JP6358637B1 - Dispatch system - Google Patents

Abstract

There is provided a vehicle allocation system that allows a user to easily request a vehicle allocation and that allows the user to use a manned unmanned combined vehicle as desired.
A vehicle allocation system includes a plurality of forklifts, a camera, and a management device. Based on the image data generated by the camera 2, it is determined whether or not the users H1 and H2 are requesting the dispatch. If the users H1 and H2 request the dispatch, the users H1 and H2 are eligible. It is determined whether it is a person. If the users H1 and H2 are qualified persons, the management device 3 instructs two of the plurality of forklifts 1 to go to the identification information of qualified persons corresponding to the users H1 and H2 and the vehicle dispatch request place P. And a dispatch signal for transmission. The management device 3 determines whether or not the user H1 is requesting a change of dispatch, and if the user H1 requests a change of dispatch, the forklift 1 assigned to the users H1 and H2 is replaced.
[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 conventional method described above, since the user has to operate the portable terminal or the like, it is very time-consuming to request for dispatch. Further, in the above conventional method, if the user loses the portable terminal, the user cannot request a vehicle dispatch.

  Further, the conventional method does not take into account the case where a manned unmanned vehicle that does not meet the user's request is dispatched to the user. For this reason, the user may be forced to perform work using a manned unmanned vehicle of a type unfamiliar with the operation. This is not preferable in terms of work efficiency.

  Accordingly, an object of the present invention is to provide a vehicle allocation system that allows a user to easily request a vehicle allocation and that allows the user to use a manned unmanned combined vehicle as desired.

  In order to solve the above problems, a vehicle allocation system according to the present invention includes a plurality of manned and unmanned vehicles capable of switching between a manned operation mode and an unmanned operation mode, a camera that generates image data of a predetermined vehicle allocation request location, A management device capable of communicating with each of the manned and unmanned vehicles, and the management device is a qualified person related to the appearance characteristics of a qualified person authorized to use the manned and unmanned vehicle in the manned driving mode. Vehicle allocation for determining whether or not the first and second users are requesting allocation of the manned unmanned combined vehicle based on the image data and the storage unit that stores identification information including feature data in advance A request determination unit, a user feature data extraction unit that extracts user feature data relating to appearance features of the first and second users from the image data, and the dispatch request determination unit. When it is determined that the first user is requesting the dispatch, the first user is checked by comparing the user feature data of the first user with the qualified user feature data. Is determined to be the qualified person, and when it is determined by the dispatch request determination unit that the second user is requesting the dispatch, the user characteristics of the second user are determined. A qualified person authentication unit that determines whether the second user is the qualified person by collating data with the qualified person characteristic data, and the qualified user authentication unit allows the first user to When it is determined that the person is qualified, the identification information of the qualified person corresponding to the first user in the first manned unmanned combined vehicle that is one of the plurality of manned unmanned combined vehicles. Go to at least a part of the vehicle When the second person is determined to be the qualified person by the qualified person authentication unit, another one of the plurality of manned and unmanned vehicles is used. A command unit for transmitting at least part of the identification information of the qualified person corresponding to the second user and the dispatch signal to a second manned unmanned vehicle, and the first and second manned unmanned vehicles A change request determination unit that determines whether or not the first and second users are requesting a change of the vehicle allocation based on the image data generated after the vehicle allocation signal is transmitted to the vehicle; And when the change request determination unit determines that the first user is requesting the change of the dispatch, the command unit sends the first manned unmanned vehicle to the first manned combined vehicle. A small amount of the identification information of the qualified person corresponding to the user At least a part is transmitted, and at least a part of the identification information of the qualified person corresponding to the second user is transmitted to the first manned unmanned vehicle.

  As a preferable configuration of the command unit of the dispatch system, for example, when the change request determination unit determines that the first user is requesting the change of the dispatch, the first user is If it is a person who requested the dispatch after the second user, a stop signal for stopping the dispatch is sent to the first manned unmanned combined vehicle dispatched to the first user, At least a part of the identification information of the qualified person corresponding to the first user and the dispatch signal are sent to a third manned unmanned combined vehicle, which is another one of the plurality of unmanned unmanned combined vehicles. A configuration of transmitting is conceivable.

