JP6835793B2 - Trajectory management system - Google Patents

Description

The present invention relates to a trajectory management system and an on-board unit.

Vehicle travel data acquired by an on-board unit mounted on a vehicle such as a truck is collected and analyzed by a management device on the office side that manages the vehicle. As a method of managing the trajectory of a vehicle, there is a method using GPS (Global Positioning System). In this method, in places where signals (GPS data) from GPS satellites cannot be acquired, the trajectory of the vehicle is created using the data output from the gyro sensor, the acceleration sensor, the speed sensor, and the like. As a technique for using image data in the trajectory management of a moving body, there are those described in Patent Documents 1 to 3.

Japanese Unexamined Patent Publication No. 2016-103049 JP-A-2017-12302 International Publication No. 2016/021121

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

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

To achieve the above object, the trajectory management system according to the present invention is characterized by the following (1) to (5).
(1) A trajectory management system including an on-board unit mounted on a vehicle moving in a premises having a marking at a predetermined position and a management device for managing the on-board unit.
A locus creation unit provided in the vehicle-mounted device that creates locus data indicating a locus of movement of the vehicle based on at least one of the orientation and inclination of the vehicle and the acceleration of the vehicle.
With reference to a database that stores the correspondence between the matching image obtained by photographing the marking and the predetermined position in which the marking is arranged, the photographed image taken by the camera mounted on the vehicle while the vehicle is moving is described. It is provided with a determination unit provided in the vehicle-mounted device for determining whether or not the matching image matches.
When the determination unit determines that the captured image and the matching image match, the trajectory creation unit corrects the position information of the vehicle based on the predetermined position, and uses the corrected position information. the trajectory data to create again Te,
The determination unit calculates the similarity rate between the captured image and the matching image, and determines that the captured image and the matching image match when the similarity rate is equal to or greater than the first threshold value.
When the similarity ratio is equal to or higher than the first threshold value and less than the second threshold value larger than the first threshold value, the matching image stored in the database is designated as the marking included in the captured image. A trajectory management system characterized in that the database is updated by changing to the image of.
(2) A trajectory management system including an on-board unit mounted on a vehicle moving in a premises having a marking at a predetermined position and a management device for managing the on-board unit.
A locus creation unit provided in the management device that creates locus data indicating a locus of movement of the vehicle based on at least one of the orientation and inclination of the vehicle and the acceleration of the vehicle.
With reference to a database that stores the correspondence between the matching image obtained by photographing the marking and the predetermined position in which the marking is arranged, the photographed image taken by the camera mounted on the vehicle while the vehicle is moving is described. It is provided with a determination unit provided in the vehicle-mounted device for determining whether or not the matching image matches.
When the determination unit determines that the captured image and the matching image match, the trajectory creation unit corrects the position information of the vehicle based on the predetermined position, and uses the corrected position information. To recreate the trajectory data
The determination unit calculates the similarity rate between the captured image and the matching image, and determines that the captured image and the matching image match when the similarity rate is equal to or greater than the first threshold value .
When the similarity ratio is equal to or higher than the first threshold value and less than the second threshold value larger than the first threshold value, the matching image stored in the database is designated as the marking included in the captured image. The locus management system according to (1) above, characterized in that the database is updated by changing to the image of .
(3 ) The above ( 1 ) or (1) or (1) or (1) or (1) or (1) or (1) or (1) or (1) or (1) or (1) or (1) or (1) or (1) or ( The trajectory management system described in 2).
( 4 ) The trajectory management system according to any one of (1) to (3 ) above, wherein the database is provided in the vehicle-mounted device.
( 5 ) The trajectory management system according to any one of (1) to (3 ) above, wherein the database is provided in the management device .

According to the trajectory management system having the above configurations (1) and (2) , when creating the trajectory data of the vehicle, the markings placed on the floor of the premises or the like are stored in advance in the captured image and the database taken while the vehicle is moving. By matching with the registered matching image, the position of the vehicle can be corrected and the trajectory data can be corrected. Therefore, even when GPS data or vehicle speed data cannot be acquired, it is possible to periodically correct the error in the vehicle position and acquire accurate trajectory data.

According to the trajectory management system having the above configurations ( 1 ) and (2) , it can be determined that the captured image and the matching image registered in advance in the database can be matched when the similarity rate is high.

According to the trajectory management system having the above configurations ( 1 ) and (2) , matching can be performed according to the actual marking situation.

According to the trajectory management system having the configuration of ( 3 ) above, the degree of weathering (deterioration, wear) of markings on the floor, etc. varies depending on the usage conditions, but an alarm based on a maintenance alarm signal is issued when the database is updated frequently. By issuing an alarm, it is possible to respond to weathering, etc., so that it is not necessary to constantly manage the marking state, and maintenance work can be reduced.

