whether or not the qualified person, the image analyzer The location of the user Te is determined to be the specific position, and, when said user is determined to be the qualified person, dispatching apparatus for dispatching the manned unmanned combined vehicle with respect to the user The image analysis device determines whether the user stays at the specific position based on the image data generated after the vehicle has been allocated, and the vehicle allocation device has the image analysis When it is determined by the device that the user is not staying at the specific position, the dispatch is canceled.

As a specific configuration of the vehicle allocation system (1), for example, the image analysis device stores a user face data storage unit that stores the face data of the user determined to be the qualified person, The face data stored in the user face data storage unit is compared with the face data extracted from the image data generated after the vehicle has been dispatched. A user replacement determination unit that determines whether or not the user has been replaced, and when the vehicle allocation device determines that the user does not remain at the specific position by the image analysis device; and the user If it is determined that the other user has been replaced, the arrangement of canceling the vehicle allocation can be considered.

As another specific configuration of the vehicle allocation system (1), for example, when the image analysis apparatus determines that the user has been replaced with the other user, the facial data of the other user The specific face data is compared to determine whether the other user is the qualified person, and the vehicle allocation device is replaced with the other user by the image analysis device. Even if it is determined, when it is determined that the other user is the qualified person, a configuration may be considered in which the dispatch is not canceled.

In order to solve the above-mentioned problem, the vehicle allocation system (2) according to the present invention is provided so as to photograph a manned unmanned vehicle capable of switching between a manned operation mode and an unmanned operation mode, and a predetermined vehicle allocation request location. In addition, a camera that generates image data of the vehicle allocation request location, and the presence of the user based on the image data, and the user's operation is detected, and the vehicle operation is requested in advance. An image analysis device for determining whether or not the specific behavior of the user, and when the operation of the user is determined to be the specific behavior by the image analysis device, the manned unmanned vehicle for the user A vehicle allocation device that distributes the vehicle, and the image analysis device determines whether the user exists based on the image data generated after the vehicle allocation, Car device, when the user by the image analyzer is determined not to exist, and wherein the cancel the dispatch.

As a specific configuration of the vehicle allocation system (2), for example, the image analysis device extracts a face data extraction unit that extracts face data relating to the user's face from the image data, and a predetermined qualified person. A specific face data storage unit that stores specific face data relating to the face of the user, and an authentication unit that compares the face data with the specific face data to determine whether the user is the qualified person The vehicle allocation device is determined to be used when the image analysis device determines that the action of the user is the specific behavior and the user is determined to be the qualified person. It can be considered that the manned unmanned combined vehicle is distributed to a person.

As another specific configuration of the vehicle allocation system (2), for example, the image analysis device is detected from an upper limb motion detection unit that detects the motion of at least a part of the user's upper limb from the image data. In addition, when the operation is a raising hand operation that raises a hand or an arm, a configuration may be considered in which a specific behavior determination unit that determines the operation as the specific behavior is included.

As another specific configuration of the vehicle allocation system (1), (2), for example, the vehicle allocation device includes vehicle information including information as to whether or not the manned unmanned vehicle is transporting luggage. A stored vehicle information storage unit, a specific vehicle selection unit that selects a specific vehicle to be distributed to the user from a plurality of the manned and unmanned vehicles based on the vehicle information, and dispatch to the specific vehicle A configuration may be considered that includes a dispatch signal transmitting unit that transmits a dispatch signal for moving to a requested location and a cancel signal transmitting unit that transmits a cancel signal for canceling the dispatch to the specific vehicle.