  As another preferable configuration of the command unit of the vehicle allocation system, for example, when the change request determination unit determines that the first user requests a change of the vehicle allocation for the second time, A stop signal for stopping the dispatch to the two manned unmanned vehicles, and the first use of the third manned unmanned vehicle as another one of the plurality of manned unmanned vehicles. A configuration in which at least a part of the identification information of the qualified person corresponding to the person and the dispatch signal are transmitted is conceivable.

  As a specific configuration of the vehicle allocation request determination unit of the vehicle allocation system, for example, based on the image data, the operation of the first and second users is detected, and the operation is determined in advance. A configuration may be considered in which it is determined that the first and second users who have performed the vehicle allocation request specific behavior request the vehicle allocation when the vehicle allocation request specific behavior is to request vehicle allocation. Further, as another specific configuration of the dispatch request determination unit of the dispatch system, for example, the positions of the first and second users are detected based on the image data, and the positions are determined in advance. A configuration may be considered in which, when it is a specific position for requesting the dispatch, it is determined that the first and second users at the specific position are requesting the dispatch.

  As a specific configuration of the change request determination unit of the vehicle allocation system, for example, based on the image data, the operation of the first and second users is detected, and the operation is determined in advance. The configuration is such that, when it is a change request specific behavior for requesting a change of dispatch, it is determined that the first and second users who have performed the change request specific behavior request change of the dispatch. Can be considered.

  As a preferable configuration of the manned unmanned vehicle of the vehicle allocation system, for example, based on the identification information storage unit that stores the identification information transmitted from the command unit, and the identification information stored in the identification information storage unit Thus, a configuration is possible in which the first and second users to be boarded have a user authentication unit that determines whether or not they are qualified persons.

  According to the present invention, it is possible to provide a vehicle allocation system that allows a user to easily request a vehicle allocation and that allows the user to use a manned unmanned vehicle as desired.

It is a schematic diagram of a dispatch system concerning one embodiment of the present invention. It is a functional block diagram of the vehicle allocation system shown in FIG. (A) is a figure which shows an example of the specific position in the dispatch system which concerns on the modification of embodiment shown in FIG. 1, (b) is a figure which shows another example of a specific position. It is a schematic diagram of the vehicle allocation system which concerns on the modification of embodiment shown in FIG.

  Hereinafter, an 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 S according to an embodiment of the present invention. The vehicle allocation system S according to the present embodiment includes a plurality of forklifts 1, a vehicle allocation request place P, a camera 2, a management device 3, a wireless communication device 4, and a notification device 5. The vehicle allocation system S is configured to allocate the forklift 1 to the users H1 and H2 in response to a vehicle allocation request from a user (users H1 and H2 in FIG. 1) existing at the vehicle allocation request location P. .

  The vehicle allocation request location P includes a position where the users H1 and H2 make a vehicle allocation request toward the camera 2 and a stop position Q where the forklift 1 stops.

  The forklift 1 can switch between a manned operation mode that operates by a manual operation of a passenger (for example, a user H1 who is on the forklift 1) and an unmanned operation mode that operates autonomously without performing a manual operation. It is a manned and unmanned vehicle.

  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. When the users H1 and H2 exist at the vehicle dispatch request place P, the camera 2 generates image data of the users H1 and H2.

  The management device 3 detects the users H1 and H2 based on the image data generated by the camera 2, and determines whether or not the actions of the users H1 and H2 are any of a plurality of predetermined specific behaviors. , The request of the users H1 and H2 (for example, a request for dispatch) is accepted. Furthermore, the management device 3 instructs the forklift 1 to perform an operation corresponding to the request of the users H1 and H2 (for example, movement to the stop position Q).