According to the locus management system having the configuration of the above ( 4 ), the on-board unit can determine whether the captured image and the matching image match by the on-board unit alone without communicating with the outside.

According to the trajectory management system having the configuration of (5 ) above, the management device that manages a plurality of on-board units is provided with a database, so that when the database is updated, the updated database is shared by a plurality of vehicles. Can be used.

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

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

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

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

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

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

The in-vehicle device 10 has a digital tachograph function and records operation data such as mileage, traveling time, traveling speed, speed over, engine speed over, sudden start, sudden acceleration, and sudden deceleration of the vehicle (forklift). .. Further, the on-board unit 10 has a drive recorder function, outputs a trigger signal when an abnormal situation such as a vehicle collision is detected, and synchronizes with the trigger signal to output data including an image for a certain period of time. It can be automatically recorded and saved. Further, the on-board unit 10 has a function of periodically correcting the current position of the vehicle by using the markings arranged at a predetermined position on the premises when creating the locus data indicating the locus of the vehicle.

The vehicle-mounted device 10 includes a CPU 11, a non-volatile memory 26A, a volatile memory 26B, a recording unit 17, a card I / F18, an audio I / F19, an RTC (clock IC) 21, and a display unit 22.

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

The recording unit 17 records data such as operation data and video. A memory card 65 owned by the crew is freely inserted and removed from the card I / F18. The CPU 11 writes data such as operation data and video to the memory card 65 connected to the card I / F18. A built-in speaker 20 is connected to the voice I / F19. The speaker 20 emits a sound such as an alarm. The RTC21 (timekeeping unit) measures the current time. The display unit 22 is composed of an LCD (liquid crystal display) and displays not only communication and operation status but also alarms and the like.

Further, the vehicle-mounted device 10 has a sensor input I / F14, a camera I / F16, a communication unit 24, and a power supply unit 25.

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

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

Further, the camera 23 may be provided in plurality so as to be able to image not only the front of the vehicle but also the rear, left side, and right side of the vehicle, or a plurality of image sensors that image each direction may be provided in one housing. It may be contained in the body. Therefore, the camera 23 can simultaneously capture the image in the left-right direction and the image in the rear in addition to the image in front of the vehicle. The camera 23 may be capable of capturing images in any angle direction (for example, 45 ° direction), not limited to imaging in the front, left-right direction, and rear of the vehicle.

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

The locus creation unit 11a of the CPU 11 has at least one of the orientation and inclination of the vehicle (forklift) among the data input from the G sensor 27, the magnetic sensor 28, and the gyro sensor 29 via the sensor input I / F14. And the acceleration of the vehicle, the trajectory data indicating the trajectory of the vehicle is created. This trajectory data is created by using a known method. The locus data can be created by using either the magnetic sensor 28 or the gyro sensor 29 and the G sensor 27, but the accuracy of the locus data can be obtained by using all of the magnetic sensor 28, the gyro sensor 29, and the G sensor 27. Can be improved. Further, the position correction image matching unit 11b of the CPU 11 refers to the matching information database 56, and the captured image taken by the camera 23 mounted on the vehicle while the vehicle is moving is stored in the matching information database 56. It is determined whether or not the matching images MI1 to MI13 match (see FIG. 3). The position correction image matching unit 11b calculates the similarity rate (correlation rate) between the captured image and each of the matching images MI1 to MI13. Then, in the position correction image matching unit 11b, when the similarity rate is a predetermined value (first threshold value, for example, 60%) or more, the captured image has a similarity rate of any matching image MI1 of the predetermined value or more. It is determined that it matches with ~ MI13. Further, when the position correction image matching unit 11b determines that the captured image matches any of the matching images MI1 to MI13, the trajectory creating unit 11a uses the vehicle position information as the matching images MI1 to MI13. The correction is made based on the predetermined position corresponding to. For example, it is assumed that the position correction image matching unit 11b determines that the captured image captured by the camera 23 while the vehicle is moving matches the matching image MI1 which is an image captured in advance of the marking A1. In this case, the locus creation unit 11a corrects the vehicle position information based on the position information of the predetermined position P (see FIG. 2) with the marking A1, and uses the corrected vehicle position information to correct the locus data. Is recreated. The matching images MI1 to MI13 stored in the matching information database 56 are also held in the volatile memory 26B of the vehicle-mounted device 10, so that the vehicle-mounted device 10 is used for position correction without performing communication via the access point 8. The image matching unit 11b can make a determination. This configuration enables real-time image matching.

On the other hand, the office PC 30 is composed of PCs operating on a general-purpose operating system. The office PC 30 functions as a management device for managing the on-board unit 10, and includes a CPU 31, a communication unit 32, a display unit 33, a storage unit 34, a card I / F35, an operation unit 36, an output unit 37, a voice I / F38, and an external device. It has an I / F 48.

