Trailer management device, trailer management system, and trailer management method

Abstract

To provide a trailer management device capable of providing information of a tractor towing a specific trailer in a yard.SOLUTION: The trailer management device includes: an acquisition unit that acquires positional information on multiple trailers present in a yard and positional information on multiple tractors present in the yard; a collation unit that estimates a tractor that tows a predetermined trailer among the multiple trailers based on the positional information of the trailers and the positional information of the tractors and collates whether or not the estimated tractor matches a preliminarily designated tractor; and an output unit that outputs information that indicates whether or not the estimated tractor is the preliminarily designated based on the collation.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a trailer management device, a trailer management system, and a trailer management method. [Background technology]

[0002] Patent Document 1 discloses a moving object tracking device that includes one or more target area cameras that capture an image of a target area, a recognition means that recognizes a unique identification code displayed on a moving object moving in the target area based on an image captured by the target area camera, an image position acquisition means that acquires the position of the moving object in the target area based on the captured image, and a position processing means that determines the identity of the moving object based on the recognized identification code and records the time-dependent change in the position of the moving object in a recording unit. The target area camera includes, for example, an entry camera that captures an image when entering the target area. The moving object tracking device tracks the behavior of a worker wearing a helmet with an identification code attached at the work site, with a work site being exemplified as the target area and a worker being exemplified as the moving object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-98590 A Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, it is assumed that the moving object whose change in position over time is to be recorded is a human (a worker moving within a work site). Therefore, it is easy to track the change in the worker's position over time. However, if the moving object whose change in position over time is to be recorded is something other than a human (for example, an object such as a load), tracking it may be difficult.

[0005] For example, assume that the moving object to be recorded for change in position over time is a trailer in a vast business office (hereinafter sometimes referred to as a "yard") of a transportation company or the like where tractors (so-called transportation trucks) towing trailers (an example of a towed object) loaded with many packages are accumulated. In this case, when the transportation truck (in other words, the tractor) enters (checks in) the yard by the driver who drives the tractor, the trailer is parked in a designated parking space in the yard. After that, a worker in the yard (hereinafter sometimes referred to as a "yard jockey") who is a person different from the tractor driver may ride a different tractor and tow the designated trailer. In particular, when the yard has a vast site, many tractors move around the site while towing different trailers, so that it is difficult to determine whether the trailer in the yard is towed by a tractor designated in advance. Therefore, a technology is desired that provides information on whether the trailer is towed by a tractor designated in advance even in such a yard.

[0006] The present disclosure has been devised in consideration of the above-mentioned conventional circumstances, and aims to provide a trailer management device, a trailer management system, and a trailer management method that efficiently assist in providing information about tractors towing specific trailers within a yard. [Means for solving the problem]

[0007] The present disclosure provides a trailer management device comprising: an acquisition unit that acquires position information of a plurality of trailers entered within a yard and position information of a plurality of tractors entered within the yard; a comparison unit that estimates which tractor is towing a specific trailer among the plurality of trailers based on the trailer position information and the tractor position information and checks whether the estimated tractor matches a pre-designated tractor; and an output unit that outputs information indicating whether the estimated tractor is the pre-designated tractor based on the comparison.

[0008] The present disclosure also provides a trailer management method executed by a trailer management device communicatively connected between a first device that tracks the movement path of a trailer entering a yard and a second device that tracks the movement path of a tractor that has entered the yard, in which the first device associates and records a trailer ID that identifies the trailer with the movement path of the trailer, and the second device associates and records a tractor ID that identifies the tractor with the movement path of the tractor, and the trailer management device acquires trailer IDs of a plurality of the trailers and tractor IDs of a plurality of the tractors, estimates a tractor that is towing a specific trailer among the plurality of trailers based on position information of the trailer and position information of the tractor, checks whether the estimated tractor matches a pre-designated tractor, and generates and outputs information indicating whether the tractor towing the trailer is the pre-designated tractor based on the comparison.

[0009] The present disclosure also provides a trailer management system comprising a first device that tracks the movement path of a trailer entering a yard, a second device that tracks the movement path of a tractor entering the yard, and a trailer management device that is communicatively connected between the first device and the second device, wherein the first device associates and records a trailer ID that identifies the trailer with the movement path of the trailer, and the second device associates and records a tractor ID that identifies the tractor with the movement path of the tractor, and the trailer management device acquires trailer IDs of a plurality of the trailers and tractor IDs of a plurality of the tractors, estimates a tractor that is towing a specific trailer among the plurality of trailers based on position information of the trailer and position information of the tractor, checks whether the estimated tractor matches a pre-designated tractor, and generates and outputs information indicating whether the tractor towing the trailer is the pre-designated tractor based on the comparison. Effect of the Invention

[0010] According to the present disclosure, it is possible to provide information about tractors pulling specific trailers within a yard. [Brief description of the drawings]

[0011] [Figure 1] Bird's-eye view of the yard's atmosphere [Diagram 2] Aerial view showing an example of camera placement within the yard [Diagram 3] A schematic block diagram showing an example of the system configuration of a trailer management system. [Figure 4] A block diagram showing an example of the internal configuration of a trailer processing device. [Diagram 5] FIG. 1 shows examples of various databases managed by a trailer processing device. [Figure 6] A block diagram showing an example of the internal configuration of a tractor processing device. [Figure 7] FIG. 1 shows examples of various databases managed by a tractor processing device. [Figure 8] A diagram showing an example of generating a matching expectation database. [Figure 9] FIG. 2 is a sequence diagram showing the operation procedure from trailer check-in to trailer information pairing processing in the trailer management system according to the embodiment in chronological order. [Figure 10] A sequence diagram showing the visualization of trailer positions and traffic lines in the trailer management system according to the present embodiment, and the operation procedure of trailer expectation values ​​in chronological order. [Figure 11] A sequence diagram showing the operation procedure from check-in of a tractor to pairing processing of tractor information in the trailer management system according to the present embodiment in a chronological order. [Figure 12] A sequence diagram showing a procedure for visualizing the trailer position and traffic flow in the trailer management system according to the present embodiment, and a procedure for evaluating the trailer expectation value in a chronological order. [Figure 13] A sequence diagram showing a procedure for comparing a trailer with a tractor in the trailer management system according to the present embodiment in a chronological order. [Figure 14] A diagram explaining an example of the movement of a trailer and a tractor within a yard. [Figure 15] FIG. 13 is a diagram showing an example of a display of the traffic lines of trailers and tractors in a yard corresponding to a first operation example. [Figure 16] A diagram explaining an example of the movement of a trailer and a tractor within a yard. [Figure 17] FIG. 13 is a diagram showing a display example of a first comparison result of a trailer and a tractor in a yard corresponding to a second operation example. [Figure 18] FIG. 13 is a diagram showing a display example of a second comparison result of a trailer and a tractor in a yard corresponding to a second operation example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, with reference to the drawings as appropriate, an embodiment specifically disclosing a trailer management device, a trailer management system, and a trailer management method according to the present disclosure will be described in detail. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters and duplicate explanation of substantially the same configuration may be omitted. This is to avoid the following explanation becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. Note that the attached drawings and the following explanation are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0013] <1. Definition of Terms> First, the terms used in the following embodiments will be defined. (1) Trailer: A container-like object that has a rectangular parallelepiped case carrying one or more cargo items and is towed by a tractor. The trailer has identification information ("trailer ID (IDentification)") to identify the trailer. (2) Tractor: An object that is a vehicle part of a transport truck that can be docked (coupled) with a trailer or detached from the trailer. A tractor has identification information ("Tractor ID") to identify the tractor. (3) Yard: A large office or site of a transportation company or the like where tractors pulling trailers (so-called transport trucks) are gathered. (4) Yard jockey: A worker who performs tasks within the yard, such as driving a tractor in the yard to dock a desired trailer in a designated parking space with the tractor and moving it to the dock. The yard jockey may also perform tasks such as taking out or carrying in cargo from a trailer that has been moved to the dock. In this embodiment, the yard jockey is treated as being different from the driver of a transport truck that checks in to the yard or the driver of a transport truck that checks out to the yard.

[0014] <2.Outline of the yard> First, with reference to Figures 1 and 2, a yard YRD in which a trailer management system 100 (see Figure 3) according to this embodiment is installed will be generally described. Figure 1 is a bird's-eye view of the atmosphere of the yard YRD. Figure 2 is an overhead view showing an example of the placement of cameras CM installed in the yard YRD. Note that the atmosphere of the yard YRD shown in Figure 1 and the example of the placement of cameras MC shown in Figure 2 are each merely examples, and are not limited to these.

[0015] As shown in FIG. 1 and FIG. 2, the yard YRD is a vast site (e.g., a rectangular site when viewed from above the yard YRD) owned by a business entity such as a transportation company. Specifically, the yard YRD at least includes a check-in gate CIG, a check-out gate COG, a plurality of parking spaces (e.g., parking spaces PKN, PKS, PKE, PKW), and a dock station (so-called dock DCK) within the site. The check-in gate CIG is a location through which a transportation truck TK1 (e.g., a tractor TRC1 towing a trailer TRA1) passes when entering the yard YRD. The check-out gate COG is a location through which a transportation truck TK2 (e.g., a tractor TRC2 towing a trailer TRA2) passes when exiting the yard YRD.

[0016] Each of the parking spaces PKN, PKS, PKE, and PKW is a space for parking one or more trailers or tractors, and is arranged at a distance from one another. In the example of FIG. 1, the parking space PKN has a total of five trailers parked therein, the parking space PKS has a total of five trailers parked therein, and the parking space PKE has a total of three trailers parked therein. The number of trailers that can be parked in each parking space may be determined in advance, or may be increased as appropriate depending on actual operation. Each parking space is provided with white lines according to the number of trailers that can be parked, to distinguish where one trailer can be parked.

[0017] A dock DCK is a place where a yard jockey drives a tractor to tow a desired trailer in a parking space and stops the trailer, or where a yard jockey drives a tractor to move and stop the tractor alone without towing a trailer. At a dock DCK, the yard jockey, for example, removes cargo from a trailer and carries it into the dock DCK, or carries new cargo from the dock DCK into the trailer. Also, at a dock DCK, the yard jockey may dock a trailer parked at the dock DCK to the tractor.

[0018] As shown in Fig. 2, a license plate reading camera LC1 and a trailer ID reading camera IC1 are placed near the check-in gate CIG (an example of an entrance) of the yard YRD. The trailer ID reading camera IC1 is connected to a trailer processing device P1 (see Fig. 4) so ​​as to be able to communicate data with it. The license plate reading camera LC1 is also connected to a tractor processing device P2 (see Fig. 6) so as to be able to communicate data with it.

[0019] The trailer ID reading camera IC1 captures an image of identification information (e.g., an identification number of the trailer TRA1) attached to the trailer TRA1 of the transport truck TK1 attempting to enter the yard YRD, and transmits the captured image data to the trailer processing device P1 (see FIG. 4). The license plate reading camera LC1 captures an image of the license plate (not shown) of the transport truck TK1 attempting to enter the yard YRD, and transmits the captured image data to the tractor processing device P2 (see FIG. 6).

[0020] A license plate reading camera LC2 and a trailer ID reading camera IC2 (an example of a first camera) are arranged near the checkout gate COG (an example of an exit) of the yard YRD. The trailer ID reading camera IC2 is connected to a trailer processing device P1 (see FIG. 4) so ​​as to be able to communicate data with the trailer processing device P1. The license plate reading camera LC2 is connected to a tractor processing device P2 (see FIG. 6) so as to be able to communicate data with the trailer processing device P1.

[0021] The trailer ID reading camera IC2 captures an image of the trailer identification information of the transport truck TK2 exiting the yard YRD and transmits the captured image to the trailer processing device P1 (see FIG. 4). The license plate reading camera LC2 captures an image of the license plate of the transport truck TK2 exiting the yard YRD and transmits the captured image data to the tractor processing device P2 (see FIG. 6).

[0022] At least one tracking camera C1, C2, C3, C4, C5, C6, C7, C8 is disposed on the zenith of the building such as the roof of the dock DCK, capturing an image of a predetermined moving path of the trailer or tractor in the yard YRD. Each of the tracking cameras C1 to C8 is connected to the trailer processing device P1 (see FIG. 4) and the tractor processing device P2 (see FIG. 6) so as to be capable of data communication. Each of the tracking cameras C1 to C8 captures an image of a subject (e.g., a trailer or a tractor) within its own angle of view, and transmits the captured image data to the trailer processing device P1 (see FIG. 4) and the tractor processing device P2 (see FIG. 6).