In order to solve the above-mentioned problem, the vehicle allocation system (3) according to the present invention is provided so as to photograph a manned unmanned vehicle capable of switching between a manned operation mode and an unmanned operation mode, and a predetermined vehicle allocation request location. In addition, a camera that generates image data of the requested vehicle allocation location, and based on the image data, recognizes the presence of the user, detects the position of the user, and whether the position is a predetermined specific position. An image analysis device that determines whether or not, and when the image analysis device determines that the position of the user is the specific position, a vehicle allocation device that distributes the manned unmanned combined vehicle to the user The vehicle allocation device includes a vehicle information storage unit that stores vehicle information including information on whether or not the manned and unmanned combined vehicle is transporting luggage, and a plurality of front vehicles based on the vehicle information. A specific vehicle selection unit for selecting a specific vehicle to be dispatched to the user from a manned unmanned vehicle, a vehicle allocation signal transmission unit for transmitting a vehicle allocation signal for moving the specific vehicle to a vehicle allocation request location, and the specific A cancellation signal transmission unit that transmits a cancellation signal for canceling the dispatch to the vehicle, and the image analysis device allows the user to move the specific position based on the image data generated after the dispatch. The vehicle allocation device cancels the vehicle allocation when it is determined by the image analysis device that the user does not remain at the specific position.

As another specific configuration of the vehicle allocation system (1), (2) and (3) , for example, the vehicle allocation system wirelessly transmits the vehicle allocation signal and the cancellation signal to the specific vehicle. A configuration of further including a communication device is conceivable.

  According to the present invention, it is possible to provide a vehicle allocation system that allows a user to easily request vehicle allocation and prevent unnecessary vehicle allocation.

1 is a schematic diagram of a vehicle allocation system according to a first embodiment of the present invention. It is a block diagram which shows the function of the image analysis apparatus and vehicle allocation apparatus of the vehicle allocation system shown in FIG. It is a schematic diagram of the dispatch system which concerns on the 2nd Embodiment of this invention. It is a block diagram which shows the function of the image analysis apparatus and vehicle allocation apparatus of the vehicle allocation system shown in FIG. It is a schematic diagram of the dispatch system which concerns on the modification of 1st Embodiment.

1. First Embodiment Hereinafter, a first embodiment of the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a schematic diagram of a vehicle allocation system Sa according to the first embodiment of the present invention. The vehicle allocation system Sa according to the present embodiment includes a plurality of forklifts 1, a vehicle allocation request place P, a camera 2, an image analysis device 3a, a vehicle allocation device 4a, a wireless communication device 5, and a notification device 6. Yes. The vehicle allocation system Sa is configured to distribute the forklift 1 to the user H in response to a vehicle allocation request from the user H at the vehicle allocation request location P.

  The vehicle allocation request place P includes a specific position R for the user H to request a vehicle allocation and a stop position Q for the forklift 1 to stop. In the present embodiment, the specific position R has a circular shape surrounded by a ring-shaped mark M (not shown) having a predetermined diameter marked on the ground of the vehicle allocation request place P.

  The forklift 1 is capable of switching between a manned operation mode in which a passenger (that is, a user on the forklift 1) operates manually and an unmanned operation mode in which the vehicle operates autonomously without manual operation. It is a dual-purpose vehicle.

  The unmanned forklift 1 moves toward the stop position Q when receiving a signal for instructing movement to the stop position Q (hereinafter, referred to as “a dispatch signal”) transmitted by the dispatch apparatus 4a (wireless communication apparatus 5). To do. The forklift 1 that has received the dispatch signal immediately starts moving toward the stop position Q if it is not in a cargo handling operation, and if it is in a cargo handling operation, it starts moving after the completion of the operation.

  The camera 2 is provided on the ceiling of the building so as to photograph the vehicle allocation request place P, and images the vehicle allocation request place P and generates image data. The camera 2 generates image data of the user H by photographing the user H present at the vehicle allocation request place P.

  Based on the image data generated by the camera 2, the image analysis device 3a recognizes the presence of the user H, detects the position of the user H, and determines whether the detected position is a predetermined specific position R. Determine whether or not.

