JPH06236211A - Vehicle managing device - Google Patents

Abstract

PURPOSE:To improve the efficiency of vehicle management by exactly grasping the position of a vehicle by providing a mobile GPS receiver on the vehicle so as to receive radio waves from an artificial satellite and performing the centralized control of the vehicle based on respective position measurement data transmitted from this receiver. CONSTITUTION:Time signal waves from an artificial satellite 1 are measured at the same time by a fixed GPS receiver 6 and a mobile GPS receiver 15. Position measurement data NX and EX from the mobile GPS receiver 15 installed at a conveying vehicle 2 are transmitted through a transmission part and a reception part to a corrected position arithmetic means. The corrected position arithmetic means compares position measurement data Na' and Ea' from the fixed GPS receiver 6 with previously stored true values Na and Ea, and the result is calculated as a correction vector. Based on the correction vector and the position measurement data NX and EX from the mobile GPS receiver 15, the value of correction data showing the exact position is calculated by a minimum square method. Corresponding to these correction data, a control part 8 performs the centralized control to the exact position of the mobile GPS receiver 15 at real time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle management device such as a truck for loading and unloading luggage and materials at a large-scale truck terminal or a construction site.

[0002]

2. Description of the Related Art Truck terminals are used to increase cargo transportation capacity and congestion on the streets. Therefore, space is provided for unloading and relaying transport vehicles to help increase cargo transportation capacity and alleviate street congestion. With the increase in the amount of transportation in recent years, the scale and the number of vehicles used are also increasing. In addition to truck terminals, there are large-scale construction sites, etc., where transport vehicles are concentrated, and for example, in large-scale construction such as dam construction, port reclamation, airport construction, etc., materials are installed on the construction site. There are a lot of transport vehicles in and out. In all of these cases, the arrival time is designated in advance, or the vehicle is guided by an instruction from a terminal or a field organizer.

[0003]

In a place where a plurality of transport vehicles load and unload luggage or materials, such as the above-mentioned large-scale truck terminal or a construction site, the transport vehicles tend to concentrate depending on the time zone, and Even if the arrival time etc. was specified, the time was mixed up depending on the road condition, and it was difficult to alleviate the congestion even if a arranging staff was assigned. And
For example, in a large-scale truck terminal, there are many loading and unloading areas within the large site area, and vehicles waiting for unloading are concentrated in one unloading location, causing congestion, and the efficiency of unloading decreases. there were. In the past, it has been difficult to sort out how a vehicle is operating in a large-scale truck terminal or a construction site because it is difficult to understand how the vehicle is operating.

Therefore, the present invention can be applied to a place where many vehicles come and go such as a truck terminal or a construction site.
An object of the present invention is to provide a vehicle management device capable of accurately grasping the position of the vehicle and efficiently performing vehicle management.

[0005]

SUMMARY OF THE INVENTION The present invention is based on a plurality of movable vehicles provided with a GPS receiver capable of receiving radio waves from artificial satellites, and positioning data transmitted from the GPS receivers. And a control means for centrally controlling the vehicle.

[0006]

With the above structure, the moving position G is calculated by calculating the error between the positioning data obtained by the fixed GPS receiver and the true value with reference to the known coordinate data by the correction position calculating means.
The error between the positioning data obtained by the PS receiver and the true value is corrected. With this, the position of each vehicle is grasped, and the centralized control is performed by the control means.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS. FIG. 1 shows a schematic diagram of the system configuration. In FIG. 1, reference numeral 1 is a well-known artificial satellite equipped with an atomic clock.
Extremely accurate time signal waves are transmitted at a center frequency of GHz and about 1.57 GHz, and the system is open to the private sector and can be freely received on the earth. Reference numeral 2 denotes a plurality of self-propelled transporting vehicles for loading and unloading at a truck terminal T, which includes an antenna 3 capable of receiving a time signal wave from the artificial satellite 1. On the other hand, 4 is a terminal management room 4 which is a fixed station installed in the premises of the truck terminal T, and this terminal management room 4 is also provided with an antenna 5 capable of receiving a time signal wave from the artificial satellite 1. ing. Then, bidirectional data transmission is performed between the transport vehicle 2 and the terminal management room 4 via the antennas 3a and 5a.