  As shown in FIG. 2, the management device 3 includes a vehicle allocation request determination unit 31, a user feature data extraction unit 32, a storage unit 33, a qualified person authentication unit 34, a vehicle information storage unit 35, a command unit 36, and a change request determination. A portion 37 is provided.

(1) First, the operation of each part of the management device 3 when the forklift 1 is dispatched in response to a request for dispatch from the users H1, H2 existing at the dispatch request location P will be described.

  Based on the image data generated by the camera 2, the vehicle allocation request determination unit 31 determines whether or not the users H <b> 1 and H <b> 2 are requesting vehicle allocation.

  In the present embodiment, the vehicle allocation request determination unit 31 detects the users H1 and H2 based on the image data generated by the camera 2 and detects the operations of the users H1 and H2, and the detected operations are determined in advance. It is determined that the users H1 and H2 request the vehicle allocation when the specific behavior for requesting the vehicle allocation (hereinafter referred to as “vehicle allocation request specific behavior”). The detection of the movements of the users H1 and H2 is based on, for example, the joint points (neck, shoulder, elbow, and wrist joint points) on the body of the users H1 and H2 based on the image data generated by the camera 2. This is performed by a method of converting two-dimensional coordinates into data and numerically analyzing how each part of the body or the whole body is moving. In the present invention, the method for detecting the operations of the users H1 and H2 is not particularly limited.

  In the present embodiment, the vehicle allocation request determination unit 31 determines that it is the vehicle allocation request specific behavior when the detected operation is a raising hand operation that raises the hand or arm higher than the head.

  Based on the image data generated by the camera 2, the user feature data extraction unit 32 extracts user feature data related to appearance features (face features in the present embodiment) of the users H <b> 1 and H <b> 2.

  The storage unit 33 includes identification information (in the present embodiment, each qualified person's data) that includes qualified person characteristic data related to the appearance characteristics of a qualified person (hereinafter simply referred to as “qualified person”) who has the authority to board the forklift 1. First qualified person feature data relating to facial features and second eligible person feature data relating to fingerprint features of each eligible person) are stored in advance.

  The qualified person authentication unit 34 determines whether or not the users H1 and H2 are qualified persons when the allocation request determination unit 31 determines that the users H1 and H2 request allocation.

  In the present embodiment, the qualified person authentication unit 34 includes the user feature data of the users H1 and H2 extracted by the user feature data extraction unit 32 and the first qualified person feature data stored in the storage unit 33. The degree of coincidence between both data is calculated by comparing the two, and if the degree of coincidence is higher than a predetermined threshold, it is determined that the users H1 and H2 are qualified persons.

  The vehicle information storage unit 35 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 35 is updated to the latest information every time a predetermined time elapses (for example, every few seconds).

  When the qualified person authenticating part 34 determines that the users H1 and H2 are qualified persons, the command part 36 receives a plurality of forklifts 1 based on the latest vehicle information stored in the vehicle information storage part 35. Forklifts 11 and 12 that can be quickly moved to the stop position Q are selected.

  In the present embodiment, the command unit 36 selects the forklift 11 that is closest to the stop position Q among the forklifts 1 that are not transporting the luggage N in response to a request for dispatch from the user H1. In addition, the command unit 36 selects the forklift 12 located next to the stop position Q next to the forklift 11 in response to the request for dispatching from the user H2 made after the request for dispatching from the user H1. . When all the forklifts 1 are transporting the luggage N, the command unit 36 makes a selection based on the distance between all the forklifts 1 and the stop position Q.

  Further, the command unit 36 refers to the storage unit 33, and instructs the selected forklift 11 at least a part of the identification information of the qualified person corresponding to the user H1 and the dispatch signal for instructing to go to the dispatch request place P. (Hereinafter, simply referred to as “vehicle dispatch signal”). Similarly, the command unit 36 refers to the storage unit 33 and transmits at least a part of identification information of qualified persons corresponding to the user H2 and a dispatch signal to the selected forklift 12.