  Further, when the image analysis device 3a determines that the detected position of the user H is the specific position R, the qualified person (hereinafter, simply referred to as “qualified person”) having the authority for the user H to board the forklift 1 is used. It is determined whether or not.

  In addition, the image analysis device 3a allows the user H to stay at the specific position R based on the image data generated after the vehicle is dispatched (that is, after the vehicle dispatch signal is transmitted from the vehicle dispatch device 4a to the forklift 1). It is determined whether or not.

  Further, the image analysis device 3a determines whether or not the user H has been replaced with another user H 'based on the image data generated after the vehicle is dispatched.

  Further, the image analysis device 3a determines whether or not the replaced user H ′ is a qualified person based on the image data generated after the vehicle is dispatched.

  The vehicle allocation device 4a determines that the position of the user H detected by the image analysis device 3a is the specific position R and determines that the user H is a qualified person. Forklift 1 is dispatched. In other words, the vehicle allocation device 4a distributes the forklift 1 if the user H existing at the specific position R is a qualified person.

  The vehicle allocation device 4a selects one forklift 1 (hereinafter referred to as “specific vehicle”) that can be quickly moved from the plurality of forklifts 1 to the stop position Q, and transmits a vehicle allocation signal to the specific vehicle. Cars are dispatched by.

  The vehicle allocation device 4a cancels the vehicle allocation when it is determined by the image analysis device 3a that the user H is not staying at the specific position R. Further, the vehicle allocation device 4a performs the vehicle allocation even when it is determined by the image analysis device 3a that the user H has been replaced by another user H ′ and the user H ′ is not a qualified person. cancel. In other words, even if the user H is replaced with the user H ′, the vehicle allocation device 4a does not cancel the vehicle allocation if the user H ′ is a qualified person.

  The vehicle allocation device 4a cancels the vehicle allocation by transmitting a signal for canceling the vehicle allocation to the specific vehicle (hereinafter referred to as “cancellation signal”).

  The wireless communication device 5 is provided in a place where wireless communication with the forklift 1 is possible. By relaying communication between the vehicle allocation device 4a and the forklift 1, the vehicle allocation signal and the cancellation signal transmitted from the vehicle allocation device 4a are identified. To wirelessly.

  The notification device 6 is provided in the vicinity of the vehicle allocation request place P. When the vehicle allocation device 4a distributes the forklift 1, the notification device 6 notifies the user H that the vehicle allocation request has been received by a visual or audible method. In the present invention, the notification method is not particularly limited.

  FIG. 2 is a functional block diagram of the image analysis device 3a and the vehicle allocation device 4a of the vehicle allocation system Sa according to the present embodiment. The image analysis device 3a includes a position detection unit 31, a specific position determination unit 32, a face data extraction unit 33a, a specific face data storage unit 34, an authentication unit 35a, a user face data storage unit 36, and a user. A replacement determination unit 37; The vehicle allocation device 4a includes a vehicle information storage unit 41, a specific vehicle selection unit 42a, a vehicle allocation signal transmission unit 43, and a cancellation signal transmission unit 44a.

  First, the vehicle allocation by the image analysis device 3a and the vehicle allocation device 4a will be described.

  The position detection unit 31 recognizes the presence of the user H based on the image data generated by the camera 2 and detects the position of the user H and the position of the mark M (that is, the position of the specific position R). To do.

  The specific position determination unit 32 compares the position of the user H detected by the position detection unit 31 with the position of the mark M to determine whether or not the position of the user H is the specific position R. In the present embodiment, the specific position determination unit 32 determines whether or not the position of the user H is the specific position R based on the degree of overlap between the position of the user H and the position of the mark M.

  The face data extraction unit 33 a extracts face data related to the face of the user H based on the image data generated by the camera 2. The specific face data storage unit 34 stores in advance specific face data related to a qualified person's face.