[0023] <3. System configuration of trailer management system> Next, an example of a system configuration of the trailer management system 100 according to the present embodiment will be described with reference to Fig. 3. Fig. 3 is a block diagram that illustrates a schematic example of a system configuration of the trailer management system.

[0024] The trailer management system 100 according to the present embodiment includes a camera CM, a trailer processing device P1, a tractor processing device P2, a higher-level application AP, and a display device MN. The camera CM, the trailer processing device P1, and the tractor processing device P2, the trailer processing device P1 and the tractor processing device P2, and the higher-level application AP, as well as the higher-level application AP and the display device MN are connected via a network so as to enable data communication.

[0025] The network referred to here is either a wired network, a wireless network, or a combination of a wired network and a wireless network. The wired network corresponds to at least one of a wired local area network (hereinafter, referred to as "LAN"), a wired wide area network (hereinafter, referred to as "WAN"), and a power line communication (PLC), and may be other network configurations capable of wired communication. On the other hand, the wireless network corresponds to at least one of a wireless LAN such as Wi-Fi (registered trademark), a wireless WAN, and a mobile communication network such as 4G or 5G, and may be other network configurations capable of wireless communication.

[0026] The camera CM captures an image of a predetermined moving path of the trailer or tractor within the yard YRD. The camera CM includes, for example, license plate reading cameras LC1-LC2, trailer ID reading cameras IC1-IC2, and tracking cameras C1-C8. Note that cameras other than these may be disposed as the camera CM. For example, the camera CM may include a drone (not shown) capable of taking an aerial photograph of the inside of the yard YRD from the sky, or a device capable of taking a satellite photograph from the sky.

[0027] The trailer processing device P1 detects (tracks) the change over time in the position of the trailer that is to move along a predetermined moving route in the yard YRD using the captured image data transmitted from the camera CM, and transmits the detection result data to the upper application AP. The trailer processing device P1 may be configured, for example, as a personal computer or a high-performance server computer. The trailer processing device P1 will be described in detail later.

[0028] The tractor processing device P2 detects (tracks) the change over time in the position of the tractor that is scheduled to move along a predetermined moving route in the yard YRD using the captured image data transmitted from the camera CM, and transmits the detection result data to the upper application AP. The tractor processing device P2 may be configured, for example, as a personal computer or a high-performance server computer. The tractor processing device P2 will be described in detail later.

[0029] The upper application AP (an example of a trailer management device) calculates and judges whether the trailer is towed by a predetermined tractor based on the detection result of the change in the trailer position over time transmitted from the trailer processing device P1 and the detection result of the change in the tractor position over time transmitted from the tractor processing device P2. The upper application AP generates management screens SC2 and SC3 (see Figs. 17 and 18) including the judgment result based on the judgment result and transmits it to the display device MN. The upper application AP may generate a flow line display screen SC1 (see Fig. 15) that visualizes the flow lines of the trailer and tractor and transmit it to the display device MN, regardless of whether it is judged whether the trailer is towed by the predetermined tractor.

[0030] The upper application AP includes a communication interface 30, a processor 31, and a memory 32. In Fig. 3, the interface is abbreviated as "I / F".

[0031] The communication interface 30 (an example of the first acquisition unit and the second acquisition unit) outputs the detection result of the change over time of the trailer position transmitted from the trailer processing device P1 and the detection result of the change over time of the tractor position transmitted from the tractor processing device P2 to the processor 31. In addition, the communication interface 30 transmits the flow line display screen SC1 (see FIG. 15) or the management screens SC2 and SC3 (see FIG. 17 and FIG. 18, examples of screens) output from the processor 31 to the display device MN.

[0032] The processor 31 (an example of a matching unit and an output unit) is configured using a processor such as a Central Processing Unit (hereinafter referred to as "CPU"), a Digital Signal Processor (hereinafter referred to as "DSP"), or a Field Programmable Gate Array (hereinafter referred to as "FPGA").

[0033] The processor 31 acquires the detection results of the change in the trailer position over time from the trailer processing device P1 and the detection results of the change in the tractor position over time from the tractor processing device P2, extracts trailer IDs and tractor IDs for which the expected value that the tractor corresponding to the tractor ID is towing the trailer corresponding to the trailer ID is equal to or greater than a predetermined value, associates this trailer ID with the trailer parking position (PPOS) or trailer dock position (DPOS) associated with it, and stores (registers) it in the matching expected value database DB3.

[0034] Furthermore, when the processor 31 receives data of a visualization request from the display device MN, the processor 31 performs calculations for this request and generates a screen corresponding to the data of the visualization request (for example, a flow line display screen SC1 (see FIG. 15) or management screens SC2, SC3 (see FIG. 17, FIG. 18)). The processor 31 transmits the screen generated based on the calculations for the visualization request to the display device MN via the communication interface 30. At this time, the display device MN that transmits the data of the visualization request and the display device MN that displays the screen generated based on the calculations for the visualization request may be different. In this embodiment, the processor 31 performs calculations for the visualization request and generates the flow line display screen SC1 or management screens SC2, SC3 corresponding to this visualization request, but is not limited to this. The processor that performs calculations for the visualization request and the processor that generates the flow line display screen SC1 or management screens SC2, SC3 corresponding to the visualization request may be provided independently of each other. In this case, the processor that generates the traffic flow display screen SC1 or management screen SC2, SC3 corresponding to the visualization request generates the traffic flow display screen SC1 or management screen SC2, SC3 corresponding to the visualization request based on the calculated values ​​obtained from the processor that performs calculations for the visualization request.

[0035] The memory 32 includes a Read Only Memory (hereinafter, referred to as "ROM") and a Random Access Memory (hereinafter, referred to as "RAM"). The ROM stores programs that define the processing (operations) of the processor 31, and data that is referenced when the programs are executed. The RAM is a working memory used when the processing (operations) of the processor 31 is executed, and temporarily stores data or information generated or acquired in each process.

[0036] The matching expected value database DB3 is a storage medium device such as a hard disk drive (hereinafter, referred to as "HDD") or a solid state drive (hereinafter, referred to as "SSD") etc. The matching expected value database DB3 stores trailer-related information based on the detection result of the change over time in the trailer position transmitted from the trailer processing device P1, and tractor-related information based on the detection result of the change over time in the tractor position transmitted from the tractor processing device P2 (see FIG. 8).

[0037] Specifically, the matching expected value database DB3 associates and stores a timestamp (TM) indicating the time when the trailer ID was extracted, the extracted trailer ID (TID0), the tractor ID (TID1), the trailer parking position (PPOS) indicating the parking position where the trailer corresponding to the trailer ID is parked in the parking space, and the trailer dock position (DPOS) where the trailer corresponding to the trailer ID is parked in the dock DCK (see Figure 8).

[0038] The display device MN displays a flow line display screen SC1 (see FIG. 15) or management screens SC2, SC3 (see FIG. 17, FIG. 18) transmitted from the upper application AP. The display device MN is used by an administrator (operator) who is in charge of the yard YRD managing the trailer management system 100, and is, for example, a notebook PC or a tablet terminal. The display device MN may be a computer device other than a notebook PC or a tablet terminal. The display device MN may be a device used by a yard jockey in addition to a device used by an operator in the yard YRD. This makes it possible to output information based on instructions from the terminal used by the operator to the terminal used by the yard jockey.

[0039] <4. Internal configuration of trailer processing device> Next, an example of the internal configuration of the trailer processing device P1 will be described with reference to Fig. 4 and Fig. 5. Fig. 4 is a block diagram showing an example of the internal configuration of the trailer processing device P1. Fig. 5 is a diagram showing examples of various databases managed by the trailer processing device P1. The various databases referred to here are a trailer ID database DB11, a trailer flow line database DB12, a trailer pairing database DB13, and a trailer expected value database DB14, which will be described later.

[0040] The trailer processing device P1 includes communication interfaces 10A and 10B, a trailer ID extraction unit 111, a trailer ID database DB11, a trailer flow line extraction unit 112, a trailer flow line database DB12, a pairing processing unit 113, a trailer pairing database DB13, an application processing unit 114, a trailer expected value database DB14, and a memory 12. Note that in FIG. 4, the interface is abbreviated as "I / F".

[0041] The communication interface 10A is configured using a communication circuit that communicates data (e.g., images, videos) between the trailer ID reading cameras IC1, IC2 and each of the tracking cameras C1 to C8. When the communication interface 10A receives captured image data from the trailer ID reading cameras IC1, IC2 or the tracking cameras C1 to C8, it outputs the data to the trailer ID extraction unit 111 or the trailer flow line extraction unit 112.

[0042] The communication interface 10A may distribute the output destination of the acquired captured image data according to the source, the trailer ID reading cameras IC1, IC2 or the tracking cameras C1 to C8. For example, the communication interface 10A may output the captured image data acquired from the trailer ID reading cameras IC1, IC2 to the trailer ID extraction unit 111, and output the captured image data acquired from the tracking cameras C1 to C8 to the trailer flow line extraction unit 112.

[0043] Each of the trailer ID extraction unit 111, the trailer flow line extraction unit 112, the pairing processing unit 113, and the application processing unit 114 is configured using a processor such as a CPU, a DSP, or an FPGA.

[0044] The trailer ID extraction unit 111 periodically acquires data output from the communication interface 10A (i.e., captured image data transmitted from the trailer ID reading cameras IC1 and IC2). The trailer ID extraction unit 111 periodically extracts a trailer ID, which is identification information of the trailer shown in the captured image, by performing analysis on the captured image data transmitted from the trailer ID reading camera (e.g., trailer ID reading camera IC1). The trailer ID extraction unit 111 stores (registers) the trailer ID extraction result data obtained by the analysis in the trailer ID database DB11 and outputs it to the pairing processing unit 113.

[0045] The method of extracting the trailer ID by analyzing the captured image data may be performed using a learning model formed by machine learning using a large amount of learning data and artificial intelligence (hereinafter referred to as "AI"), or may be performed using existing publicly known techniques such as pattern matching.

[0046] The trailer ID database DB11 is a storage medium device such as an HDD or SSD. The trailer ID database DB11 stores (registers) a timestamp (TM) indicating the time when the trailer ID was extracted and the extracted trailer ID (TID) in association with each other.

[0047] The trailer flow line extraction unit 112 periodically acquires data output from the communication interface 10A (i.e., captured image data transmitted from each of the tracking cameras C1 to C8). The trailer flow line extraction unit 112 periodically extracts position information indicating the position of the trailer shown in the captured image by performing an analysis on the captured image data transmitted from the tracking camera (e.g., tracking camera C1). The trailer flow line extraction unit 112 determines, based on a predetermined determination criterion, whether the position indicated by the extracted trailer position information constitutes the same or different flow line with the position indicated by the most recently (previously) extracted position information, and assigns a flow line ID based on the determination result.

[0048] When the trailer flow line extraction unit 112 determines that it is the same flow line (i.e., the same flow line as an existing flow line), it associates a flow line ID (FID), which is identification information of the same flow line, with the extracted position information, stores (registers) them in the trailer flow line database DB12, and outputs them to the pairing processing unit 113. On the other hand, when the trailer flow line extraction unit 112 determines that it is a different flow line (i.e., a new flow line), it associates a flow line ID (FID), which is identification information of the new flow line, with the extracted trailer position information, stores (registers) them in the trailer flow line database DB12, and outputs them to the pairing processing unit 113.

[0049] Here, the predetermined criterion is whether or not the position indicated by the most recently extracted position information is within a predictable range from the position indicated by the most recently extracted position information. The predictable range is, for example, when assuming that the trailer is moving in a uniform linear motion, a range that radially includes a position to which the trailer can be estimated to move when it is next extracted (i.e., the most recent) from the most recently (i.e., previous) extracted position information based on the speed of the trailer moving in a uniform linear motion. The predictable range may also be derived by the trailer flow line extraction unit 112 through calculation processing using a predetermined function (e.g., a Kalman filter) with the most recently extracted position information as input.

[0050] Here, the trailer position information is information indicating a relative position from an origin position (not shown) in a two-dimensional coordinate system set on a map MP showing site data within a yard YRD, which will be described later. The trailer flow line extraction unit 112 stores (registers) data of the trailer position information extraction result obtained by the analysis in the trailer ID database DB11.