Next, the internal structure of the terminal management room 4 will be described.
A description will be given based on FIG. In the figure, 6 is a fixed GPS receiver integrated with the antenna 5. As is well known, the GPS receiver 6 compares the built-in clock circuit with the time signal wave from the artificial satellite 1 and In addition to displaying the longitude, latitude and altitude positioning data based on the comparison result in real time, the data is output to the outside via a connector or the like. On the other hand, 7 is a computer processing device having an image processing function and an arithmetic processing function of various data,
The computer processing device 7 includes a CPU, ROM, RA
M, a control unit 8 which is a control means including an input / output circuit, an input operation unit 9 as a keyboard device,
It includes a display unit 10 such as a television monitor device. Also,
Reference numeral 11 denotes a transceiver such as a transceiver connected to the antenna 5a, and a receiving unit 12 that centrally receives positioning data from each transport vehicle 2 side and a transmission unit 13 that transmits correction data to each transport vehicle 2. Composed of and. The GPS
The receiver 6 is installed at a known coordinate position where accurate latitude, longitude, and altitude are measured in advance by a surveying instrument, etc., and the coordinate position of the GPS receiver 6 is a correction position provided inside the control unit 8. It is stored in the calculation means 14 as a true value. Further, if necessary, it is possible to provide a plurality of GPS receivers 6 and 6 ′ whose accurate coordinate positions are similarly known. The corrected position calculating means 14 calculates the difference between the positioning data transmitted from the fixed GPS receiver 6 and the coordinate position stored in advance as a positioning error, and the position is transmitted from the transport vehicle 2 side based on this positioning error. The error of each positioning data is corrected. The correction data indicating the accurate position thus obtained is output from the correction position calculation means 14 to the outside via the transmitter 13 of the transmitter / receiver 11.

FIG. 3 shows the structure of the transport vehicle 2. In the figure, reference numeral 15 denotes a mobile GPS receiver integrated with the antenna 3, which is provided in the transport vehicle 2 with the same configuration as the fixed GPS receiver 6, and positioning data from the GPS receiver 15 is stored in the CPU, ROM, It is transmitted to the control unit 16 including a RAM, an input / output circuit and the like. Reference numeral 17 denotes a transceiver such as a transceiver connected to the antenna 3a, and a transmitter 18 for transmitting the positioning data obtained by the mobile GPS receiver 15 to the terminal management room 4, and the terminal management room 4 side. Receiver 19 for receiving correction data of
Composed of and. The control unit 16 includes an operation unit 20 for input as a keyboard device, the number of distances to the truck terminal T based on the correction data, and the terminal management room 4
The number of the loading / unloading gate instructed by the operator, the display 21 such as an LCD for displaying various information such as the gate and the arrival time at the truck terminal T are connected, and the operation unit 20 for the input or a separate input Various information such as the type, number, and destination of loaded luggage or various vehicle information such as belonging of the transport vehicle 2 and loadable capacity can be input from the device to the control unit 8.