  The authentication unit 35a compares the face data extracted by the face data extraction unit 33a with the specific face data stored in the specific face data storage unit 34. If the degree of coincidence between the two data is high, the user H Is determined to be qualified. The user face data storage unit 36 stores the face data of the user H when the authentication unit 35a determines that the user H is a qualified person.

  The vehicle information storage unit 41 stores vehicle information including information on whether or not each forklift 1 is transporting a load N and information on the distance from each forklift 1 to the stop position Q. The vehicle information stored in the vehicle information storage unit 41 is updated to the latest information every time a predetermined time elapses (for example, every few seconds).

  The specific vehicle selection unit 42a is a vehicle information storage unit when the specific position determination unit 32 determines that the user H is in the specific position R and the authentication unit 35a determines that the user H is a qualified person. Based on the latest vehicle information stored in 41, a specific vehicle to be dispatched to the user H from a plurality of forklifts 1 is selected. In the present embodiment, the specific vehicle selection unit 42a selects a forklift 1 that is not transporting the luggage N as the specific vehicle that is closest to the stop position Q. If all the forklifts 1 are transporting the luggage N, all the forklifts 1 that are closest to the stop position Q are selected as specific vehicles.

  The dispatch signal transmission unit 43 transmits a dispatch signal to the specific vehicle selected by the specific vehicle selection unit 42a.

  Next, cancellation of dispatch by the image analysis device 3a and the dispatch device 4a will be described.

  The position detection unit 31 detects the position of the user H and the position of the specific position R based on the image data generated by the camera 2 even after the vehicle is dispatched (that is, after the dispatch signal is transmitted). Keep doing. Then, the specific position determination unit 32 determines whether or not the user H remains at the specific position R based on the position detected by the position detection unit 31.

  The user replacement determination unit 37 determines whether or not the user H has been replaced by another user H ′ after the vehicle has been dispatched. In the present embodiment, the user replacement determination unit 37 includes the face data extracted by the face data extraction unit 33a after the vehicle is dispatched and the face data stored in the user face data storage unit 36 (the face of the user H Data) and if the degree of coincidence between the two data is low, it is determined that the user H has been replaced by another user H ′.

  The authentication unit 35a compares the face data of the other user H ′ with the specific face data stored in the specific face data storage unit 34 when the user replacement determination unit 37 determines that the user H has been switched. If the degree of coincidence between the two data is high, it is determined that the user H ′ is a qualified person. The user face data storage unit 36 stores the face data of the user H ′ instead of the face data of the user H when the authentication unit 35 a determines that the user H ′ is a qualified person.

  The cancellation signal transmission unit 44a transmits a cancellation signal to the specific vehicle when the authentication unit 35a determines that the user H is not staying at the specific position R. The cancellation signal transmitter 44a determines that the user H has been replaced by another user H ′ by the user replacement determination unit 37, and determines that the user H ′ is not a qualified person by the authentication unit 35a. Also, a cancellation signal is sent to the specific vehicle. In other words, if the user H ′ is a qualified person, the cancellation signal transmission unit 44a does not transmit a cancellation signal.

  When the forklift 1 in the middle of moving to the user H (stop position Q) as the specific vehicle receives the cancel signal transmitted by the vehicle allocation device 4a (wireless communication device 5), the forklift 1 immediately stops the movement.

  In the vehicle allocation system Sa configured as described above, the forklift 1 (specific vehicle) that is expected to arrive the earliest when the user H, who is a qualified person who is permitted to request vehicle allocation, stands at the specific position R. It is dispatched to user H. And the user H can board the forklift 1 which arrived at the stop position Q, and can perform the cargo handling work by switching from the unmanned operation mode to the manned operation mode.

  In the vehicle allocation system Sa configured as described above, the user H leaves the specific position R or is replaced with another user H ′ before the forklift 1 (specific vehicle) arrives at the stop position Q. Then, the dispatch is canceled. Therefore, according to this structure, useless vehicle dispatch can be prevented and the utilization efficiency of the forklift 1 can be improved.