  In the present embodiment, the command unit 36 transmits second qualified person feature data relating to the characteristics of the fingerprints of qualified persons corresponding to the users H1 and H2 as part of the identification information.

(2) Next, the operation of each part of the management apparatus 3 when there is a request to change the dispatch from the users H1 and H2.

  The change request determination unit 37 requests one of the users H1 and H2 to change the vehicle allocation after the vehicles H1 and H2 are dispatched (that is, after a dispatch signal is transmitted to the forklifts 11 and 12). It is determined whether or not.

  In the present embodiment, the change request determination unit 37 determines whether the vehicle allocation request determination unit 31 performs the operations of the users H1 and H2 based on the image data generated by the camera 2 after the vehicles H1 and H2 are allocated. Detecting the actions of the users H1 and H2 in the same manner as the detecting technique, and the detected action is a predetermined specific behavior (hereinafter referred to as “change request specific behavior”) for requesting a change of dispatch. It is determined whether or not there is.

  In the present embodiment, the change request determination unit 37 has the change request specific behavior when the detected motion of the users H1 and H2 is an operation of crossing both hands above the head to express a character of x (cross). judge.

  When the change request determination unit 37 determines that the operation of one of the users H1 and H2 (for example, the user H1) is a change request specific behavior, the command unit 36 is a forklift that has been dispatched to the user H1. 11, at least a part of the identification information corresponding to the user H2 is transmitted, and at least a part of the identification information corresponding to the user H1 is transmitted to the forklift 12 dispatched to the user H2. In other words, if there is a request to change the dispatch from either of the users H1 and H2, the command unit 36 switches the assignment of the forklifts 11 and 12 to the users H1 and H2.

(3) Next, the operation of each part of the management device 3 when the user H1 requests a second change of dispatch after the user H1 requests a change of dispatch will be described.

  After the assignment of the forklifts 11 and 12 to the users H1 and H2 is changed by the command unit 36, the change request determination unit 37 determines whether the user H1 is assigned for the second time based on the image data generated by the camera 2. Determine whether a change is requested.

  When the change request determination unit 37 determines that the user H1 has requested a change in the second allocation, the command unit 36 cancels the allocation to the forklift 12 assigned to the user H1 at this time. Signal (hereinafter referred to as “cancellation signal”).

  At this time, the command unit 36 dispatches another forklift 1 to the user H1 who has requested the change of the second dispatch.

  In the present embodiment, the command unit 36 selects one forklift 1 that can be quickly moved from the plurality of forklifts 1 except the forklifts 11 and 12 to which the vehicle has been dispatched to the stop position Q based on the latest vehicle information. Then, at least a part of the identification information of the qualified person corresponding to the user H1 who has requested the forklift 1 to change the dispatch, and a dispatch signal are transmitted.

  The users H1 and H2 can request the change of the allocation many times until the desired forklift 1 is allocated. The command unit 36 selects an alternative forklift 1 every time a change in vehicle allocation is required, and distributes the alternative forklift 1 to the users H1 and H2.

  Referring to FIG. 1 again, the unmanned forklift 1 moves toward the stop position Q when it receives a dispatch signal transmitted from the management device 3 (wireless communication device 4). 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. Further, when the forklift 1 that is moving to the stop position Q receives the stop signal transmitted by the management device 3 (wireless communication device 4), the forklift 1 immediately stops the movement.

  As shown in FIG. 2, the forklift 1 includes an identification information storage unit 101, a user authentication unit 102, and an operation mode switching unit 103.

  The identification information storage unit 101 transmits the identification information transmitted by the command unit 36 (that is, at least a part of identification information of qualified persons corresponding to the users H1 and H2; in the present embodiment, second qualified person characteristic data). Remember. When new identification information is transmitted by the command unit 36, the identification information storage unit 101 discards the identification information stored so far and stores the new identification information.

  After the forklift 1 stops at the stop position Q, the user authentication unit 102 determines whether the users H1 and H2 who are going to board are eligible persons corresponding to the identification information stored in the identification information storage unit 101. judge. In other words, the user authentication unit 102 determines whether or not the forklift 1 is assigned to the users H1 and H2 (hereinafter referred to as “specific users”).