[0051] The method of extracting trailer position information by analyzing captured image data may be performed using a learning model formed by machine learning using a large amount of learning data and AI, or may be performed using existing publicly known techniques such as pattern matching.

[0052] The trailer flow line database DB12 is a storage medium device such as an HDD or SSD. The trailer flow line database DB12 stores (registers) a time stamp (TM) indicating the time when the trailer position information was extracted by the trailer flow line extraction unit 112, a trailer position (POS) indicated by the extracted position information (e.g., two-dimensional coordinates), and a flow line ID (FID) indicating whether the trailer position constitutes a new flow line or an existing flow line, in association with each other.

[0053] The pairing processing unit 113 acquires data of the extraction result of the trailer ID output from the trailer ID extraction unit 111 and data of the extraction result of the trailer position information output from the trailer flow line extraction unit 112. Furthermore, based on the control command output from the trailer flow line extraction unit 112, the pairing processing unit 113 determines whether or not predetermined conditions (e.g., [Condition 1A], [Condition 2A], and [Condition 3A], see FIG. 9) are satisfied.

[0054] When the pairing processing unit 113 determines that any one of [Condition 1A], [Condition 2A], and [Condition 3A] is satisfied, it pairs (associates) the data of the extraction result of the trailer ID with the data of the extraction result of the trailer position information, and stores (registers) them in the trailer pairing database DB13. That is, the pairing processing unit 113 integrates different information (specifically, trailer ID (TID), trailer position (POS), and flow line ID (FID)) extracted using the data of the captured images captured by different cameras CM (specifically, at least one of the trailer ID reading camera IC1 and the tracking cameras C1 to C8) as information about one trailer based on the time stamp (TM) information common to the different information.

[0055] The trailer pairing database DB13 is a storage medium device such as an HDD or SSD. The trailer pairing database DB13 stores (registers) a time stamp (TM) indicating the time when the trailer ID was extracted and the time when the trailer position information was extracted, which are the same time, the extracted trailer ID (TID), the trailer position (POS) indicated by the extracted position information, and a flow line ID (FID) indicating whether the trailer position constitutes a new flow line or an existing flow line, in association with each other.

[0056] The application processing unit 114 evaluates an expectation value that the trailer corresponding to the trailer ID (TID) is parked at the trailer parking position (trailer parking position (PPOS)) indicated by the trailer traffic line or is stopped at the dock position (trailer dock position (DPOS)) where the trailer is stopped, based on the current trailer position (POS) output from the pairing processing unit 113 and the trailer traffic line. When the application processing unit 114 determines based on the expectation value that the trailer corresponding to the trailer ID (TID) is parked at the trailer parking position (trailer parking position (PPOS)) indicated by the trailer traffic line or is stopped at the dock position (trailer dock position (DPOS)) where the trailer is stopped, it associates a timestamp (TM) indicating the time when the application processing unit 114 collated the trailer ID with the trailer parking position (PPOS) or trailer dock position (DPOS) of the trailer corresponding to the trailer ID, and stores (registers) them in the trailer expectation value database DB14.

[0057] The trailer expected value database DB14 is a storage medium device such as an HDD or SSD. The trailer expected value database DB14 stores (registers) a trailer ID (TID) in association with a trailer parking position (PPOS) where the trailer corresponding to the trailer ID (TID) is parked or a trailer dock position (DPOS) where the trailer is stopped.

[0058] The communication interface 10B is configured using a communication circuit that communicates data (e.g., a visualization request, sending and receiving various data or various requests) with the display device MN. When the communication interface 10B receives visualization request data from the display device MN, it outputs the data to the application processing unit 114.

[0059] The memory 12 includes a ROM and a RAM. The ROM stores programs that define the processes (operations) of the trailer ID extraction unit 111, the trailer flow line extraction unit 112, the pairing processing unit 113, and the application processing unit 114, and data that is referenced when the programs are executed. The RAM is a work memory that is used when executing the processes (operations) of the trailer ID extraction unit 111, the trailer flow line extraction unit 112, the pairing processing unit 113, and the application processing unit 114, and temporarily stores data or information generated or acquired in each process.

[0060] <5. Internal configuration of tractor treatment device> Next, an example of the internal configuration of the tractor processing device P2 will be described with reference to Fig. 6 and Fig. 7. Fig. 6 is a block diagram showing an example of the internal configuration of the tractor processing device P2. Fig. 7 is a diagram showing examples of various databases managed by the tractor processing device P2. The various databases referred to here are a tractor ID database DB21, a tractor movement line database DB22, a tractor pairing database DB23, and a tractor expected value database DB24, which will be described later.

[0061] The tractor processing device P2 includes communication interfaces 20A, 20B, a tractor ID extraction unit 211, a tractor ID database DB21, a tractor flow line extraction unit 212, a tractor flow line database DB22, a pairing processing unit 213, a tractor pairing database DB23, an application processing unit 214, a tractor expected value database DB24, and a memory 22. Note that in Fig. 6, the interface is abbreviated as "I / F".

[0062] The communication interface 20A is configured using a communication circuit that communicates data (e.g., images, videos) between the license plate reading cameras LC1-LC2 and each of the tracking cameras C1-C8. When the communication interface 20A receives captured image data from the license plate reading cameras LC1, LC2 or the tracking cameras C1-C8, the communication interface 20A outputs the data to the tractor ID extraction unit 211 or to the tractor flow line extraction unit 212.

[0063] The communication interface 20A may distribute the output destination of the acquired captured image data according to the source of the transmission, the license plate reading cameras LC1, LC2 or the tracking cameras C1 to C8. For example, the communication interface 20A may output the captured image data acquired from the license plate reading cameras LC1, LC2 to the tractor ID extraction unit 211, and output the captured image data acquired from the tracking cameras C1 to C8 to the tractor flow line extraction unit 212.

[0064] Each of the tractor ID extraction unit 211, the tractor flow line extraction unit 212, the pairing processing unit 213, and the application processing unit 214 is configured using a processor such as a CPU, a DSP, or an FPGA.

[0065] The tractor ID extraction unit 211 periodically acquires data output from the communication interface 20A (i.e., captured image data transmitted from the license plate reading cameras LC1 and LC2). The tractor ID extraction unit 211 periodically extracts a tractor ID, which is identification information of the tractor shown in the captured image, by analyzing the captured image data transmitted from the license plate reading camera (e.g., license plate reading camera LC1). The tractor ID extraction unit 211 stores (registers) the extraction result data of the tractor ID obtained by the analysis in the tractor ID database DB21 and outputs it to the pairing processing unit 213.

[0066] The method of extracting the tractor ID by analyzing the captured image data may be performed using a learning model formed by machine learning using a large amount of learning data and AI, or may be performed using existing publicly known techniques such as pattern matching.

[0067] The tractor ID database DB21 is a storage medium device such as an HDD or SSD. The tractor ID database DB21 stores (registers) a timestamp (TM) indicating the time when the tractor ID was extracted and the extracted tractor ID (TID) in association with each other.

[0068] The tractor flow line extraction unit 212 periodically acquires data output from the communication interface 20A (i.e., captured image data transmitted from each of the tracking cameras C1 to C8). The tractor flow line extraction unit 212 periodically extracts position information indicating the position of the tractor shown in the captured image by performing an analysis on the captured image data transmitted from the tracking camera (e.g., tracking camera C1). The tractor flow line extraction unit 212 determines, based on a predetermined determination criterion, whether the position indicated by the extracted tractor position information constitutes the same flow line or a different flow line between the position indicated by the most recently (previously) extracted position information, and assigns a flow line ID based on the determination result.

[0069] When the tractor flow line extraction unit 212 determines that it is the same flow line (i.e., the same flow line as an existing flow line), it associates a flow line ID (FID), which is identification information of the same flow line, with the extracted position information, stores (registers) it in the tractor flow line database DB22, and outputs it to the pairing processing unit 213. On the other hand, when the tractor flow line extraction unit 212 determines that it is a different flow line (i.e., a new flow line), it associates a flow line ID (FID), which is identification information of the new flow line, with the extracted tractor position information, stores (registers) it in the tractor flow line database DB22, and outputs it to the pairing processing unit 213.

[0070] Here, the predetermined criterion is whether or not the position indicated by the most recently extracted position information is within a predictable range from the position indicated by the most recently extracted position information. The predictable range is, for example, when it is assumed that the tractor is moving in a uniform linear motion, a range that radially includes a position to which the tractor can be estimated to move when the next (i.e., latest) position information is extracted from the most recently (i.e., previous) extracted position information based on the speed of the tractor moving in a uniform linear motion. The predictable range may be derived by the tractor movement line extraction unit 212 through a calculation process using a predetermined function (e.g., a Kalman filter) with the most recently extracted position information as an input.

[0071] Here, the tractor position information is information indicating a relative position from an origin position (not shown) in a two-dimensional coordinate system set on a map MP showing site data in a yard YRD described later. The tractor traffic line extraction unit 212 stores (registers) data of the extraction result of the tractor position information obtained by the analysis in the tractor ID database DB21.

[0072] The method of extracting tractor position information by analyzing captured image data may be performed using a learning model formed by machine learning using a large amount of learning data and AI, or may be performed using existing publicly known techniques such as pattern matching.

[0073] The tractor flow line database DB22 is a storage medium device such as an HDD or SSD. The tractor flow line database DB22 stores (registers) a time stamp (TM) indicating the time when the tractor's position information was extracted by the tractor flow line extraction unit 212, a tractor position (POS) indicated by the extracted position information (e.g., two-dimensional coordinates), and a flow line ID (FID) indicating whether the tractor position constitutes a new flow line or an existing flow line, in association with each other.

[0074] The pairing processing unit 213 acquires data of the extraction result of the tractor ID output from the tractor ID extraction unit 211 and data of the extraction result of the tractor position information output from the tractor flow line extraction unit 212. Furthermore, the pairing processing unit 213 determines whether or not predetermined conditions (e.g., [Condition 1B], [Condition 2B], and [Condition 3B], see FIG. 11) are satisfied based on the control command output from the tractor flow line extraction unit 212.

[0075] When it is determined that any one of [Condition 1B], [Condition 2B], and [Condition 3B] is satisfied, the pairing processing unit 213 pairs (associates) the data of the extraction result of the tractor ID with the data of the extraction result of the tractor's position information, and stores (registers) the paired data in the tractor pairing database DB23. That is, the pairing processing unit 213 integrates different information (specifically, the tractor ID (TID), the tractor position (POS), and the flow line ID (FID)) extracted using the data of the captured images captured by different cameras CM (specifically, at least one of the license plate reading cameras LC1 and LC2 and the tracking cameras C1 to C8) as information related to one tractor based on the time stamp (TM) information common to the different information.

[0076] The tractor pairing database DB23 is a storage medium device such as an HDD or SSD. The tractor pairing database DB23 stores (registers) a time stamp (TM) indicating the time when the tractor ID was extracted and the time when the tractor's position information was extracted, which are the same time, the extracted tractor ID (TID), the tractor position (POS) indicated by the extracted position information, and a flow line ID (FID) indicating whether the tractor position constitutes a new flow line or an existing flow line, in association with each other.

[0077] The application processing unit 214 evaluates an expectation value that the tractor corresponding to the tractor ID (TID) is parked at the tractor parking position (tractor parking position (PPOS)) indicated by the tractor's traffic line, or is stopped at the dock position (tractor dock position (DPOS)) where the tractor is stopped, based on the current tractor position (POS) output from the pairing processing unit 213 and the tractor's traffic line. When the application processing unit 214 determines based on the expectation value that the tractor corresponding to the tractor ID (TID) is parked at the tractor parking position (tractor parking position (PPOS)) indicated by the tractor's traffic line, or is stopped at the dock position (tractor dock position (DPOS)) where the tractor is stopped, the application processing unit 214 associates a time stamp (TM) indicating the time when the application processing unit 214 collated the tractor ID, and the tractor parking position (PPOS) or tractor dock position (DPOS) of the tractor corresponding to the tractor ID, and stores (registers) them in the tractor expectation value database DB24.

[0078] The tractor expected value database DB24 is a storage medium device such as an HDD or SSD. The tractor expected value database DB24 stores (registers) a tractor ID (TID) in association with a tractor parking position (PPOS) where the tractor corresponding to the tractor ID (TID) is parked or a tractor dock position (DPO) where the tractor is stopped.