2. Second Embodiment Subsequently, a second embodiment of the present invention will be described.

  FIG. 3 is a schematic diagram of a vehicle allocation system Sb according to the second embodiment of the present invention. As shown in the figure, the vehicle allocation system Sb according to the present embodiment includes a vehicle allocation request location P that does not include the specific position R, a point that an image analysis device 3b is provided instead of the image analysis device 3a, and vehicle allocation Although it differs from the vehicle allocation system Sa which concerns on 1st Embodiment in the point provided with the vehicle allocation apparatus 4b instead of the apparatus 4a, the other structure is common. Similar to the vehicle allocation system Sa, the vehicle allocation system Sb is configured to distribute the forklift 1 to the user H in response to a vehicle allocation request from the user H at the vehicle allocation request location P.

  Based on the image data generated by the camera 2, the image analysis device 3 b recognizes the presence of the user H and detects the operation of the user H, and whether or not the detected operation is a predetermined specific behavior. Determine whether.

  Further, the image analysis device 3b determines whether or not the user H determined to have performed the specific behavior is a qualified person.

  Further, the image analysis device 3b determines whether or not the user H exists based on the image data generated after the vehicle is dispatched (that is, after the vehicle dispatch signal is transmitted from the vehicle dispatch device 4b to the forklift 1). judge.

  The vehicle allocation device 4b allocates the forklift 1 to the user H when the image analysis device 3b determines that the action of the user H is a specific behavior and the user H is determined to be a qualified person. To do. In other words, the vehicle allocation device 4b distributes the forklift 1 if the user H who has performed the specific behavior is a qualified person. Similar to the vehicle allocation device 4a, the vehicle allocation device 4b selects a specific vehicle from the plurality of forklifts 1 and performs vehicle allocation by transmitting a vehicle allocation signal to the specific vehicle.

  The vehicle allocation device 4b cancels the vehicle allocation when the image analysis device 3b determines that the user H does not exist. Similar to the vehicle allocation device 4a, the vehicle allocation device 4b cancels the vehicle allocation by transmitting a cancel signal.

  FIG. 4 is a functional block diagram of the image analysis device 3b and the vehicle allocation device 4b of the vehicle allocation system Sb according to the present embodiment. The image analysis device 3b includes a face data extraction unit 33b, a specific face data storage unit 34, an authentication unit 35b, an upper limb motion detection unit 38, and a specific behavior determination unit 39. The vehicle allocation device 4b includes a vehicle information storage unit 41, a specific vehicle selection unit 42b, a vehicle allocation signal transmission unit 43, and a cancellation signal transmission unit 44b.

  In FIG. 4, the same components as those shown in FIG. 2 are denoted by the same reference numerals, and detailed description thereof will be omitted below.

  First, the vehicle allocation by the image analysis device 3b and the vehicle allocation device 4b will be described.

  The upper limb motion detection unit 38 recognizes the presence of the user H based on the image data generated by the camera 2 and detects at least a part of the upper limb of the user H. The specific behavior determination unit 39 determines that the motion detected by the upper limb motion detection unit 38 is a specific motion for a vehicle allocation request when the motion of raising the hand or arm and raising the hand higher than the head.

  The face data extraction unit 33b extracts face data related to the face of the user H by the same method as the face data extraction unit 33a.

  Similar to the authentication unit 35a, the authentication unit 35b compares the face data extracted by the face data extraction unit 33b with the specific face data stored in the specific face data storage unit 34, and the degree of coincidence between the two data is high. For example, it is determined that the user H is a qualified person.

  The specific vehicle selection unit 42b selects the specific vehicle when the specific behavior determination unit 39 determines that the action of the user H is a specific behavior and the authentication unit 35b determines that the user H is a qualified person. A specific vehicle to be dispatched to the user H from the plurality of forklifts 1 is selected in the same manner as the unit 42a.