  In the present embodiment, the user authentication unit 102 includes a fingerprint sensor that reads the fingerprints of the users H1 and H2. The user authentication unit 102 compares the fingerprint read by the fingerprint sensor with the identification information (second qualified person feature data) stored in the identification information storage unit 101 to calculate the degree of coincidence of both data, and If the degree is higher than a predetermined threshold, it is determined that the users H1 and H2 are specific users.

  In the present embodiment, the operation mode switching unit 103 is a switch or lever for switching between a manned operation mode and an unmanned operation mode. In this embodiment, once the operation mode switching unit 103 is switched from the manned operation mode to the unmanned operation mode, the user authentication unit 102 locks the operation mode switching unit 103 so that switching from the unmanned operation mode to the manned operation mode cannot be performed. Is made.

  When the user authentication unit 102 determines that the users H1 and H2 are specific users, the user authentication unit 102 unlocks the operation mode switching unit 103.

  Referring again to FIG. 1, the wireless communication device 4 is provided in a place where wireless communication with the forklift 1 is possible, and is transmitted from the management device 3 by relaying communication between the management device 3 and the forklift 1. A dispatch signal, identification information, and a stop signal are transmitted to the forklift 1 by radio.

  The notification device 5 is provided in the vicinity of the vehicle allocation request place P. The notification device 5 notifies the users H1 and H2 by a visual or audible method that the management device 3 has received a request to change the allocation of the users H1 and H2 or a change in allocation. In the present invention, the notification method is not particularly limited.

  According to the vehicle allocation system S configured as described above, the following effects can be obtained.

  (1) When it is determined that the motion of the users H1 and H2 is the vehicle allocation request specific behavior that raises the hand or arm and it is determined that the users H1 and H2 are qualified, the users H1 and H2 On the other hand, the forklift 1 is dispatched. For this reason, the users H1 and H2 can request a vehicle allocation by simply raising their hands or arms at the vehicle allocation request location P without operating a mobile terminal or the like.

  (2) If it is determined that any of the operations of the users H1 and H2 after the vehicles H1 and H2 have been dispatched is the change request specific behavior, the forklift 11 assigned to the user H1; The forklift 12 assigned to the user H2 is replaced. For this reason, even if the forklift 1 that does not meet the request is dispatched, the users H1 and H2 can simply request the change of the dispatch and use the forklift 1 according to the request. In addition, the forklifts 11 and 12 assigned to the users H1 and H2 are replaced, so that the movement of the forklifts 11 and 12 to the stop position Q is not wasted.

  (3) If it is determined that a request for changing the second dispatch is made by the user who has made the change request (for example, user H1), the forklift 1 (for example, forklift 12) that has been dispatched to the user H1 The dispatch of is canceled. For this reason, the forklift 12 that is not used by the users H1 and H2 can immediately perform the next cargo handling operation.

  (4) If it is determined that a request for change of dispatch for the second time is made by the user who made the change request (for example, user H1), an alternative forklift 1 other than forklifts 11 and 12 is assigned to the user H1. Is done. For this reason, the user H1 can repeatedly request the change of the dispatch until the forklift 1 according to the request is dispatched.

  (5) The users H1 and H2 can request a change of dispatch without boarding the forklift 1 that has been dispatched. For this reason, the users H1 and H2 can immediately request a change of the vehicle allocation when it is visually recognized that the forklift 1 moving toward the stop position Q is not the forklift 1 desired by the user. .

  (6) User authentication is performed when the users H1 and H2 request to dispatch vehicles and when they try to board the forklift 1. For this reason, it is possible to prevent a vehicle from being dispatched to a person who is not authorized to board and boarding of a person who is not authorized to board.

  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.

[Modification 1]
The vehicle allocation request determination unit 31 may determine that the users H1 and H2 request vehicle allocation when the users H1 and H2 exist at the specific position R provided in the vehicle allocation request place P.