[0079] The communication interface 20B is configured using a communication circuit that communicates data (e.g., a visualization request, sending and receiving various data or various requests) with the display device MN. When the communication interface 20B receives visualization request data from the display device MN, it outputs the data to the application processing unit 214.

[0080] The memory 22 includes a ROM and a RAM. The ROM stores programs that define the processes (operations) of the tractor ID extraction unit 211, the tractor flow line extraction unit 212, the pairing processing unit 213, and the application processing unit 214, and data that is referenced when the programs are executed. The RAM is a work memory that is used when executing the processes (operations) of the tractor ID extraction unit 211, the tractor flow line extraction unit 212, the pairing processing unit 213, and the application processing unit 214, and temporarily stores data or information generated or acquired in each process.

[0081] Next, the matching expected value database DB3 managed by the upper application AP will be described with reference to Fig. 8. Fig. 8 is a diagram showing an example of generating the matching expected value database DB3.

[0082] The processor 31 of the upper application AP acquires the trailer ID (TID) stored in the trailer expected value database DB14 and the trailer parking position (PPOS) where the trailer corresponding to the trailer ID (TID) is parked or the trailer dock position (DPOS) where the trailer is stopped as a detection result of a time change in the trailer position from the trailer processing device P1. The processor 31 also acquires the tractor ID (TID) stored in the tractor expected value database DB24 and the tractor parking position (PPOS) where the tractor corresponding to the tractor ID (TID) is parked or the tractor dock position (DPOS) where the tractor is stopped as a detection result of a time change in the tractor position from the tractor processing device P2.

[0083] The processor 31 collates the trailer parking position (PPOS) or trailer dock position (DPOS) of the acquired trailer with the tractor parking position (PPOS) or tractor dock position (DPOS) of the tractor, extracts the trailer ID and tractor ID for which the expected value that the tractor corresponding to the tractor ID is towing the trailer corresponding to the trailer ID is equal to or greater than a predetermined value, and further extracts the trailer parking position (PPOS) or trailer dock position (DPOS) associated with this trailer ID. The processor 31 associates the extracted trailer ID, tractor ID, and the trailer parking position (PPOS) or trailer dock position (DPOS) associated with this trailer ID, and stores (registers) them in the collation expected value database DB3.

[0084] <6. Trailer Tracking Procedure> Next, an example of a trailer tracking procedure of the trailer management system 100 according to the present embodiment will be described with reference to Fig. 9 and Fig. 10. Fig. 9 is a sequence diagram showing the operation procedure from trailer check-in to trailer information pairing processing of the trailer management system 100 according to the present embodiment in chronological order. Fig. 10 is a sequence diagram showing the operation procedure of the trailer management system 100 according to the present embodiment for visualizing the trailer position and flow line, and trailer expected value in chronological order.

[0085] As a premise for the explanation of Figures 9 and 10, image data is periodically input to the trailer processing device P1 from at least each of the tracking cameras C1 to C8 in accordance with the frame rate, and further, image data may be periodically input to the trailer processing device P1 from each of the trailer ID reading cameras IC1, IC2 in accordance with the frame rate.

[0086] The processor 31 of the upper application AP acquires an instruction for a process of detecting the check-in of a transportation truck (e.g., a tractor) that is about to enter the yard YRD through an operation input by a user (e.g., an operator) using the display device MN (step St100), and transmits the instruction to the trailer processing device P1 (step St101). The application processing unit 114 of the trailer processing device P1 instructs the trailer ID extraction unit 111 to execute a process of detecting the trailer ID (step St102).

[0087] Based on an instruction from the upper application AP, the trailer ID extraction unit 111 of the trailer processing device P1 detects and extracts the trailer identification information (TID: trailer ID) appearing in the captured image by the trailer ID reading camera IC1 (step St103). Note that in step St103, the trailer ID extraction unit 111 may extract the trailer identification information (TID: trailer ID) based on an operation input by a user (e.g., an operator) using the display device MN, instead of the captured image by the trailer ID reading camera IC1.

[0088] The trailer ID extraction unit 111 transmits a TID registration request to the trailer ID database DB11 to associate the trailer ID extracted in step St103 with a timestamp (TM) indicating the time at which the trailer ID was detected and register the associated trailer ID in the trailer ID database DB11 (step St104). In response to the TID registration request from the trailer ID extraction unit 111, the trailer ID database DB11 registers the trailer ID extracted in step St103 with a timestamp (TM) indicating the time at which the trailer ID was detected in association with the associated trailer ID (step St105), and returns a registration completion response to the application processing unit 114 (step St106). The application processing unit 114 transmits the registration completion response transmitted from the trailer ID database DB11 to the upper application AP.

[0089] During the operation of the trailer processing device P1, the trailer flow line extraction unit 112 acquires captured image data transmitted from each of the tracking cameras C1 to C8 (step St107), and detects the trailer position (POS) of the trailer captured in these captured images using these captured images, and extracts the position information (step St107). At this time, the trailer flow line extraction unit 112 determines whether the position indicated by the extracted position information constitutes the same or different flow line with the position indicated by the most recently (previously) extracted position information, based on a predetermined determination criterion ([Condition 1A] to [Condition 3A]). In other words, when the trailer flow line extraction unit 112 determines that the position indicated by the extracted position information is included within a predictable range (see above) from the position indicated by the most recently (previously) extracted position information, it assigns the same flow line ID as the flow line ID of the existing flow line. On the other hand, if the trailer traffic flow extraction unit 112 determines that the position indicated by the extracted position information is not within a predictable range (see above) from the position indicated by the most recently (previously) extracted position information, it assigns a new traffic flow ID (step St107).

[0090] The trailer flow line extraction unit 112 sends a POS registration request to the trailer flow line database DB12 to associate and register the trailer position information extracted in step St107, the assigned flow line ID, and the time stamp indicating the time when the position was detected in the trailer flow line database DB12 (step St108). In response to the POS registration request from the trailer flow line extraction unit 112, the trailer flow line database DB12 registers the trailer position information extracted in step St107, the assigned flow line ID, and the time stamp indicating the time when the position was detected in association with each other (step St109), and returns a registration completion response to the application processing unit 114 (step St110).

[0091] Here, the trailer flow line extraction unit 112 instructs the pairing processing unit 113 to determine whether or not predetermined conditions (eg, [Condition 1A], [Condition 2A], and [Condition 3A]) are satisfied (steps St111, St117, St121).

[0092] <6-1. Satisfaction determination of [Condition 1A]> In step St111, the trailer flow line extraction unit 112 associates the trailer position information extracted in step St107, the assigned flow line ID, and a timestamp indicating the time when the position was detected, and sends them to the pairing processing unit 113 (step St111).

[0093] The pairing processing unit 113 accesses the trailer ID extraction unit 111 or the trailer ID database DB11 (step St112) to obtain the data of the trailer ID extraction result from the trailer ID extraction unit 111 (step St113). Here, the pairing processing unit 113 determines, as [Condition 1A], whether a new flow line ID (FID) has been assigned in step St107, and whether the trailer position (POS) of the trailer near the check-in gate CIG, the flow line, and the trailer ID (TID) have been obtained. In other words, [Condition 1A] specifies that when a trailer is detected for the first time at the check-in gate CIG, various data such as the timestamp, position, flow line, etc. of the trailer are associated and stored as initial data.

[0094] The pairing processing unit 113 determines that [Condition 1A] is satisfied (i.e., a new flow line ID (FID) was assigned in step St107, and the trailer position (POS) of the trailer near the check-in gate CIG and the flow line and trailer ID (TID) were acquired). In this case, the pairing processing unit 113 sends a new registration request to the trailer pairing database DB13 to associate the timestamp (TM) indicating the time when the trailer was detected near the check-in gate CIG, the trailer position (POS) of the trailer, the flow line ID (FID) indicating the trailer's flow line, and the trailer ID (TID) in the trailer pairing database DB13, and register them in the trailer pairing database DB13 (step St114).

[0095] In response to a new registration request from the pairing processing unit 113, the trailer pairing database DB13 registers a timestamp (TM) indicating the time when the trailer was detected near the check-in gate CIG, the trailer position (POS) of the trailer, the traffic flow ID (FID) indicating the traffic flow of the trailer, and the trailer ID (TID) in association with each other (step St115), and returns a registration completion response to the pairing processing unit 113 (step St116).

[0096] <6-2. Satisfaction determination of [Condition 2A]> In step St117, the trailer flow line extraction unit 112 sends the trailer position information extracted in step St107, the assigned flow line ID, and a time stamp indicating the time when the position was detected to the pairing processing unit 113 in association with each other (step St117).

[0097] The pairing processing unit 113 determines, as [Condition 2A], whether a new flow line ID (FID) was assigned in step St107, and whether the trailer position (POS) of the trailer at a location in the yard YRD other than the check-in gate CIG, and the flow line and trailer ID (TID) have been acquired. In other words, [Condition 2A] specifies that when a trailer once detected at the check-in gate CIG is erroneously detected as another trailer while moving in the yard YRD, various data such as the flow line, position, and time stamp of the erroneously detected trailer are stored as temporary floating flow line data.

[0098] The pairing processing unit 113 determines that [Condition 2A] is satisfied (i.e., a new flow line ID (FID) was assigned in step St107, and the trailer position (POS) of the trailer at a location in the yard YRD other than the check-in gate CIG, and the flow line and trailer ID (TID) were acquired). In this case, the pairing processing unit 113 sends a new registration request to the trailer pairing database DB13 to associate the timestamp (TM) indicating the time when the trailer was detected at a location in the yard YRD other than the check-in gate CIG, the trailer position (POS) of the trailer, the flow line ID (FID: i.e. the newly assigned flow line ID) indicating the flow line of the trailer, and the trailer ID (TID) in the trailer pairing database DB13, and register them in the trailer pairing database DB13 (step St118).

[0099] In response to a new registration request from the pairing processing unit 113, the trailer pairing database DB13 registers a timestamp (TM) indicating the time when the trailer was detected at a location in the yard YRD other than the check-in gate CIG, the trailer's trailer position (POS), the traffic flow ID (FID: i.e., the newly assigned traffic flow ID) indicating the traffic flow of the trailer, and the trailer's ID (TID) in association with each other (step St119), and returns a registration completion response to the pairing processing unit 113 (step St120).

[0100] <6-3. Satisfaction determination of [Condition 3A]> In step St121, the trailer flow line extraction unit 112 sends the trailer position information extracted in step St107, the assigned flow line ID, and a time stamp indicating the time when the position was detected to the pairing processing unit 113 in association with each other (step St121).

[0101] The pairing processing unit 113 determines whether or not an existing flow line ID (FID) has been assigned in step St107 (in other words, the trailer ID corresponding to that flow line ID has already been detected) as [Condition 3A]. In other words, [Condition 3A] stipulates that when a trailer that has passed through the check-in gate CIG and is already moving within the yard YRD is normally detected within the yard YRD, various data of the trailer, such as its timestamp, position, flow line, etc. within the yard YRD, are associated and stored.

[0102] The pairing processing unit 113 determines that [Condition 3A] is satisfied (i.e., an existing flow line ID (FID) has been assigned in step St107 (in other words, the trailer ID corresponding to that flow line ID has already been detected)). In this case, the pairing processing unit 113 sends an additional registration request to the trailer pairing database DB13 to associate the timestamp (TM) indicating the time when the trailer was detected in a yard YRD other than the check-in gate CIG, the trailer position (POS) of the trailer, the flow line ID (FID: i.e., the already assigned flow line ID) indicating the flow line of the trailer, and the trailer ID (TID) and register them in the trailer pairing database DB13 (step St122).

[0103] In response to an additional registration request from the pairing processing unit 113, the trailer pairing database DB13 registers a timestamp (TM) indicating the time when the trailer was detected in a yard YRD other than the check-in gate CIG, the trailer's trailer position (POS), the traffic flow ID (FID: i.e., the traffic flow ID that has already been assigned) indicating the traffic flow of the trailer, and the trailer's ID (TID) in association with each other (step St123), and returns a registration completion response to the pairing processing unit 113 (step St124).