  Next, cancellation of allocation by the image analysis device 3b and the allocation device 4b will be described.

  The upper limb motion detection unit 38 determines whether or not the user H continues to exist at the vehicle allocation request place P based on the image data generated by the camera 2 even after the vehicle is allocated.

  The cancellation signal transmission unit 44b transmits a cancellation signal to the specific vehicle when the upper limb motion detection unit 38 determines that the user H does not exist at the vehicle allocation request place P.

  In the vehicle allocation system Sb configured as described above, the forklift 1 that is expected to arrive the earliest when the user H who is a qualified person who is permitted to request vehicle allocation raises his hand or arm at the vehicle allocation request location P. (Specific vehicle) is dispatched to user H. And the user H can board the forklift 1 which arrived at the stop position Q, and can perform the cargo handling work by switching from the unmanned operation mode to the manned operation mode.

  Further, in the vehicle allocation system Sb configured as described above, when the user H leaves the vehicle allocation request place P before the forklift 1 (specific vehicle) arrives at the stop position Q, the vehicle allocation is canceled. Therefore, according to this structure, useless vehicle dispatch can be prevented and the utilization efficiency of the forklift 1 can be improved.

  In the first embodiment, the following effects can be obtained.

  (1) When it is determined that the position of the user H is the specific position R and the user H is determined to be a qualified person, the forklift 1 is dispatched to the user H. For this reason, the user H can request a vehicle dispatch only by standing in the specific position R, without operating a portable terminal etc.

  (2) When the user H leaves the specific position R after requesting the vehicle allocation, the vehicle allocation is canceled. For this reason, it is possible to prevent unnecessary vehicle dispatch from being performed at the unmanned vehicle dispatch request location P.

  (3) If it is determined that the user H has been replaced by another user H ′ after the vehicle has been dispatched, the dispatch is cancelled. For this reason, it is possible to prevent the forklift 1 from being dispatched to a user H 'who is not a qualified person.

  (4) However, if the user H 'is a qualified person, the dispatch is not cancelled. For this reason, it is possible to prevent the forklift 1 from being dispatched to the original user H.

  In the second embodiment, the following effects can be obtained.

  (5) When it is determined that the action of the user H is a specific behavior of raising a hand or an arm and the user H is determined to be a qualified person, the forklift 1 is dispatched to the user H. The For this reason, the user H can request a vehicle allocation only by raising a hand or an arm at the vehicle allocation request | requirement place P, without operating a portable terminal etc. FIG.

  (6) When the user H leaves the vehicle allocation request place P after the vehicle allocation request, the vehicle allocation is canceled. For this reason, it is possible to prevent unnecessary vehicle dispatch from being performed at the unmanned vehicle dispatch request location P.

  In addition, this invention is not limited to the said embodiment, The said structure can also be changed suitably. For example, the following changes may be applied to the above embodiment, or the following changes may be applied in combination.

  As shown in FIG. 5, the vehicle allocation system Sa may include a plurality of cameras 2 provided to photograph different places. In the configuration shown in FIG. 5, it is determined that the position of the user H is the specific position R1 based on the image data generated by the camera 21 that captures the vehicle allocation request place P1, and the user H is a qualified person. When it is determined that, the vehicle allocation device 4a distributes the forklift 1 to the stop position Q1 corresponding to the specific position R1. Moreover, based on the image data produced | generated with the camera 22 which image | photographs the vehicle allocation request | requirement place P2, it was determined that the position of the user H is the specific position R2, and it was determined that the user H is a qualified person. The vehicle allocation device 4a distributes the forklift 1 to the stop position Q2 corresponding to the specific position R2. In this case, the dispatch signal transmitted to the specific vehicle includes location information of the destination (that is, information related to the stop position Q1 or the stop position Q2), and the forklift 1 that has received the dispatch signal receives the location information of the destination. Based on this, it moves to the stop position Q1 or the stop position Q2.