  In this case, as shown in FIG. 3A, the specific position R has, for example, a circular shape surrounded by a ring-shaped mark M having a predetermined diameter marked on the ground of the vehicle allocation request place P. It is preferable that the specific position R has an area that allows at least two adults to stand at the same time.

  In this case, for example, the vehicle allocation request determination unit 31 detects the users H1 and H2 based on the image data generated by the camera 2 and also the positions of the users H1 and H2 and the position of the mark M (that is, The position of the specific position R) is detected, and the detected positions of the users H1 and H2 are compared with the position of the mark M to determine whether or not the positions of the users H1 and H2 are the specific position R. To do. Then, when the positions of the users H1 and H2 are the specific position R, the vehicle allocation request determination unit 31 determines that the users H1 and H2 request vehicle allocation. The vehicle allocation request determination unit 31 may determine whether or not the positions of the users H1 and H2 are the specific position R based on the degree of overlap between the positions of the users H1 and H2 and the position of the mark M. .

  According to this modification, the users H1 and H2 can request a vehicle dispatch by simply standing at the specific position R without operating a mobile terminal or the like.

[Modification 2]
The specific position R in the first modification may be configured by one or a plurality of marks M having various shapes. For example, as shown in FIG. 3B, specific positions R1, R2, and R3 surrounded by each rectangle of a grid-like mark M in which three rectangles are continuous may be used.

[Modification 3]
If the change request determination unit 37 determines that the user H1 is requesting a change of dispatch, the command unit 36 may be used if the user H1 requests a dispatch after the user H2. It is not necessary to replace the forklift 1 assigned to the persons H1 and H2. According to this modified example, for example, when the vehicle H2 for the user H2 who has requested the vehicle allocation earlier is requested to change the vehicle allocation by the user H1 who has requested the vehicle allocation later, Therefore, it is possible to avoid being later than the vehicle allocation.

  In this case, the command unit 36 transmits a stop signal to the forklift 11 assigned to the user H1 and quickly moves from the plurality of forklifts 1 except the forklifts 11 and 12 to the stop position Q based on the latest vehicle information. One forklift 1 that can be operated is selected, and at least a part of the identification information corresponding to the user H1 and a dispatch signal are transmitted to the forklift 1.

[Modification 4]
The action determined as the vehicle allocation request specific behavior is not limited to the action of raising the hand or arm. For example, the vehicle allocation request determination unit 31 may determine an operation of hitting the hands of the users H1 and H2 and an operation of shaking the hands or arms of the users H1 and H2 as the vehicle allocation request specific behavior.

[Modification 5]
The operation determined as the change request specific behavior is not limited to the operation of crossing both hands over the head and expressing the character x (cross). For example, the change request determination unit 37 may perform at least one of operations such as (i) lowering back, (ii) crossing both hands in front of the chest, (iii) shaking hands, (iv) shaking heads, etc. Alternatively, a combination of these operations may be determined as the change request specific behavior.

[Modification 6]
The vehicle information storage unit 35 may further store, as vehicle information, the vehicle type of each forklift 1, the year of each forklift 1, the usage frequency for each qualified person of each forklift 1, and the like. The command unit 36 may refer to these pieces of information when selecting the forklift 1 to be allocated to the users H1 and H2.

[Modification 7]
The camera 2 may be composed of a plurality of cameras that capture the vehicle allocation request place P from different angles. In this case, the vehicle allocation request determination unit 31 uses joint points (neck, shoulder, elbow, wrist, waist, body) on the body of the user (for example, the user H1) based on a plurality of image data generated by each camera. 3D coordinates of joints including at least one of the knee and ankle) and data analysis of how each part of the body or the whole body is moving. Can be detected more accurately.

[Modification 8]
The identity authentication performed when the users H1 and H2 are about to board the forklift 1 is, for example, biometric authentication relating to other physical characteristics other than the fingerprints of the users H1 and H2, and knowledge relating to knowledge possessed by the users H1 and H2. An authentication method such as authentication or possession authentication relating to the belongings of the users H1 and H2 may be used, or a combination of these authentication methods may be used.