Although not shown, the control unit 8 has a screen display means for displaying the position of each transport vehicle 2 in the truck terminal T at the same time as the terminal map based on the correction data from the correction position calculation means 14. Furthermore, the transportation vehicle 2 is tracked while the vehicle is traveling on the road outside the truck terminal T, and its position and elapsed time are displayed on the display unit 10 together with the road map screen near the truck terminal T. Further, there is also provided a screen enlarging / reducing means for arbitrarily reducing and enlarging the map screen in FIG. 2 to perform overall monitoring and partial monitoring of the operation state of the transport vehicle 2 on the road near the truck terminal T. further,
The control unit 8 controls the transport vehicle 2 in the truck terminal T.
From this position, a vacant loading / unloading gate is provided with a travel instruction means (not shown) for instructing the travel of the transport vehicle 2, and this travel instruction means is controlled by the transmitters / receivers 11, 17 or the display unit 21 of the transport vehicle 2 or the control. The number of the vacant loading / unloading gate is designated via the voice generating means 22 such as a speaker for generating voice by the unit 16. Furthermore, the control unit 8 includes
The vehicle information of the transport vehicle 2 is input via the transmission / reception devices 11 and 17, the input vehicle information is stored, various data can be displayed on the display unit 10, and the truck terminal is based on the vehicle information. In order to indicate the gate to be used at T, it is possible to make a notification from the transmission / reception devices 11 and 17 via the display unit 21 provided in the transport vehicle 2 or the voice generating means 22. Further, the control unit 8 includes vehicle operation storage means (not shown), and from the position of the transportation vehicle 2 obtained from the correction data, the truck terminal T of the transportation vehicle 2 can be obtained.
It is possible to store and manage the arrival time, the unloading time, the departure time, etc., and the progress instruction means sets the loading / unloading gate on the transport vehicle 2 according to the order of the arrival times stored by the vehicle operation storage means. I am supposed to give you instructions.

Next, the operation of the above configuration will be described. First, the method of error correction in this apparatus will be described with reference to FIG. As a prerequisite, one or more fixed G
It is assumed that the true values of the coordinate positions of the PS receivers 6 and 6'have been measured in advance by surveying or the like. For the sake of convenience, consider the case where there are two fixed GPS receivers 6 and 6'stations. Further, here, the altitude is not taken into consideration, and the true values of the latitude and longitude in one fixed GPS receiver 6 are (Na, Ea), and the other fixed GPS receiver 6
Let the true values of the latitude and longitude in ′ be (Nb, Eb).
At this time, if positioning is performed by the GPS receivers 6, 6 ', 15 in the specific area at the same time t, the error factors due to the influence of the ionosphere and the atmosphere and the error due to the S / A are almost uniform. Therefore, the error between the positioning value (Nx, Ex) of the mobile GPS receiver 15 and the true value at a certain time t is fixed GPS receivers 6, 6 ′ which are positioned at the same time t.
Is equal to the difference between the positioning values (Na ', Ea'), (Nb ', Eb') and the true values (Na, Ea), (Nb, Eb). That is, the positioning error in the fixed GPS receiver 6, that is, the correction vector Va (ΔNa, ΔEa) is Va.
(ΔNa, ΔEa) = (Na, Ea) − (Na ′, Ea
′). Further, the positioning error in the fixed GPS receiver 6 ′, that is, the correction vector Vb (ΔNb,
ΔEb) is Vb (ΔNb, ΔEb) = (Nb, Eb)
It is represented as-(Nb ', Eb'). The point that minimizes the sum of the distances from the two points obtained by these correction vectors Va and Vb and the positioning value (Nx, Ex) of the mobile GPS receiver 15 is the accurate positioning value (Nx, Ex). It becomes the correction data which shows the correct position. Further, if the error between the fixed GPS receivers 6 and 6'at a certain time t is uniform, accurate correction data can be obtained by the single fixed GPS receiver 6. When each GPS receiver 6, 6 ', 15 calculates a positioning value based on a plurality of time signal waves having strong signal levels, the GPS receivers 6, 6', 15 receive different time signal waves. In order to remove the error factor due to the above, the GPS receivers 6, 6 ′, 15 can receive the time signal wave from the same artificial satellite 1 by the control signals from the control units 8, 16 in FIGS. 2 and 3. You may