[0104] Furthermore, the processor 31 of the upper application AP acquires an instruction for a process of detecting the check-out of a transportation truck (e.g., a trailer) about to leave the yard YRD through an operation input by a user (e.g., an operator) using the display device MN (step St125), and transmits the instruction to the application processing unit 114 of the trailer processing device P1 (step St126). The application processing unit 114 instructs the trailer ID extraction unit 111 to execute a process of deleting the trailer ID of the trailer that is no longer required to be managed because it has left the yard YRD (step St127). Based on the instruction from the application processing unit 114, the trailer ID extraction unit 111 transmits an ID deletion request to the trailer ID database DB11 to delete the corresponding trailer ID and a timestamp indicating the time when the trailer ID was detected from the trailer ID database DB11 (step St128).

[0105] In response to the ID deletion request from the trailer ID extraction unit 111, the trailer ID database DB11 deletes the trailer ID extracted in step St103 and the timestamp indicating the time when the trailer ID was detected (step St129), and returns a response indicating completion of trailer ID deletion to the application processing unit 114 (step St130).

[0106] The processor 31 of the upper application AP generates a visualization request (parking map display) for requesting visualization of the current trailer position and traffic line in response to an operation input by a user (e.g., an operator) using the display device MN (step St131), and sends the visualization request to the trailer processing device P1 (step St132). This visualization request (parking map display) is, for example, a command issued when a yard jockey moves to the location of a specified trailer but is unable to find it, and requests visualization of a parking map within the yard YRD site (i.e., the location on the map of the parking space where the trailer is parked). The visualization request (parking map display) includes at least the trailer ID of the desired trailer.

[0107] When the application processing unit 114 of the trailer processing device P1 receives the visualization request (step St133), it generates an information acquisition request for the current position (e.g., parking position) of the trailer corresponding to the trailer ID included in the visualization instruction (parking map display) and sends it to the pairing processing unit 113 or the trailer pairing database DB13 (step St134). The pairing processing unit 113 or the trailer pairing database DB13 acquires various corresponding data (e.g., trailer ID, timestamp indicating the current time, trailer position information at the current time, and traffic line ID) from the trailer pairing database DB13 in accordance with the information acquisition request of step St134 (step St135). Note that the current time may be the time when the visualization request is generated by the display device MN or the time when the visualization request is received by the trailer processing device P1, and the same applies below.

[0108] The pairing processing unit 113 or the trailer pairing database DB13 returns the various data (see above) acquired in step St134 to the application processing unit 114 (step St136). The application processing unit 114 generates (draws) a flow line display screen SC1 (see FIG. 15) using the various data (see above) acquired in step St135 (step St137). The application processing unit 114 outputs the flow line display screen SC1 (see FIG. 15) generated in step St137 to the communication interface 10B (step St138) and transmits it to the upper application AP (step St139). The upper application AP transmits the flow line display screen SC1 (see FIG. 15) transmitted from the trailer processing device P1 to the display device MN to output it (step St140).

[0109] Meanwhile, the display device MN generates a visualization request (display of illegal parking position) for requesting visualization of whether or not a trailer is illegally (in other words, erroneously) parked at the current time in response to an operational input by a user (e.g., an operator) (step St141), and sends the visualization request to the trailer processing device P1 (step St142). This visualization request (display of illegal parking position) is a command requesting visualization of a parking map within the yard YRD (i.e., the position on the map of the parking space where the trailer is illegally parked) when, for example, an operator periodically monitors whether or not there is a trailer illegally parked within the yard YRD. The visualization request (display of illegal parking position) includes at least the trailer ID of the target trailer.

[0110] In addition, if the trailer traffic flow extraction unit 112 determines that [Condition 2A] (see step St118 shown in Figure 9) is satisfied, it may generate the visualization request described above (display of illegal parking location) and send it to the application processing unit 114 (step St143).

[0111] When the application processing unit 114 acquires the visualization request (display of illegal parking position), it generates a parking position information acquisition request for acquiring various data of the trailer corresponding to the trailer ID included in the visualization request (display of parking map) and sends it to the pairing processing unit 113 or the trailer pairing database DB13 (step St144). The pairing processing unit 113 or the trailer pairing database DB13 acquires various corresponding data (e.g., trailer ID, timestamp indicating the current time, trailer position information at the current time, and traffic line ID) from the trailer pairing database DB13 in accordance with the parking position information acquisition request of step St144 (step St145). The pairing processing unit 113 or the trailer pairing database DB13 returns the various data acquired in step St145 (see above) to the application processing unit 114 (step St46).

[0112] The application processing unit 114 also generates a parking position information acquisition request for acquiring various data of the trailer corresponding to the trailer ID included in the visualization request (parking map display) and sends it to the trailer expectation value database DB14 (step St147). The trailer expectation value database DB14 acquires the corresponding various data (e.g., trailer ID, timestamp indicating the current time, trailer parking position information that should be located at the current time, trailer dock position that should be located at the current time) from the trailer expectation value database DB14 in accordance with the parking position information acquisition request of step St147 (step St148). The matching expectation value database DB3 returns the various data (see above) acquired in step St148 to the application processing unit 114 (step St149).

[0113] The application processing unit 114 performs a comparison process to determine whether or not various data from the trailer pairing database DB13 acquired in step St146 matches various data from the trailer expectation database DB14 acquired in step St149 (step St150). The application processing unit 114 generates (draws) management screens SC2 and SC3 (see Figs. 17 and 18) showing the results of the comparison process in step St150 (step St151). The application processing unit 114 outputs the management screens SC2 and SC3 (see Figs. 17 and 18) generated in step St151 to the communication interface 10B (step St152) and causes the upper application AP to transmit them (step St153). The upper application AP transmits the management screens SC2 and SC3 (see Figs. 17 and 18) transmitted from the trailer processing device P1 to the display device MN to cause it to output them (step St154).

[0114] <7. Tractor Tracking Procedure> Next, an example of a tractor tracking procedure of the trailer management system 100 according to the present embodiment will be described with reference to Fig. 11 and Fig. 12. Fig. 11 is a sequence diagram showing the operation procedure from tractor check-in to tractor information pairing processing of the trailer management system 100 according to the present embodiment in chronological order. Fig. 12 is a sequence diagram showing the operation procedure of visualization of the tractor position and movement line and tractor expected value in chronological order of the trailer management system 100 according to the present embodiment.

[0115] As a premise for the explanation of Figures 11 and 12, image data is periodically input to the tractor processing device P2 from at least each of the tracking cameras C1 to C8 in accordance with the frame rate, and further, image data may be periodically input to the tractor processing device P2 from each of the license plate reading cameras LC1, LC2 in accordance with the frame rate.

[0116] The processor 31 of the upper application AP acquires an instruction for a process of detecting the check-in of a transportation truck (e.g., a tractor) that is about to enter the yard YRD through an operation input by a user (e.g., an operator) using the display device MN (step St200), and transmits the instruction to the tractor processing device P2 (step St201). The application processing unit 214 of the tractor processing device P2 instructs the tractor ID extraction unit 211 to execute a process of detecting the tractor ID (step St202).

[0117] The tractor ID extraction unit 211 of the tractor processing device P2 detects and extracts the identification information (TID: tractor ID) of the tractor shown in the captured image by the license plate reading cameras LC1 and LC2 based on an instruction from the upper application AP (step St203). Note that in step St203, the tractor ID extraction unit 211 may extract the identification information (TID: tractor ID) of the tractor based on an operation input by a user (e.g., an operator) using the display device MN, instead of the captured image by the license plate reading camera LC1.

[0118] The tractor ID extraction unit 211 transmits a TID registration request to the tractor ID database DB21 to associate the tractor ID extracted in step St203 with a timestamp (TM) indicating the time of detection and register them in the tractor ID database DB21 (step St204). In accordance with the TID registration request from the tractor ID extraction unit 211, the tractor ID database DB21 registers the tractor ID extracted in step St203 with a timestamp (TM) indicating the time of detection of the tractor ID in association with each other (step St205), and returns a response indicating the completion of registration to the application processing unit 214 (step St206). The application processing unit 214 transmits the response indicating the completion of registration transmitted from the tractor ID database DB21 to the upper application AP.

[0119] In addition, the tractor flow line extraction unit 212 acquires captured image data transmitted from each of the tracking cameras C1 to C8 during the operation of the tractor processing device P2 (step St207), detects the tractor position (POS) of the tractor appearing in these captured images using these captured images, and extracts the position information (step St207). At this time, the tractor flow line extraction unit 212 determines whether the position indicated by the extracted position information constitutes the same flow line or a different flow line with the position indicated by the most recently (previously) extracted position information, based on a predetermined determination criterion ([Condition 1B] to [Condition 3B]). In other words, when the tractor flow line extraction unit 212 determines that the position indicated by the extracted position information is included within a predictable range (see above) from the position indicated by the most recently (previously) extracted position information, it assigns the same flow line ID as the flow line ID of the existing flow line. On the other hand, if the tractor traffic flow extraction unit 212 determines that the position indicated by the extracted position information is not within a predictable range (see above) from the position indicated by the most recently (previously) extracted position information, it assigns a new traffic flow ID (step St207).

[0120] The tractor flow line extraction unit 212 sends a POS registration request to the tractor flow line database DB22 to associate the tractor position information extracted in step St207 with the assigned flow line ID and a time stamp indicating the time when the position was detected, and registers them in the tractor flow line database DB22 (step St208). In response to the POS registration request from the tractor flow line extraction unit 212, the tractor flow line database DB22 registers the tractor position information extracted in step St207 with the assigned flow line ID and a time stamp indicating the time when the position was detected, and associates them with each other (step St209), and returns a response indicating the completion of registration to the application processing unit 214 (step St210).

[0121] Here, the tractor movement line extraction unit 212 instructs the pairing processing unit 213 to determine whether or not predetermined conditions (for example, [Condition 1B], [Condition 2B], and [Condition 3B]) are satisfied (steps St211, St217, St221).

[0122] <7-1. Satisfaction determination of [Condition 1B]> In step St211, the tractor flow line extraction unit 212 associates the position information of the tractor extracted in step St207, the assigned flow line ID, and a time stamp indicating the time when the position was detected, and sends them to the pairing processing unit 213 (step St211).

[0123] The pairing processing unit 213 accesses the tractor ID extraction unit 211 or the tractor ID database DB21 (step St212) to obtain the data of the extraction result of the tractor ID from the tractor ID extraction unit 211 (step St213). Here, the pairing processing unit 213 determines whether or not a new flow line ID (FID) has been assigned in step St207 and the tractor position (POS) and flow line of the tractor near the check-in gate CIG and the tractor ID (TID) have been obtained as [Condition 1B]. In other words, [Condition 1B] specifies that when a tractor is detected for the first time at the check-in gate CIG, various data such as the tractor's timestamp, position, flow line, etc. are associated and stored as initial data.

[0124] The pairing processing unit 213 determines that [Condition 1B] is satisfied (i.e., a new flow line ID (FID) was assigned in step St207, and the tractor position (POS) of the tractor near the check-in gate CIG and the flow line and tractor ID (TID) were acquired). In this case, the pairing processing unit 213 sends a new registration request to the tractor pairing database DB23 to associate the timestamp (TM) indicating the time when the tractor was detected near the check-in gate CIG, the tractor position (POS) of the tractor, the flow line ID (FID) indicating the flow line of the tractor, and the tractor ID (TID) with each other and register them in the tractor pairing database DB23 (step St214).

[0125] In response to a new registration request from the pairing processing unit 213, the tractor pairing database DB23 registers the timestamp (TM) indicating the time the tractor was detected near the check-in gate CIG, the tractor position (POS) of the tractor, the traffic flow ID (FID) indicating the traffic flow of the tractor, and the tractor ID (TID) in association with each other (step St215), and returns a registration completion response to the pairing processing unit 213 (step St216).

[0126] <7-2. Satisfaction determination of [Condition 2B]> In step St217, the tractor flow line extraction unit 212 associates the position information of the tractor extracted in step St207 with the assigned flow line ID and a time stamp indicating the time when the position was detected, and sends them to the pairing processing unit 213 (step St217).

[0127] The pairing processing unit 213 determines, as [Condition 2B], whether a new flow line ID (FID) was assigned in step St207, and whether the tractor position (POS) of the tractor and the flow line and tractor ID (TID) at a location in the yard YRD other than the check-in gate CIG have been acquired. In other words, [Condition 2B] specifies that when a tractor once detected at the check-in gate CIG is erroneously detected as another tractor while moving in the yard YRD, various data such as the flow line, position, and time stamp of the erroneously detected tractor are stored as temporary floating flow line data.