  When performing personal authentication using biometric authentication, the storage unit 33 preliminarily stores qualified person feature data relating to physical characteristics of the qualified person (for example, vein patterns, irises, voiceprints, and retina characteristics). The user authentication unit 102 of each forklift 1 may include an acquisition unit (for example, a near infrared irradiation LED, a camera, and a microphone) corresponding to the physical feature.

  When performing personal authentication using knowledge authentication, data relating to knowledge (for example, ID, password, and secret word) possessed by a qualified person is stored in advance in the storage unit 33 as identification information, and each forklift 1 is used. The person authentication unit 102 may include acquisition means (for example, a numeric keypad, a keyboard, and a touch panel) corresponding to the data.

  In addition, when performing personal authentication using possession authentication, the storage unit 33 stores in advance data relating to the possession of a qualified person (for example, an IC card, a USB key, and a USB token) as identification information. In addition, the user authentication unit 102 of each forklift 1 may include an acquisition unit (for example, a card reader and a USB reader) corresponding to the data.

[Modification 9]
As shown in FIG. 4, the vehicle allocation system S may include a plurality of vehicle allocation request locations P and a plurality of cameras 2 provided to photograph each vehicle allocation request location P.

  In this case, the management device 3 determines that the operations of the users H1 and H2 are the vehicle allocation request specific behavior based on the image data generated by the camera 21 that captures the vehicle allocation request location P1, and the user H1. When it is determined that H2 is a qualified person, the forklift 1 is dispatched to the stop position Q1 corresponding to the dispatch request place P1. The notification device 51 notifies the users H1 and H2 that the vehicle allocation has been accepted. Similarly, the management device 3 determines that the operations of the users H1 and H2 are the vehicle allocation request specific behavior based on the image data generated by the camera 22 that captures the vehicle allocation request location P2, and the user H1. When it is determined that H2 is a qualified person, the forklift 1 is dispatched to the stop position Q2 corresponding to the dispatch request place P2. The notification device 52 notifies the users H1 and H2 that the vehicle allocation has been accepted. In this case, the vehicle allocation signal transmitted to the forklift 1 includes location information of the vehicle destination (that is, the location information of the stop position Q1 or the stop position Q2). Based on the position information, the vehicle moves to the stop position Q1 or the stop position Q2.

[Modification 10]
When selecting the forklift 1 to be dispatched to the users H1 and H2, it is not necessary to refer to the vehicle information indicating whether or not the forklift 1 is transporting the load N. Further, the forklift 1 to be dispatched to the users H1 and H2 may be set in advance (for example, the forklift 11 is always dispatched to the user H1, and the forklift 12 is dispatched to the user H2. Always be dispatched, ...).

[Modification 11]
The manned unmanned combined vehicle to be dispatched is not limited to the forklift 1.

H1, H2 User P, P1, P2 Rally request location R, R1, R2, R3 Specific position Q, Q1, Q2 Stop position S Vehicle allocation system 1, 11, 12 Forklift (manned unmanned combined vehicle)
2, 21, 22 Camera 3 Management device 4 Wireless communication device 5, 51, 52 Notification device 31 Vehicle allocation request determination unit 32 User characteristic data extraction unit 33 Storage unit 34 Eligible person authentication unit 35 Car information storage unit 36 Command unit 37 Change Request determination unit 101 Identification information storage unit 102 User authentication unit 103 Operation mode switching unit

Claims (7)