Referring again to FIGS. 1 to 3, in the present embodiment, the time signal wave from the artificial satellite 1 is transmitted by the fixed GPS receiver 6 and the mobile GPS receiver 15 to about 5 at the same time t.
Position every second. At this time, the positioning data (Nx, Ex) from the mobile GPS receiver 15 installed in the transport vehicle 2 is
It is transmitted to the corrected position calculating means 14 of the controller 8 provided on the terminal management room 4 side via the transmitter 18 and the receiver 12. On the other hand, the positioning data from the fixed GPS receiver 6 (Na
′, Ea ′) is compared with the prestored true value (Na, Ea) in the correction position calculation means 14, and the comparison result is calculated as the above-described correction vector Va (ΔNa, ΔEa). Then, by the method of least squares, the correction vector V
A value of correction data indicating an accurate position is calculated based on a (ΔNa, ΔEa) and the positioning data (Nx, Ex) from the mobile GPS receiver 15. The control unit 8 centrally controls the accurate position of the mobile GPS receiver 15 in real time based on this correction data, and controls the display on the display unit 10 and the like. Then, from the obtained position of the transportation vehicle 2, the control unit 8 determines, by the arrival time of the transportation vehicle 2 to the truck terminal T, or the like,
The transport vehicle 2 is guided to an empty loading / unloading gate to centrally control the operation of the transport vehicle 2 in the truck terminal T.

As described above, according to the above embodiment, a plurality of movable transport vehicles 2 provided with a mobile GPS receiver 15 capable of receiving radio waves from the artificial satellite 1, and the mobile GPS.
Since it is provided with the control unit 8 which is a control means for centrally controlling the transportation vehicle 2 based on each positioning data transmitted from the receiver 15, the position of each transportation vehicle 2 is grasped and managed in the truck terminal T. The efficiency of loading and unloading work can be improved.

As an effect of the embodiment, in the method using the conventional global positioning system, in addition to the essential error factors such as the clock of the satellite, the orbit error, the delay of the radio wave due to the ionosphere and the atmosphere,・ Due to an error factor called "availability (S / A)" due to intentional deterioration of accuracy by the operator, the current position measurement accuracy of the GPS receiver is about 15 mRMS (RMS: root mean square). On the other hand, in the present embodiment, the fixed GPS receiver 6 is simply installed at a point where the accurate coordinate position is known, and the correction position calculating means 14 provided in the control unit 8 is provided.
With this, the positioning error between the positioning data transmitted from the fixed GPS receiver 6 and the coordinate position is calculated, and the accurate position of the mobile GPS receiver 15 provided in the transport vehicle 2 is used as the correction data based on this positioning error. With a simple system configuration of seeking, it is possible to manage the position of each transportation vehicle 2, and in a certain area such as the truck terminal T,
The position of the transport vehicle 2 can be accurately grasped.

FIG. 5 shows a second embodiment of the present invention. The same parts as those of the first embodiment are designated by the same reference numerals and detailed description thereof will be omitted. An example in which the position of the transportation vehicle 2 and the terminal map are simultaneously displayed on the display unit 10 by the provided screen display unit is shown. In the figure, the screen display unit displays on the screen of the television monitor device or the like as the display unit 10. , An outline 31 representing the site of the truck terminal T and a frame 33 representing a plurality of loading / unloading gates 32 are displayed, and the transportation vehicle is obtained from the correction data obtained in the same manner as in the first embodiment. The position 2 is displayed as a display point 34. Then, the viewer of the display unit 10 gives a traveling instruction to each of the transport vehicles 2 by the display unit 20 or the voice generating means 22 via the transmitting / receiving devices 11 and 17, and the transport vehicles 2 on standby, for example, as indicated by arrow Y. Vacant gate 32
Or guide the transport vehicles 2 lined up in the crowded gate 32 as shown by arrow Z to the vacant gate 32. Further, the guidance can be performed by the control unit 8 by a computer program installed in advance. Also,
Display unit by screen enlarging and reducing means provided in the control unit 8
The screen of 10 is displayed in a reduced size, and the transportation vehicle 2 on the road is supplemented together with the road map screen near the truck terminal T. If the inside of the truck terminal T is crowded, the transportation vehicle 2
It is also possible to issue a detour instruction to alleviate the congestion at the truck terminal T.