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

The display unit 33 displays an accident image and the like as well as an operation management screen including a locus in which the vehicle equipped with the on-board unit 10 has moved. The storage unit 34 stores various programs such as system analysis software for displaying the image received from the vehicle-mounted device 10 and displaying the position information of the vehicle on the map.

A memory card 65 is freely inserted and removed from the card I / F35. The card I / F 35 inputs operation data measured by the vehicle-mounted device 10 and stored in the memory card 65. The operation unit 36 has a keyboard, a mouse, and the like, and accepts operations by the manager of the office. The output unit 37 outputs various data. A speaker 42 is connected to the voice I / F 38. The manager of the office can issue an alarm to the driver of the vehicle by using the speaker 42.

In the present embodiment, the operation data held in the memory card 65 can be transferred to the office PC 30 by using the communication function of the wireless LAN, so that it is not necessary to remove the memory card 65 from the vehicle-mounted device 10. Further, the card I / F35 of the office PC30 can be omitted.

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

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

The position correction image matching unit 11b determines that any of the matching images MI1 to MI13 matches the captured image when the calculated similarity ratio exceeds a predetermined value (first threshold value) (step S13). In step S13, if neither the captured image nor the matching images MI1 to MI13 match, the CPU 11 ends the process. On the other hand, in step S13, when the captured image matches any of the matching images MI1 to MI13, the locus creation unit 11a is associated with the matching matching images MI1 to MI13 at a predetermined position on the premises (FIG. 2). The position information of the forklift is corrected based on (see step S15). For example, the locus creation unit 11a makes the locus represented by the locus data so that the position of the forklift at the time when the captured image is captured coincides with a predetermined position of any matching images MI1 to MI13 that match the captured image. , Correct the position information. Further, in step S15, the locus creation unit 11a recreates the locus data using the corrected position information. The trajectory data created by the trajectory creation unit 11a in this way may be stored in the volatile memory 26B, or may be transmitted to the office PC 30 and stored in the storage unit 34. Further, the locus data may be displayed by superimposing the map (premises map) data on the display unit 22 of the vehicle-mounted device 10 or the display unit 33 of the office PC 30. FIG. 5 is a diagram showing an example of the locus data L of the forklift created by the locus creation unit 11a. According to the locus management system 5 of the present embodiment, the locus creation unit 11a corrects the error in the position of the forklift based on the determination result by the position correction image matching unit 11b, so that accurate locus data L can be acquired. The accuracy of the trajectory data L is about the same as the trajectory data created by using GPS.

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

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

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

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

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

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

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

Furthermore, by arranging markings at intersections where multiple vehicles are likely to concentrate and managing the trajectories of multiple vehicles passing through these intersections, consideration such as shifting the work time and alleviating the concentration of multiple vehicles is taken into consideration. This makes it possible to improve work efficiency. By arranging the markings according to the purpose of the business operator in this way, it is possible to contribute to the business improvement of the business operator.

Here, the features of the trajectory management system and the vehicle-mounted device according to the above-described embodiment of the present invention are briefly summarized and listed below in [1] to [8], respectively.
[1] A trajectory management system including an on-board unit (10) mounted on a vehicle moving in a premises having markings (A1 to A13) at predetermined positions and a management device (office PC30) for managing the on-board unit. (5)
Trajectory creation units (11a, 31a) that create locus data (L) indicating the locus of movement of the vehicle based on at least one of the orientation and inclination of the vehicle and the acceleration of the vehicle.
With reference to a database (matching information database 56) that stores the correspondence between the matching images (MI1 to MI13) obtained by photographing the marking and the predetermined position in which the marking is placed, the marking is mounted on the vehicle while the vehicle is moving. A determination unit (position correction image matching unit 11b) for determining whether or not the captured image captured by the camera (23) matches the matching image is provided.
When the determination unit determines that the captured image and the matching image match, the trajectory creation unit corrects the position information of the vehicle based on the predetermined position, and uses the corrected position information. A locus management system characterized in that the locus data (L) is recreated.
[2] The determination unit calculates the similarity rate between the captured image and the matching image, and determines that the captured image and the matching image match when the similarity rate is equal to or greater than the first threshold value (predetermined value). The trajectory management system according to the above [1].
[3] When the similarity rate is equal to or higher than the first threshold value and less than the second threshold value (specified value) larger than the first threshold value, the matching image stored in the database is displayed. The trajectory management system according to the above [2], wherein the database is updated by changing to the marking image included in the captured image.
[4] It is characterized by including an alarm unit (CPU11) that creates a maintenance alarm signal indicating that maintenance of the marking is required when the number of updates of the database reaches the third threshold value (specified number of times). The locus management system according to the above [3].
[5] The trajectory management system according to any one of the above [1] to [4], wherein the database is provided in the vehicle-mounted device.
[6] The trajectory management system according to any one of the above [1] to [4], wherein the database is provided in the management device.
[7] An on-board unit (10) mounted on a vehicle moving in a premises having markings (A1 to A13) at predetermined positions.
A locus creation unit (11a) that creates locus data (L) indicating a locus of movement of the vehicle based on at least one of the orientation and inclination of the vehicle and the acceleration of the vehicle.
With reference to a database (matching information database 56) that stores the correspondence between the matching images (MI1 to MI13) obtained by photographing the marking and the predetermined position in which the marking is placed, the marking is mounted on the vehicle while the vehicle is moving. A determination unit (position correction image matching unit 11b) for determining whether or not the captured image captured by the camera (23) matches the matching image is provided.
When the determination unit determines that the captured image and the matching image match, the trajectory creation unit corrects the position information of the vehicle based on the predetermined position, and uses the corrected position information. An in-vehicle device characterized in that the trajectory data (L) is recreated.
[8] The trajectory creating unit includes at least one of a magnetic sensor (28) for detecting the direction of the vehicle and a gyro sensor (29) for detecting the inclination of the vehicle, and an acceleration sensor (29) for detecting the acceleration of the vehicle. 27) The vehicle-mounted device according to the above [7], characterized in that the trajectory data is created based on the output from and.