A plurality of manned and unmanned vehicles capable of switching between a manned driving mode and an unmanned driving mode;
A camera that generates image data of a predetermined vehicle allocation request location;
A management device capable of communicating with each of the manned and unmanned vehicles,
With
The management device
A storage unit that preliminarily stores identification information including qualified person feature data relating to features on the appearance of a qualified person having the authority to use the manned unmanned vehicle in the manned driving mode;
A vehicle allocation request determination unit that determines whether the first and second users are requesting the vehicle allocation of the manned unmanned combined vehicle based on the image data;
A user feature data extraction unit for extracting user feature data relating to the appearance features of the first and second users from the image data;
When it is determined by the dispatch request determination unit that the first user is requesting the dispatch, the user feature data of the first user and the qualified person feature data are collated. It is determined whether or not the first user is the qualified person, and when it is determined by the dispatch request determination unit that the second user is requesting the dispatch, the second use is performed. A qualified person authentication unit that determines whether the second user is the qualified person by comparing the user characteristic data of the person with the qualified person characteristic data;
When the qualified user authentication unit determines that the first user is the qualified person, the first manned unmanned combined vehicle that is one of the plurality of unmanned unmanned combined vehicles is the first Transmitting at least a part of the identification information of the qualified person corresponding to the user and a dispatch signal for instructing to go to the dispatch request place, and the qualified person authentication unit causes the second user to When it is determined that the person is a person, the identification information of the qualified person corresponding to the second user is assigned to a second manned unmanned combined vehicle that is another one of the plurality of manned unmanned combined vehicles. A command unit for transmitting at least a part and the dispatch signal;
Whether or not the first and second users are requesting a change of the dispatch based on the image data generated after the dispatch signal is transmitted to the first and second manned unmanned vehicles. A change request determination unit for determining whether or not
Have
The command unit responds to the first user in the second manned unmanned vehicle when the change request determination unit determines that the first user is requesting the change of the dispatch. Transmitting at least a part of the identification information of the qualified person to be transmitted and transmitting at least a part of the identification information of the qualified person corresponding to the second user to the first manned unmanned vehicle. A vehicle allocation system characterized by The command unit is further configured so that the first user is more than the second user when the change request determination unit determines that the first user is requesting a change of the dispatch. If it is a person who requested the dispatch later, a stop signal for canceling the dispatch is transmitted to the first manned unmanned vehicle dispatched to the first user, and the plurality of manned unmanned vehicles At least a part of the identification information of the qualified person corresponding to the first user and the dispatch signal are transmitted to a third manned and unmanned vehicle that is still another one of the vehicles. Item 2. The vehicle allocation system according to item 1. The command unit further sends the dispatch to the second unmanned unmanned vehicle when the change request determination unit determines that the first user is requesting the second change of the dispatch. The identification of the qualified person corresponding to the first user in a third manned unmanned and combined vehicle, which is another one of the plurality of manned and unmanned combined vehicles, while transmitting a stop signal for stopping The vehicle allocation system according to claim 1, wherein at least part of the information and the vehicle allocation signal are transmitted. The vehicle allocation request determination unit detects the operation of the first and second users based on the image data, and the operation is a vehicle allocation request specific behavior for requesting the vehicle allocation determined in advance. The vehicle allocation system according to any one of claims 1 to 3, wherein the first and second users who have performed the vehicle allocation request specific behavior determine that the vehicle allocation is requested. . The vehicle allocation request determination unit detects the positions of the first and second users based on the image data, and when the position is a specific position for requesting the vehicle allocation determined in advance, The vehicle allocation system according to any one of claims 1 to 3, wherein the first and second users at the specific position determine that the vehicle allocation is requested. The change request determination unit detects an operation of the first and second users based on the image data, and a change request specifying behavior for requesting a change of the vehicle allocation in which the operation is predetermined. When it is, it determines with the said 1st and 2nd user who performed the said change request specific behavior having requested | required the change of the said dispatch, The any one of Claims 1-5 characterized by the above-mentioned. The vehicle allocation system described. The manned unmanned vehicle is
An identification information storage unit for storing the identification information transmitted from the command unit;
Based on the identification information stored in the identification information storage unit, a user authentication unit for determining whether or not the first and second users to be boarded are the qualified persons;
The vehicle allocation system according to any one of claims 1 to 6, characterized by comprising:

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