[0128] The pairing processing unit 213 determines that [Condition 2B] is satisfied (i.e., a new flow line ID (FID) was assigned in step St207, and the tractor position (POS) of the tractor at a location in the yard YRD other than the check-in gate CIG, the flow line, and the tractor ID (TID) were acquired). In this case, the pairing processing unit 213 sends a new registration request to the tractor pairing database DB23 to associate the time stamp (TM) indicating the time when the tractor was detected at a location in the yard YRD other than the check-in gate CIG, the tractor position (POS) of the tractor, the flow line ID (FID: i.e., the newly assigned flow line ID) indicating the flow line of the tractor, and the tractor ID (TID) in the tractor pairing database DB23 (step St218).

[0129] In response to a new registration request from the pairing processing unit 213, the tractor pairing database DB23 registers a timestamp (TM) indicating the time when the tractor was detected at a location in the yard YRD other than the check-in gate CIG, the tractor's tractor position (POS), the tractor's traffic line ID (FID: i.e., the newly assigned traffic line ID) indicating the tractor's traffic line, and the tractor's ID (TID) in association with each other (step St219), and returns a registration completion response to the pairing processing unit 213 (step St220).

[0130] <7-3. Satisfaction determination of [Condition 3B]> In step St221, the tractor flow line extraction unit 212 associates the position information of the tractor extracted in step St207 with the assigned flow line ID and a time stamp indicating the time when the position was detected, and sends them to the pairing processing unit 213 (step St221).

[0131] The pairing processing unit 213 determines whether or not an existing flow line ID (FID) has been assigned in step St207 (in other words, the tractor ID corresponding to that flow line ID has already been detected) as [Condition 3B]. In other words, [Condition 3B] specifies that when a tractor that has passed through the check-in gate CIG and is already moving within the yard YRD is normally detected within the yard YRD, various data of the tractor, such as its timestamp, position, flow line, etc. within the yard YRD, are stored in association with each other.

[0132] The pairing processing unit 213 determines that [Condition 3B] is satisfied (i.e., an existing flow line ID (FID) has been assigned in step St207 (in other words, the tractor ID corresponding to that flow line ID has already been detected)). In this case, the pairing processing unit 213 sends an additional registration request to the tractor pairing database DB23 to associate the timestamp (TM) indicating the time when the tractor was detected in a yard YRD other than the check-in gate CIG, the tractor position (POS) of the tractor, the flow line ID (FID: i.e., the already assigned flow line ID) indicating the flow line of the tractor, and the tractor ID (TID) and register them in the tractor pairing database DB23 (step St222).

[0133] In response to an additional registration request from the pairing processing unit 213, the tractor pairing database DB23 registers a timestamp (TM) indicating the time when the tractor was detected in a yard YRD other than the check-in gate CIG, the tractor's tractor position (POS), the tractor's traffic line ID (FID: i.e., the traffic line ID that has already been assigned), and the tractor's ID (TID) in association with each other (step St223), and returns a registration completion response to the pairing processing unit 213 (step St224).

[0134] Furthermore, the processor 31 of the upper application AP acquires an instruction for a process of detecting the check-out of a transport truck (e.g., a tractor) about to leave the yard YRD through an operation input by a user (e.g., an operator) using the display device MN (step St225), and transmits the instruction to the application processing unit 214 of the tractor processing device P2 (step St226). The application processing unit 214 instructs the tractor ID extraction unit 211 to execute a process of deleting the tractor ID of the tractor that is no longer required to be managed because it has left the yard YRD (step St227). Based on the instruction from the application processing unit 214, the tractor ID extraction unit 211 sends an ID deletion request to the tractor ID database DB21 to delete the corresponding tractor ID and a timestamp indicating the time when the tractor ID was detected from the tractor ID database DB21 (step St228).

[0135] In response to the ID deletion request from the tractor ID extraction unit 211, the tractor ID database DB21 deletes the tractor ID extracted in step St203 and the timestamp indicating the time when the tractor ID was detected (step St229), and returns a response indicating completion of the deletion of the tractor ID to the application processing unit 214 (step St230).

[0136] The processor 31 of the upper application AP generates a visualization request (parking map display) for requesting visualization of the current tractor position and traffic line in response to an operation input by a user (e.g., an operator) using the display device MN (step St231), and sends the visualization request to the tractor processing device P2 (step St232). This visualization request (parking map display) is, for example, a command in which the yard jockey moves to the location of a specified tractor but is unable to find it, and requests visualization of a parking map within the yard YRD (i.e., the location on the map of the parking space where the tractor is parked). The visualization request (parking map display) includes at least the tractor ID of the target tractor.

[0137] When the application processing unit 214 of the tractor processing device P2 receives the visualization request (step St233), it generates an information acquisition request regarding the current position (e.g., parking position) of the tractor corresponding to the tractor ID included in the visualization instruction (parking map display) and sends it to the pairing processing unit 213 or the tractor pairing database DB23 (step St234). The pairing processing unit 213 or the tractor pairing database DB23 acquires various corresponding data (e.g., tractor ID, timestamp indicating the current time, position information of the tractor at the current time, and traffic line ID) from the tractor pairing database DB23 in accordance with the information acquisition request of step St234 (step St235). Note that the current time may be the time when the visualization request is generated by the display device MN or the time when the visualization request is received by the tractor processing device P2, and the same applies below.

[0138] The pairing processing unit 213 or the tractor pairing database DB23 returns various data (see above) acquired in step St234 to the application processing unit 214 (step St236). The application processing unit 214 generates (draws) a flow line display screen SC1 (see FIG. 15) using various data (see above) acquired in step St235 (step St237). The application processing unit 214 outputs the flow line display screen SC1 (see FIG. 15) generated in step St237 to the communication interface 10B (step St238) and transmits it to the upper application AP (step St239). The upper application AP transmits the flow line display screen SC1 (see FIG. 15) transmitted from the tractor processing device P2 to the display device MN to output it (step St240).

[0139] Meanwhile, the display device MN generates a visualization request (display of illegal parking position) for requesting visualization of whether or not a tractor is illegally (in other words, erroneously) parked at the current time in response to an operation input by a user (e.g., an operator) (step St241), and sends the visualization request to the tractor processing device P2 (step St242). This visualization request (display of illegal parking position) is a command requesting visualization of a parking map within the yard YRD (i.e., the position on the map of the parking space where the tractor is illegally parked) when, for example, an operator periodically monitors whether or not there is a tractor illegally parked within the yard YRD. The visualization request (display of illegal parking position) includes at least the tractor ID of the target tractor.

[0140] In addition, if the tractor traffic flow extraction unit 212 determines that [Condition 2B] (see step St218 shown in Figure 9) is satisfied, it may generate the above-mentioned visualization request (display of illegal parking position) and send it to the application processing unit 214 (step St243).

[0141] When the application processing unit 214 acquires the visualization request (display of illegal parking position), it generates a parking position information acquisition request for acquiring various data of the tractor corresponding to the tractor ID included in the visualization request (display of parking map) and sends it to the pairing processing unit 213 or the tractor pairing database DB23 (step St244). The pairing processing unit 213 or the tractor pairing database DB23 acquires various corresponding data (e.g., tractor ID, time stamp indicating the current time, position information of the tractor at the current time, and traffic line ID) from the tractor pairing database DB23 in accordance with the parking position information acquisition request of step St244 (step St245). The pairing processing unit 213 or the tractor pairing database DB23 returns the various data acquired in step St245 (see above) to the application processing unit 214 (step St46).

[0142] The application processing unit 214 also generates a parking position information acquisition request for acquiring various data of the tractor corresponding to the tractor ID included in the visualization request (parking map display) and sends it to the tractor expected value database DB24 (step St247). The tractor expected value database DB24 acquires the corresponding various data (e.g., the tractor ID, a time stamp indicating the current time, parking position information of the tractor that should be located at the current time, and the tractor dock position that should be located at the current time) from the tractor expected value database DB24 in accordance with the parking position information acquisition request of step St247 (step St248). The collation expected value database DB3 returns the various data (see above) acquired in step St248 to the application processing unit 214 (step St249).

[0143] The application processing unit 214 performs a comparison process to determine whether or not various data from the tractor pairing database DB23 acquired in step St246 matches various data from the tractor expected value database DB24 acquired in step St249 (step St250). The application processing unit 214 generates (draws) management screens SC2 and SC3 (see Figs. 17 and 18) showing the results of the comparison process in step St250 (step St251). The application processing unit 214 outputs the management screens SC2 and SC3 (see Figs. 17 and 18) generated in step St251 to the communication interface 10B (step St252) and causes them to be transmitted to the upper application AP (step St253). The upper application AP transmits the management screens SC2 and SC3 (see Figs. 17 and 18) transmitted from the tractor processing device P2 to the display device MN and causes them to be output (step St254).

[0144] <8. Trailer and tractor matching procedure> Next, an example of a procedure for matching a trailer with a tractor in the trailer management system 100 according to this embodiment will be described with reference to Fig. 13. Fig. 13 is a sequence diagram showing a chronological order of a procedure for matching a trailer with a tractor in the trailer management system 100 according to this embodiment.

[0145] In addition, in FIG. 13, the process of extracting the tractor ID (steps St302 to St306) and the process of extracting the trailer ID (steps St307 to St311) are executed in parallel and substantially simultaneously.

[0146] When the processor 31 of the upper application AP receives an instruction to match a trailer entering the yard YRD with the tractor towing the trailer through operational input by a user (e.g., an operator) using the display device MN (step St301), the processor 31 obtains an instruction to extract the tractor ID of the tractor entering the yard YRD and sends it to the tractor processing device P2 (step St302).

[0147] The application processing unit 214 of the tractor processing device P2 acquires an instruction to extract the tractor ID (step St303), generates a timestamp (TM) at the time when the instruction to extract the tractor ID was acquired, and executes an extraction process of the tractor ID (TID) that entered the yard YRD at the time of the timestamp (TM) by referring to the tractor ID database DB21 (step St304). The application processing unit 214 outputs the tractor ID (TID1) extracted as the extraction result to the communication interface 20B (step St305), and transmits it to the upper application AP (step St306).

[0148] Moreover, the processor 31 of the upper application AP acquires an instruction to extract the trailer ID of the trailer entering the yard YRD, and transmits it to the trailer processing device P1 (step St307).

[0149] The application processing unit 114 of the trailer processing device P1 acquires an instruction to extract the trailer ID (step St308), generates a timestamp (TM) at the time when the instruction to extract the trailer ID was acquired, and executes an extraction process of the trailer ID (TID) entering the yard YRD at the time of the timestamp (TM) by referring to the trailer ID database DB11 (step St309). The application processing unit 114 outputs the trailer ID (TID0) extracted as the extraction result to the communication interface 10B (step St310), and transmits it to the upper application AP (step St311).

[0150] The processor 31 of the upper application AP acquires the tractor ID (TID1) transmitted from the tractor processing device P2 and the trailer ID (TID0) transmitted from the trailer processing device P1, and then generates an instruction to extract a tractor ID with a high expected value that is towing a trailer corresponding to the acquired trailer ID (TID0). The upper application AP associates the generated instruction to extract the tractor ID with the trailer ID (TID0) and a timestamp (TM) indicating the time when the instruction to extract the trailer ID (TID0) was sent, and transmits them to the matching expected value database DB3 (step St312).

[0151] The matching expected value database DB3 receives an instruction to extract the tractor ID, extracts the tractor ID (TID1) associated with the trailer ID (TID0) based on the time stamp (TM) and the trailer ID (TID0), and further extracts the tractor ID (TID1) of the tractor with the highest expected value corresponding to the trailer ID (TID0) (step St313).The matching expected value database DB3 transmits the tractor ID (expected tractor ID: TID1exp) of the extracted tractor to the upper application AP (step St314).

[0152] The processor 31 of the upper application AP performs a matching process to check whether the tractor ID (expected tractor ID: TID1exp) sent from the matching expected value database DB3 matches the tractor ID (TID1) acquired in step St306 (step St315). The processor 31 generates (draws) management screens SC2 and SC3 (see Figs. 17 and 18) showing the results of the matching process in step St315 (step St316), and transmits the drawn management screens SC2 and SC3 (see Figs. 17 and 18) to the display device MN to output them (step St317).