5 Trajectory management system 8 Access point 10 On-board unit 11 CPU
11a Trajectory creation unit 11b Position correction image matching unit 14 Sensor input I / F
16 Camera input I / F
17 Recording unit 18 Card I / F
19 Voice I / F
20 Speaker 21 RTC
22 Display unit 23 Camera 24 Communication unit 25 Power supply unit 26A Non-volatile memory 26B Volatile memory 27 Accelerometer 28 Magnetic sensor 29 Gyro sensor 30 Office PC
31 CPU
31a Trajectory creation unit 32 Communication unit 33 Display unit 34 Storage unit 35 Card I / F
36 Operation unit 37 Output unit 38 Voice I / F
42 Speaker 48 External I / F
56 Matching information database 65 Memory card A1 to A13 Marking MI1 to MI13, MI'1 to MI'13 Matching image

Claims (5)

A trajectory management system including an on-board unit mounted on a vehicle moving in a premises having a marking at a predetermined position and a management device for managing the on-board unit.
A locus creation unit provided in the vehicle-mounted device that creates locus data indicating a locus of movement of the vehicle based on at least one of the orientation and inclination of the vehicle and the acceleration of the vehicle.
With reference to a database that stores the correspondence between the matching image obtained by photographing the marking and the predetermined position in which the marking is arranged, the photographed image taken by the camera mounted on the vehicle while the vehicle is moving is described. It is provided with a determination unit provided in the vehicle-mounted device for determining whether or not the matching image matches.
When the determination unit determines that the captured image and the matching image match, the trajectory creation unit corrects the position information of the vehicle based on the predetermined position, and uses the corrected position information. the trajectory data to create again Te,
The determination unit calculates the similarity rate between the captured image and the matching image, and determines that the captured image and the matching image match when the similarity rate is equal to or greater than the first threshold value.
When the similarity ratio is equal to or higher than the first threshold value and less than the second threshold value larger than the first threshold value, the matching image stored in the database is designated as the marking included in the captured image. A trajectory management system characterized in that the database is updated by changing to the image of. A trajectory management system including an on-board unit mounted on a vehicle moving in a premises having a marking at a predetermined position and a management device for managing the on-board unit.
A locus creation unit provided in the management device that creates locus data indicating a locus of movement of the vehicle based on at least one of the orientation and inclination of the vehicle and the acceleration of the vehicle.
With reference to a database that stores the correspondence between the matching image obtained by photographing the marking and the predetermined position in which the marking is arranged, the photographed image taken by the camera mounted on the vehicle while the vehicle is moving is described. It is provided with a determination unit provided in the vehicle-mounted device for determining whether or not the matching image matches.
When the determination unit determines that the captured image and the matching image match, the trajectory creation unit corrects the position information of the vehicle based on the predetermined position, and uses the corrected position information. To recreate the trajectory data
The determination unit calculates the similarity rate between the captured image and the matching image, and determines that the captured image and the matching image match when the similarity rate is equal to or greater than the first threshold value .
When the similarity ratio is equal to or higher than the first threshold value and less than the second threshold value larger than the first threshold value, the matching image stored in the database is designated as the marking included in the captured image. by changing the image, trajectories management systems that is characterized by updating the database. The locus according to claim 1 or 2 , further comprising an alarm unit that creates a maintenance alarm signal indicating that maintenance of the marking is required when the number of updates of the database reaches the third threshold value. Management system. The trajectory management system according to any one of claims 1 to 3 , wherein the database is provided in the vehicle-mounted device. The locus management system according to any one of claims 1 to 3 , wherein the database is provided in the management device .

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