FIG. 5 shows a third embodiment of the present invention, in which the same parts as those in the first embodiment are designated by the same reference numerals and detailed description thereof will be omitted. , An example used for management of the transport vehicle 2 in large-scale construction such as harbor landfill, airport construction, etc., and as shown in the figure, in the construction site K area or in the vicinity thereof, a control room of the same configuration of the first embodiment 4, and a loading amount measuring device 41 is provided at the carry-in port of the transportation vehicle 2. The loading amount measuring device 41 is a well-known device on which the transportation vehicle 2 rides and measures its weight.
A transmitter 42 for transmitting the weight data of the transport vehicle 2 is provided at 31 and the weight data is transmitted to the control unit 8 via an antenna 42a connected to the transmitter 42 and the antenna 5a. In this example, the control unit 8 aggregates the weight data when the transport vehicle 2 is loaded and the weight data when the transport vehicle 2 is unloaded, and the display unit
It is possible to display it on 10, and it is possible to centrally manage the amount of earth and sand brought in by a transportation vehicle in a landfill. Then, similarly to the first embodiment, the accurate position of the mobile GPS receiver 15 is centrally controlled in real time by the correction data, the display on the display unit 10 is controlled, and the operation of the transportation vehicle 2 in the construction site K is performed. Are centrally controlled in the control room 4.

As described above, according to the above embodiment, a plurality of movable transport vehicles 2 provided with a mobile GPS receiver 15 capable of receiving radio waves from the artificial satellite 1, and the mobile GPS.
Since it is provided with the control unit 8 which is the control means for centrally controlling the transportation vehicles 2 based on the respective positioning data transmitted from the receiver 15, the position of each transportation vehicle 2 can be grasped and managed, and the loading / unloading can be performed. Work efficiency can be improved.

The present invention is not limited to the above embodiment, and various modifications can be made within the scope of the present invention. For example, although the fixed GPS receiver is installed in the management room together with the control unit in the embodiment, the fixed GPS receiver can be installed at an arbitrary location outside the management room by measuring an accurate coordinate position in advance. is there. Also,
If a centralized management system for packages or materials to be unloaded, which is integrated with or separate from the control unit, is added as a software function, various types of information such as the type, number, and destination of loaded packages, the affiliation of the transport vehicle, and loading Based on various vehicle information such as the possible amount, it is possible to output the data of the entire data regarding the loading and unloading of the truck terminal or the construction site, and it is possible to further promote the unified management of the truck terminal or the construction site.

[0019]

According to the present invention, a plurality of movable vehicles provided with a mobile GPS receiver capable of receiving radio waves from an artificial satellite, and the vehicle based on each positioning data transmitted from the mobile GPS receiver. Since it is configured by a control means for centrally controlling the vehicle, it is possible to accurately grasp the position of the vehicle at a place where many vehicles come in and go out, such as a truck terminal or a construction site, and perform vehicle management efficiently. It is possible to provide a vehicle management device that can do this.

[Brief description of drawings]

FIG. 1 is a schematic explanatory view showing a first embodiment of the present invention.

FIG. 2 is an internal configuration diagram of the same management room.

FIG. 3 is an internal configuration diagram of the same vehicle.

FIG. 4 is an explanatory diagram showing a method of error correction according to the above.

FIG. 5 is an explanatory diagram of a screen of a display unit showing a second embodiment of the present invention.

FIG. 6 is a schematic explanatory view showing a third embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Artificial satellite 2 Transport vehicle (vehicle) 6,6 'Fixed GPS receiver 8 Control part (control means) 14 Corrected position calculation means 15 Mobile GPS receiver

Claims (1)

[Claims] 1. A mobile G capable of receiving radio waves from an artificial satellite.
A vehicle management device comprising: a plurality of movable vehicles provided with a PS receiver; and control means for centrally controlling the vehicles based on each positioning data transmitted from the mobile GPS receiver. .