  When selecting a specific vehicle to be dispatched to the user H, it is not necessary to refer to the vehicle information indicating whether or not the forklift 1 is transporting the luggage N. Further, the forklift 1 to be dispatched to the user H may be set in advance (for example, the forklift 11 is necessarily dispatched to the user H1, and the forklift 12 is necessarily dispatched to the user H2. And ...)

  -You may determine whether the user H is a qualified person, without comparing face data and specific face data. For example, it is possible to determine that the user H is a qualified person by identifying the color of the clothes of the user H, the color of the hat, the color of the helmet, or a combination thereof.

  -Vehicle allocation may be performed without determining whether or not the user H is a qualified person.

  When it is determined that the user H has been replaced with another user H ′, the vehicle allocation may be canceled immediately without determining whether or not the other user H ′ is a qualified person.

  Even if the user H moves from the specific position R, if the moving amount is within a predetermined minute amount or if the moving time is within a predetermined minute time, It is not necessary to cancel.

  The user H may be notified by the notification device 6 that the vehicle allocation is canceled before the vehicle allocation is canceled by the vehicle allocation device 4.

  When the face of the user H cannot be extracted by the face data extraction unit 33a (or 33b) because the face of the user H is not directed toward the camera 2, the notification device 6 notifies the user H of that fact. You may notify.

  -The operation determined as the specific behavior for the vehicle allocation request is not limited to the operation of raising the hand or arm. For example, an operation in which the user H claps his hand or an operation in which the user H shakes his / her hand or arm may be determined as a specific behavior for requesting a vehicle allocation.

  -The manned unmanned combined vehicle to be dispatched is not limited to a forklift, and may be a manned unmanned combined vehicle taxi, for example.

1 Forklift (Manned unmanned vehicle)
2, 21 and 22 Cameras 3a and 3b Image analysis devices 4a and 4b Allocation device 5 Wireless communication devices 6, 61 and 62 Notification device 31 Position detection unit 32 Specific position determination units 33a and 33b Face data extraction unit 34 Specific face data storage unit 35a, 35b Authentication unit 36 User face data storage unit 37 User replacement determination unit 38 Upper limb motion detection unit 39 Specific behavior determination unit 41 Vehicle information storage unit 42a, 42b Specific vehicle selection unit 43 Vehicle dispatch signal transmission unit 44a, 44b Cancel signal Transmitter H User P, P1, P2 Rally request location R, R1, R2 Specific position Q, Q1, Q2 Stop position Sa, Sb

Claims (9)