[0153] <9. Example of visualization of traffic flow> Next, a visualization example of the movement of trailers and tractors in the yard YRD tracked by the trailer management system 100 according to the present embodiment will be described with reference to Fig. 14 and Fig. 15. Fig. 14 is a diagram for explaining an example of the movement of trailer TRA1 and tractors TRC1, TRC2, TRC3 in the yard YRD. Fig. 15 is a diagram showing an example of the movement of trailer TRA1 and tractors TRC1 to TRC3 in the yard YRD corresponding to Fig. 14.

[0154] Fig. 14 is a bird's-eye view of a first example of traffic lines of the trailer TRA1 and the tractors TRC1-TRC3 checked into the yard YRD. In the explanation of Fig. 14, the same elements as those in Fig. 1 and Fig. 2 are given the same reference numerals, and explanations thereof are simplified or omitted, and differences will be explained.

[0155] The trailer TRA1 is towed by the tractor TRC1 and passes through the check-in gate CIG of the yard YRD, and then moves along the travel route RLN11 toward the designated parking space in the parking space PKS. The trailer TRA1 waits parked until the towing state by the tractor TRC1 is released at the designated parking space in the parking space PKS and the trailer TRA1 enters the dock DCK.

[0156] The trailer TRA1 is towed by the tractor TRC3 and moves from the designated parking space in the parking space PKS to the designated stopping space in the dock DCK along the travel route RLN12. The trailer TRA1 stops at the designated stopping space in the dock DCK while still being towed by the tractor TRC3, and waits again until the worker completes unloading or loading.

[0157] After the worker has completed unloading or loading, the trailer TRA1 is towed by the tractor TRC3 and moves from the dock DCK toward the designated parking space in the parking space PKS along the travel route RLN13. The trailer TRA1 stops and waits in the designated parking space in the parking space PKS until the trailer TRA1 is released from the towing state by the tractor TRC3 at the designated parking space in the parking space PKS and checks out from the yard YRD.

[0158] The trailer TRA1 is towed by the tractor TRC2 and moves along the travel path RLN4 from the designated parking space in the parking space PKS toward the check-out gate COG. The trailer TRA1 passes through the check-out gate COG and exits the yard YRD.

[0159] When the tractor TRC1 (i.e., the transport truck TK1) passes through the check-in gate CIG of the yard YRD while towing the trailer TRA1, it moves along the travel path CLN11 toward the designated parking space in the parking space PKS. After parking the trailer TRA1 to be towed in the designated parking space, the tractor TRC1 moves along the travel path CLN12 toward the designated parking space in the parking space PKS and parks it.

[0160] The tractor TRC3 parks in the designated parking space of the parking space PKE and waits until the trailer TRA1 has been towed to the designated parking space of the parking space PKS and is available for unloading or loading at the designated stopping space of the dock DCK. When the trailer TRA1 is available for towing to the designated stopping space of the dock DCK, the tractor TRC3 moves along the travel path CLN31 to the designated parking space of the parking space PKS where the trailer TRA1 to be towed is parked. The tractor TRC3 moves along the travel path CLN32 from the designated parking space of the parking space PKS toward the designated stopping space of the dock DCK.

[0161] The tractor TRC3 moves the trailer TRA1, which has completed unloading or loading at the dock DCK, from the dock DCK to the designated parking space in the parking space PKS along the travel path CLN32. After parking the trailer TRA1 to be towed in the designated parking space, the tractor TRC3 releases the towing state with the trailer TRA1 and moves along the travel path CLN34 toward the designated parking space in the parking space PKE and parks it.

[0162] The tractor TRC2 parks in the designated parking space of the parking space PKE and waits until unloading or loading of the trailer TRA1 is completed. After unloading or loading of the trailer TRA1 is completed, the tractor TRC2 moves along the travel path CLN21 from the designated parking space of the parking space PKE toward the designated parking space of the parking space PKE where the trailer TRA1 is parked. The tractor TRC2, towing the trailer TRA1, moves along the travel path CLN22 from the designated parking space of the parking space PKE toward the checkout gate COG. The tractor TRC2 (transport truck TK2), towing the trailer TRA1, passes through the checkout gate COG and exits the yard YRD.

[0163] The processor 31 of the upper application AP generates a flow line display screen SC1 in response to an operational input by a user (eg, an operator) using the display device MN.

[0164] The flow line display screen SC1 is image data in which a movement route RLN1 which is the movement line of the detected trailer TRA1, a movement route CLN1 which is the movement line of the tractor TRC1, a movement route CLN2 which is the movement line of the tractor TRC2, and a movement route CLN3 which is the movement line of the tractor TRC3 are superimposed on a map MP (image data) including the yard YRD. On the map MP, each of the parking spaces PKN, PKS, PNE, PNW, the dock DCK, the check-in gate CIG, and the check-out gate COG installed on the yard YRD are drawn.

[0165] Here, the movement route RLN1 is a route drawn by integrating the movement routes RLN11-RLN14 of the trailer TRA1 shown in Fig. 14 into one flow line. The movement route CLN1 is a route drawn by integrating the movement routes CLN11-CLN12 of the tractor TRC1 shown in Fig. 14 into one flow line. The movement route CLN2 is a route drawn by integrating the movement routes CLN21-CLN22 of the tractor TRC2 shown in Fig. 14 into one flow line. The movement route CLN3 is a route drawn by integrating the movement routes CLN31-CLN34 of the tractor TRC3 shown in Fig. 14 into one flow line.

[0166] A flow line display screen (not shown) showing only the flow line (movement route RLN1) of the trailer TRA1 may be generated by the trailer processing device P1. Also, a flow line display screen (not shown) showing only the flow lines (movement routes CLN1 to CLN3) of the tractors TRC1 to TRC3 may be generated by the tractor processing device P2.

[0167] <10. Example of trailer and tractor matching> Next, with reference to Figs. 16 to 18, a visualization example of the movement of trailers and tractors in the yard YRD tracked by the trailer management system 100 according to the present embodiment will be described. Fig. 16 is a diagram illustrating an example of the movement of the trailer TRA1 and the tractor TRC3 in the yard YRD. Fig. 17 is a diagram illustrating an example of the display of the first collation result (management screen SC2) of the trailer TRA1 and the tractor TRC3 in the yard corresponding to the second operation example. Fig. 18 is a diagram illustrating an example of the display of the second collation result (management screen SC3) of the trailer TRA1 and the tractor TRC2 in the yard YRD corresponding to the second operation example.

[0168] The example of movement of the trailer TRA1 and the tractor TRC3 shown in Fig. 16 is similar to the example of movement of the trailer TRA1 and the tractor TRC3 shown in Fig. 14, so the description will be simplified or omitted, and only the differences will be described. In addition, in the comparison judgment between the trailer and the tractor, Figs. 16 to 18 will explain an example of comparing and determining whether the trailer TRA1 being unloaded or loaded at the dock DCK is towed by the correct tractor TRC3, but the present invention is not limited to this. The comparison judgment between the trailer and the tractor may be used in the case where the trailer TRA1 is not parked (stopped) at the dock DCK, for example, to compare the trailer TRA1 parked in any parking space in the yard YRD with the tractor towing the trailer TRA1.

[0169] When the processor 31 of the upper application AP receives an instruction to match a trailer TRA1 entering the yard YRD with the tractor towing the trailer TRA1 through operational input by a user (e.g., an operator) using the display device MN, the processor 31 sends an instruction to the trailer processing device P1 to extract the trailer ID of the trailer in the yard YRD, and sends an instruction to the tractor processing device P2 to extract the tractor ID of the tractor in the yard YRD.

[0170] The processor 31 acquires the trailer ID (TID0) of the trailer TRA1 transmitted from the trailer processing device P1 and the tractor ID (TID1) of the tractor transmitted from the tractor processing device P2. The processor 31 acquires the tractor ID (expected tractor ID: TID1exp) with a high expected value that is towing the trailer corresponding to the acquired trailer ID (TID0) from the matching expected value database DB3.

[0171] The processor 31 performs a matching process to determine whether the tractor ID (TID1) of the tractor acquired from the tractor processing device P2 matches the tractor ID (expected tractor ID: TID1exp) acquired from the matching expected value database DB3.

[0172] <10-1. Example of matching result when trailer and tractor are matched> For example, as shown in FIG. 17, when the processor 31 determines as a result of the matching process that the tractor ID (TID1) of the tractor TRC3 matches the tractor ID (expected tractor ID: TID1exp), it generates (draws) a management screen SC2 showing the result of the matching process that the trailer TRA1 is being towed by the correct tractor TRC3 that was specified in advance.

[0173] The processor 31 extracts information on the traffic path (movement path) of the trailer TRA1 after it enters the yard YRD and transmits it to the trailer processing device P1, and extracts information on the traffic path (movement path) of the tractor TRC3 after it enters the yard YRD and transmits it to the tractor processing device P2. The processor 31 obtains information on the traffic path (movement path RLN1) of the trailer TRA1 and information on the traffic path (movement path CLN3) of the tractor TRC3, and overlays them on the map MP.

[0174] The processor 31 also obtains the trailer parking position (PPOS) or trailer dock position (DPOS) associated with the tractor ID (expected tractor ID: TID1exp) of the tractor TRC3 from the matching expected value database DB3, and superimposes icons indicating the current positions of the trailer TRA1 and the tractor TRC3 on the parking position indicated by the trailer parking position (PPOS) or the parking position indicated by the trailer dock position (DPOS) on the map MP. The processor 31 further superimposes information RS11 related to the trailer TRA1 near the icon of the trailer TRA1 on the map MP, and information RS12 related to the tractor TRC3 near the icon of the tractor TRC3 on the map MP, to generate a management screen SC2. The processor 31 transmits the management screen SC2 to the display device MN to display it.

[0175] 17 includes the trailer ID "ID: ID0001" of the trailer TRA1 and the position information "D07" of the trailer TRA1. Also, the information RS12 regarding the tractor TRC3 includes the tractor ID "ID: LP0003" of the tractor TRC3 and the position information "D07" of the tractor TRC3.

[0176] <10-2. Example of matching result when trailer and tractor do not match> On the other hand, if the processor 31 determines as a result of the matching process that the tractor's tractor ID (TID1) does not match the tractor ID (expected tractor ID: TID1exp), it generates (draws) a management screen SC3 showing the result of the matching process that the trailer TRA1 is not being towed by the correct tractor TRC3 specified in advance.

[0177] For example, as shown in FIG. 18, when the tractor corresponding to the tractor ID (expected tractor ID: TID1exp) is tractor TRC2, the processor 31 determines as a result of the matching process that the tractor ID (TID1) of tractor TRC3 does not match the tractor ID (expected tractor ID: TID1exp), and generates (draws) a management screen SC3 showing the result of the matching process that the trailer TRA1 is not being towed by the correct tractor TRC3 specified in advance (i.e., it is being towed by the incorrect tractor TRC2).

[0178] The processor 31 transmits to the trailer processing device P1 an instruction to extract information on the traffic path (movement path) of the trailer TRA1 after it enters the yard YRD, and transmits to the tractor processing device P2 an instruction to extract information on the traffic path (movement path) of the tractor TRC2 after it enters the yard YRD. The processor 31 acquires information on the traffic path (movement path RLN1) of the trailer TRA1 and information on the traffic path (movement path CLN2) of the tractor TRC2, and superimposes them on the map MP.

[0179] The processor 31 acquires the trailer parking position (PPOS) or trailer dock position (DPOS) associated with the tractor ID (expected tractor ID: TID1exp) of the tractor TRC2 from the matching expected value database DB3, and superimposes icons indicating the current positions of the trailer TRA1 and the tractor TRC2 on the parking position indicated by the trailer parking position (PPOS) or the parking position indicated by the trailer dock position (DPOS) on the map MP. The processor 31 also transmits an extraction command for the current position of the tractor TRC3 to the tractor processing device P2, and acquires the current position of the tractor TRC3 (for example, the tractor parking position (PPOS) or the tractor dock position (DPOS) of the tractor TRC3). The processor 31 superimposes an icon indicating the current position of the tractor TRC3 on the parking position indicated by the trailer parking position (PPOS) or the parking position indicated by the trailer dock position (DPOS) on the map MP.

[0180] The processor 31 further superimposes information RS21 about the trailer TRA1 near the icon of the trailer TRA1 on the map MP, information RS22 about the tractor TRC2 near the icon of the tractor TRC2 on the map MP, and information RS23 about the tractor TRC3 near the icon of the tractor TRC3 on the map MP, to generate a management screen SC3. The processor 31 transmits the management screen SC3 to the display device MN to display it.