A manned unmanned vehicle capable of switching between a manned driving mode and an unmanned driving mode;
A camera that is provided to photograph a predetermined vehicle allocation request location and generates image data of the vehicle allocation request location;
An image analysis apparatus that recognizes the presence of a user based on the image data, detects the position of the user, and determines whether the position is a predetermined specific position ,
A face data extraction unit that extracts face data relating to the user's face from the image data;
A specific face data storage unit storing specific face data related to a predetermined qualified person's face;
An authentication unit that compares the face data with the specific face data and determines whether the user is the qualified person; and
When the position of the user is determined to be the specific position by the image analysis device , and the user is determined to be the qualified person, the manned unmanned vehicle is used for the user. A vehicle allocation device for vehicle allocation,
The image analysis device determines whether or not the user stays at the specific position based on the image data generated after the vehicle is dispatched.
The vehicle allocation system cancels the vehicle allocation when the image analysis device determines that the user is not staying at the specific position. The image analysis device includes:
A user face data storage unit for storing the face data of the user determined to be the qualified person;
The face data stored in the user face data storage unit is compared with the face data extracted from the image data generated after the vehicle has been dispatched. And a user replacement determination unit that determines whether or not the user has been replaced,
The vehicle allocation device cancels the vehicle allocation when it is determined by the image analysis device that the user has not stayed at the specific position, and when the user has been replaced with the other user. The vehicle allocation system according to claim 1. When the image analysis apparatus determines that the user has been replaced with the other user, the image analysis apparatus compares the face data of the other user with the specific face data, so that the other user is qualified. To determine whether or not
When the vehicle allocation device determines that the user has been replaced by the other user by the image analysis device, when the other user is determined to be the qualified person, 3. The vehicle allocation system according to claim 2, wherein the vehicle allocation is not canceled. A manned unmanned vehicle capable of switching between a manned driving mode and an unmanned driving mode;
A camera that is provided to photograph a predetermined vehicle allocation request location and generates image data of the vehicle allocation request location;
An image analysis device that recognizes the presence of a user based on the image data, detects the user's action, and determines whether the action is a specific behavior for requesting a predetermined dispatch. When,
A vehicle allocation device that allocates the manned unmanned combined vehicle to the user when the image analysis device determines that the operation of the user is the specific behavior;
The image analysis device determines whether the user exists based on the image data generated after the vehicle is dispatched,
The vehicle allocation system cancels the vehicle allocation when it is determined by the image analysis device that the user does not exist. The image analysis device includes:
A face data extraction unit that extracts face data relating to the user's face from the image data;
A specific face data storage unit storing specific face data related to a predetermined qualified person's face;
An authentication unit that compares the face data with the specific face data and determines whether the user is the qualified person;
The vehicle allocation device determines that the movement of the user is the specific behavior by the image analysis device, and determines that the user is the qualified person when the user is the qualified person. 5. The vehicle allocation system according to claim 4, wherein a manned and unmanned combined vehicle is allocated. The image analysis device includes:
An upper limb motion detection unit for detecting an operation of at least a part of the upper limb of the user from the image data;
6. The vehicle allocation system according to claim 4, further comprising: a specific behavior determination unit configured to determine the specific motion as the specific behavior when the detected motion is a hand-lifting motion. The vehicle allocation device is
A vehicle information storage unit storing vehicle information including information on whether or not the manned unmanned vehicle is transporting luggage;
Based on the vehicle information, a specific vehicle selection unit that selects a specific vehicle to be dispatched to the user from a plurality of the manned unmanned combined vehicles,
A vehicle allocation signal transmission unit for transmitting a vehicle allocation signal for moving the specific vehicle to a vehicle allocation request location;
The vehicle allocation system according to claim 1, further comprising a cancellation signal transmission unit configured to transmit a cancellation signal for canceling the vehicle allocation to the specific vehicle. A manned unmanned vehicle capable of switching between a manned driving mode and an unmanned driving mode;
A camera that is provided to photograph a predetermined vehicle allocation request location and generates image data of the vehicle allocation request location;
An image analysis device that recognizes the presence of the user based on the image data, detects the position of the user, and determines whether the position is a predetermined specific position;
When the position of the user is determined to be the specific position by the image analysis device, a vehicle allocation device that distributes the manned unmanned combined vehicle to the user,
The vehicle allocation device is
A vehicle information storage unit storing vehicle information including information on whether or not the manned unmanned vehicle is transporting luggage;
Based on the vehicle information, a specific vehicle selection unit that selects a specific vehicle to be dispatched to the user from a plurality of the manned unmanned combined vehicles,
A vehicle allocation signal transmission unit for transmitting a vehicle allocation signal for moving the specific vehicle to a vehicle allocation request location;
A cancellation signal transmitter for transmitting a cancellation signal for canceling the dispatch to the specific vehicle;
The image analysis device determines whether or not the user stays at the specific position based on the image data generated after the vehicle is dispatched.
The vehicle allocation system cancels the vehicle allocation when the image analysis device determines that the user is not staying at the specific position. The vehicle allocation system according to claim 7 or 8, further comprising a wireless communication device that wirelessly transmits the vehicle allocation signal and the cancellation signal to the specific vehicle.

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