[0181] For example, information RS21 regarding trailer TRA1 shown in Fig. 18 includes trailer ID "ID: ID0001" of trailer TRA1 and position information "D07" of trailer TRA1. Information RS22 regarding tractor TRC2 includes information "Incorrect id" indicating an incorrect tractor, tractor ID "ID: LP0002" of tractor TRC2, and position information "D07" of tractor TRC2. Information RS32 regarding tractor TRC3 includes information "Correct id" indicating an incorrect tractor, tractor ID "ID: LP0003" of tractor TRC3, and position information "E06" of tractor TRC3.

[0182] (Additional Note) The above description of each embodiment discloses the following techniques.

[0183] (Technology 1) An acquisition unit (communication interface 30) that acquires position information of a plurality of trailers entering the yard YRD and position information of a plurality of tractors entering the yard YRD; A comparison unit (processor 31) that estimates a tractor that pulls a specific trailer among the multiple trailers based on the trailer position information and the tractor position information, and checks whether the estimated tractor matches a pre-designated tractor; and an output unit (processor 31) that outputs information (management screens SC2, SC3) indicating whether the estimated tractor is a pre-designated tractor based on the comparison. Trailer management device (higher application AP). With this configuration, the upper application AP can visualize whether or not a trailer in the yard YRD is being towed by a pre-designated tractor, and visually present this to the operator or yard jockey. This enables the upper application AP to support the operator or yard jockey in managing the trailers.

[0184] (Technology 2) The acquisition unit (communication interface 30) acquires a trailer ID indicating the specified trailer, a tractor ID indicating the estimated tractor, A tractor candidate ID indicating a tractor previously designated to pull a trailer corresponding to the trailer ID is obtained; The matching unit (processor 31) checks whether the tractor candidate ID matches the tractor ID. 2. A trailer management device according to claim 1 (higher-level application AP). With this configuration, the upper application AP can check whether or not a trailer in the yard YRD is being towed by a pre-specified tractor.

[0185] (Technology 3) When the matching unit (processor 31) determines that the tractor candidate ID and the tractor ID match, the output unit (processor 31) generates and outputs information including location information of a tractor corresponding to the tractor ID and location information of a trailer corresponding to the trailer ID. A trailer management device (higher-level application AP) according to (Technology 1) or (Technology 2). With this configuration, the upper application AP can visualize the fact that a trailer in the yard YRD is being towed by a pre-designated tractor, as well as the current positions of the trailer and tractor, and visually present this to the operator or yard jockey. This allows the upper application AP to support the operator or yard jockey in managing the trailer.

[0186] (Technology 4) When the matching unit (processor 31) determines that the tractor candidate ID does not match the tractor ID, the acquisition unit (communication interface 30) further acquires location information of a tractor corresponding to the tractor candidate ID, The output unit (processor 31) generates and outputs information including the position information of the tractor corresponding to the tractor candidate ID, the position information of the tractor corresponding to the tractor ID, and the position information of the trailer corresponding to the trailer ID. A trailer management device (higher-level application AP) according to any one of (Technology 1) to (Technology 3). With this configuration, the upper application AP can visualize the fact that the trailer in the yard YRD is not being towed by the pre-designated tractor, and the current positions of the trailer and tractor, and visually present this to the operator or yard jockey. This allows the upper application AP to support the operator or yard jockey in managing the trailer.

[0187] (Technology 5) When the collation unit (processor 31) determines that the tractor candidate ID matches the tractor ID, the acquisition unit (communication interface 30) further acquires movement line information of the tractor and the trailer from the time they entered the yard YRD to the present, The output unit (processor 31) generates and outputs information including tractor flow line information corresponding to the tractor ID and trailer flow line information corresponding to the trailer ID. A trailer management device (higher-level application AP) according to any one of (Technology 1) to (Technology 4). With this configuration, the upper application AP can visualize the fact that trailers in the yard YRD are being towed by pre-designated tractors and the traffic lines (movement routes) of these trailers and tractors, and visually present this to the operator or yard jockey. This allows the upper application AP to support the operator or yard jockey in managing the trailers.

[0188] (Technology 6) When the comparison unit (processor 31) determines that the tractor candidate ID does not match the tractor ID, the acquisition unit (communication interface 30) further acquires movement line information of the tractor corresponding to the tractor candidate ID, the tractor corresponding to the tractor ID, and the trailer corresponding to the trailer ID from when they entered the yard to the present, The output unit (processor 31) generates and outputs information including the tractor flow line information corresponding to the tractor candidate ID, the tractor flow line information corresponding to the tractor ID, and the trailer flow line information corresponding to the trailer ID. A trailer management device (higher-level application AP) according to any one of (Technology 1) to (Technology 5). With this configuration, the upper application AP can visualize the fact that the trailer in the yard YRD is not being towed by the pre-designated tractor, and the movement line (movement route) between the trailer, the incorrect tractor, and the correct tractor, and can visually present this to the operator or yard jockey. This allows the upper application AP to support the operator or yard jockey in managing the trailer.

[0189] (Technology 7) A trailer management method executed by a trailer management device (upper application AP) communicably connected between a first device (trailer processing device P1) that tracks a moving path of a trailer entering a yard YRD and a second device (tractor processing device P2) that tracks a moving path of a tractor entering the yard YRD, the method comprising: The first device is A trailer ID (TID0) that identifies the trailer is recorded in association with the moving route of the trailer; The second device is A tractor ID (TID1) for identifying the tractor is recorded in association with the travel route of the tractor; The trailer management device includes: Obtaining trailer IDs of the plurality of trailers and tractor IDs of the plurality of tractors; estimating a tractor that tows a specific trailer among the plurality of trailers based on the trailer position information and the tractor position information; Checking whether the estimated tractor matches a pre-designated tractor; generating and outputting information indicating whether the tractor towing the trailer is a pre-designated tractor based on the comparison; Trailer management methods. With this configuration, the upper application AP can visualize whether or not a trailer in the yard YRD is being towed by a pre-designated tractor, and visually present this to the operator or yard jockey. This enables the upper application AP to support the operator or yard jockey in managing the trailers.

[0190] (Technology 8) A first device (trailer processing device P1) that tracks the movement path of a trailer entering the yard YRD; A second device (tractor processing device P2) that tracks the movement path of the tractor entering the yard YRD; A trailer management system 100 including a trailer management device (higher application AP) connected to be able to communicate between the first device and the second device, The first device is A trailer ID (TID0) that identifies the trailer is recorded in association with the moving route of the trailer; The second device is A tractor ID (TID1) for identifying the tractor is recorded in association with the travel route of the tractor; The trailer management device includes: Obtaining trailer IDs of the plurality of trailers and tractor IDs of the plurality of tractors; estimating a tractor that tows a specific trailer among the plurality of trailers based on the trailer position information and the tractor position information; Checking whether the estimated tractor matches a pre-designated tractor; generating and outputting information indicating whether the tractor towing the trailer is a pre-designated tractor based on the comparison; A trailer management system 100. With this configuration, the trailer management system 100 can visualize whether or not a trailer in the yard YRD is being towed by a pre-designated tractor, and visually present this to the operator or yard jockey. This allows the upper application AP to support the operator or yard jockey in managing the trailers.

[0191] Although various embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, corrections, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also belong to the technical scope of the present disclosure. In addition, the components in the various embodiments described above may be arbitrarily combined within the scope of the invention. [Industrial Applicability]

[0192] INDUSTRIAL APPLICABILITY The present disclosure is useful as a trailer management device, a trailer management system, and a trailer management method that provide information on a tractor towing a specific trailer within a yard. [Explanation of symbols]

[0193] 10A, 10B, 20A, 20B, 30 Communication Interface 12,22,32 memory 31 Processors 100 Trailer Management System 111 Trailer ID Extraction Unit 112 Trailer flow line extraction unit 113,213 Pairing processing unit 114,214 Application Processing Unit 211 Tractor ID Extraction Unit 212 Tractor movement line extraction unit AP Top Applications C1,C2,C3,C4,C5,C6,C7,C8 Tracking camera CIG Check-in Gate Commercial Camera COG Checkout Gate DB3 Matching Expectations Database DB11 Trailer ID Database DB12 Trailer Traffic Database DB13 Trailer Pairing Database DB14 Trailer Expected Value Database DB21 Tractor ID Database DB22 Tractor movement database DB23 Tractor Pairing Database DB24 Tractor Expected Value Database DCK Dock MC Camera MN display device P1 Trailer Processing Equipment P2 Tractor Processing Equipment SC1 Flow line display screen SC2,SC3 management screen TK1, TK2 transport truck TRA1,TRA2 trailer TRC, TRC1, TRC2, TRC3 Tractor YRD Yard

Claims

1. an acquisition unit that acquires position information of a plurality of trailers entering a yard and position information of a plurality of tractors entering the yard; a comparison unit that estimates a tractor that pulls a specific trailer among the plurality of trailers based on the trailer position information and the tractor position information, and checks whether the estimated tractor matches a pre-designated tractor; and an output unit that outputs information indicating whether the estimated tractor is a pre-designated tractor based on the comparison. Trailer management device.

2. The acquisition unit acquires a trailer ID indicating the specified trailer, a tractor ID indicating the estimated tractor, A tractor candidate ID indicating a tractor previously designated to pull a trailer corresponding to the trailer ID is obtained; The collation unit verifies whether the tractor candidate ID and the tractor ID match each other.

2. The trailer management device according to claim 1.

3. When the collation unit determines that the tractor candidate ID and the tractor ID match, the output unit generates and outputs information including location information of a tractor corresponding to the tractor ID and location information of a trailer corresponding to the trailer ID. The trailer management device according to claim 2 .

4. When the collation unit determines that the tractor candidate ID does not match the tractor ID, the acquisition unit further acquires location information of a tractor corresponding to the tractor candidate ID, The output unit generates and outputs information including position information of the tractor corresponding to the tractor candidate ID, position information of the tractor corresponding to the tractor ID, and position information of the trailer corresponding to the trailer ID. The trailer management device according to claim 2 .

5. When the collation unit determines that the tractor candidate ID and the tractor ID match, the acquisition unit further acquires movement line information of the tractor and the trailer from when they entered the yard to the present, The output unit generates and outputs information including tractor flow line information corresponding to the tractor ID and trailer flow line information corresponding to the trailer ID. The trailer management device according to claim 2 .

6. When the collation unit determines that the tractor candidate ID does not match the tractor ID, the acquisition unit further acquires movement line information of the tractor corresponding to the tractor candidate ID, the tractor corresponding to the tractor ID, and the trailer corresponding to the trailer ID from when they entered the yard to the present, The output unit generates and outputs information including flow line information of the tractor corresponding to the tractor candidate ID, flow line information of the tractor corresponding to the tractor ID, and flow line information of the trailer corresponding to the trailer ID. The trailer management device according to claim 2 .

7. A trailer management method executed by a trailer management device that is communicably connected between a first device that tracks a movement path of a trailer entering a yard and a second device that tracks a movement path of a tractor entering the yard, the method comprising: The first device is A trailer ID for identifying the trailer is recorded in association with a moving route of the trailer; The second device is A tractor ID for identifying the tractor is recorded in association with a movement route of the tractor; The trailer management device includes: Acquire trailer IDs of the plurality of trailers and tractor IDs of the plurality of tractors; estimating a tractor that tows a specific trailer among the plurality of trailers based on the trailer position information and the tractor position information; Checking whether the estimated tractor matches a pre-designated tractor; generating and outputting information indicating whether the tractor towing the trailer is a pre-designated tractor based on the comparison; Trailer management methods.

8. A first device that tracks the movement path of a trailer that has entered the yard; A second device that tracks the movement path of a tractor that has entered the yard; A trailer management system comprising: a trailer management device communicably connected between the first device and the second device, The first device is A trailer ID for identifying the trailer is recorded in association with a moving route of the trailer; The second device is A tractor ID for identifying the tractor is recorded in association with a movement route of the tractor; The trailer management device includes: Acquire trailer IDs of the plurality of trailers and tractor IDs of the plurality of tractors; estimating a tractor that tows a specific trailer among the plurality of trailers based on the trailer position information and the tractor position information; Checking whether the estimated tractor matches a pre-designated tractor; generating and outputting information indicating whether the tractor towing the trailer is a pre-designated tractor based on the comparison; Trailer management system.

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