Management device, management method, and management system

Abstract

To automatically detect the drop-off and / or pick-up of trailers in a yard.SOLUTION: In a management device for managing trailers in a yard, the yard has parking areas where the trailers are parked. The position of the trailer in the yard is identified from an image captured by at least one imaging device installed in the yard. If the identified position of the trailer remains in the parking area for a predetermined period of time or longer, it is determined that the trailer has been dropped off from a tractor at that position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a technique for extracting feature information relating to the exterior of a vehicle from captured images received from a plurality of cameras, and identifying the travel path of the vehicle using the feature information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-217432 Summary of the Invention [Problem to be solved by the invention]

[0004] In the logistics industry, many tractors towing trailers enter and exit yards where cargo is loaded and unloaded. For example, a tractor enters a yard, detaches the trailer it has towed in a certain parking area (i.e., drops off the trailer), couples to a trailer placed in another parking area (i.e., picks up the trailer), and then leaves the yard. Because yards are large and many trailers enter and exit, efficient management of trailer drop-off and pickup is required.

[0005] The present disclosure aims to provide a technology for automatically detecting trailer drop-off and / or pickup in a yard and efficiently managing trailers. [Means for solving the problem]

[0006] The present disclosure provides a management device for managing trailers in a yard, the management device comprising a processor and memory, the yard having a parking area where the trailers are parked, the processor working in conjunction with the memory identifying the position in the yard of the trailer detected from an image captured by at least one imaging device installed in the yard, and if the identified position of the trailer remains within the parking area for a predetermined period of time or longer, determining that the trailer has been dropped off from a tractor at that position.

[0007] The present disclosure provides a management method for managing trailers in a yard, the yard having a parking area where the trailers are parked, the method identifying the position of the trailer in the yard detected from an image captured by at least one imaging device installed in the yard, and if the identified position of the trailer remains within the parking area for a predetermined period of time or longer, determining that the trailer has been dropped off from a tractor at that position.

[0008] The present disclosure provides a management system for managing trailers in a yard, the yard having a parking area where the trailers are parked, the management system comprising: at least one imaging device installed in the yard; and a management device that identifies the position of the trailer in the yard detected from images captured by each imaging device, and determines that the trailer has been dropped off from a tractor at that position if the identified position of the trailer remains within the parking area for a predetermined period of time or longer.

[0009] These comprehensive or specific aspects may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium, or may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium. [Effects of the Invention]

[0010] According to the present disclosure, trailer drop-off and / or pickup at the yard can be automatically detected. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram showing an example of a yard according to the first embodiment. [Figure 2] A block diagram showing an example of the configuration of a trailer management system according to the first embodiment. [Figure 3] FIG. 1 is a diagram showing an example of a connecting portion between a tractor and a trailer according to the first embodiment. [Figure 4] FIG. 1 is a diagram for explaining a flow line according to the first embodiment. [Figure 5] FIG. 1 is a diagram illustrating drop-off and pickup according to the first embodiment. [Figure 6] FIG. 1 is a diagram showing an example of the configuration of a trailer management DB according to the first embodiment; [Figure 7] 1 is a sequence chart showing an example of the operation of a trailer management system according to the first embodiment; [Figure 8] 10 is a flowchart showing an example of processing performed by an edge terminal according to the first embodiment; [Figure 9] 1 is a flowchart showing an example of processing performed by a management device according to the first embodiment; [Figure 10] Flowchart showing an example of a PU (pick-up) determination process according to the first embodiment [Figure 11] 1 is a flowchart showing an example of a DO (drop-off) determination process according to the first embodiment; [Figure 12] FIG. 1 is a block diagram showing a modified example of the configuration of the trailer management system according to the first embodiment. [Figure 13] 10 is a flowchart showing an example of processing performed by an edge terminal according to the second embodiment. [Figure 14] 10 is a flowchart showing an example of processing performed by a management device according to a second embodiment. [Figure 15] 10 is a flowchart showing an example of a DO (drop-off) determination process according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present disclosure will be described in detail with appropriate reference to the drawings. However, more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description 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] (Embodiment 1) <Summary> FIG. 1 is a diagram illustrating an example of a yard according to the first embodiment.

[0014] As shown in FIG. 1, a tractor 11 towing a trailer 12 enters and exits a yard 1. For example, the tractor 11 and trailer 12 enter the yard 1 through an entrance area 2 and move to a parking area 4. The tractor 11 then detaches (drops off) the trailer 12 in the parking area 4. The tractor 11 also moves to another parking area 4 where the trailer 12 is parked. The tractor 11 then couples the trailer 12 parked in the other parking area 4 and exits through an exit area 3, towing the trailer 12.

[0015] Here, the trailer 12 refers to the entire object towed by the tractor 11. Generally, a vehicle towed by a tractor is called a "trailer." The trailer 12 may be configured as a set of a container that stores cargo but does not have a mechanism for movement, such as wheels, and a dolly on which the container is loaded. The trailer 12 may also be configured as a vehicle in which a portion for storing cargo and a mechanism for movement are integrated. When the tractor 11 tows a set of a container and a dolly, only the dolly may be called a "trailer." However, in this specification, for the sake of convenience, the entire object towed by the tractor 11, that is, both the set of the dolly and the container, and the vehicle equipped with a portion for storing cargo and a mechanism for movement, will be called a "trailer."

[0016] The imaging device 21 is installed at a position where it can capture images of the entrance area 2 and exit area 3 of the yard 1. The imaging device 21 is also installed at a position where it can capture images of the parking area 4 of the yard 1. The imaging device 21 may be installed at various other positions in the yard 1.

[0017] The trailer management system 20 (see FIG. 2) according to the first embodiment uses a plurality of imaging devices 21 to capture images of the tractors 11 and / or trailers 12 in the yard 1, and uses the captured images to, for example, record the trajectory of movement of the tractors 11 and / or trailers 12 (hereinafter referred to as the flow line), record the location where the tractor 11 is placed, and record the time when the tractor 11 is dropped off and picked up. This makes it possible to efficiently manage a large number of tractors 11 in the yard 1. The trailer management system 20 will be described in detail below.

[0018] <Trailer management system configuration> FIG. 2 is a block diagram showing an example of the configuration of the trailer management system 20 according to the first embodiment.

[0019] The trailer management system 20 includes at least one imaging device 21, an edge terminal 30, and a management device 40. The imaging device 21 and the edge terminal 30 are connected via a predetermined communication network. The edge terminal 30 and the management device 40 are connected via a predetermined communication network. The communication network may be either a wired network (e.g., a wired LAN) or a wireless network (e.g., a wireless LAN, 5G, WiGig, etc.). The management device 40 may be configured as a so-called cloud system or cloud service.

[0020] Each imaging device 21 captures an image of the entrance area 2, the exit area 3, the parking area 4, or the passage area 5, etc., and generates a captured image. Each imaging device 21 transmits the generated captured image to the edge terminal 30.

[0021] The edge terminal 30 includes a processor 31 , a memory 32 , and a communication I / F 33 . Equipped with.

[0022] The processor 31 executes a computer program in cooperation with the memory 32 to realize the functions of the edge terminal 30. The processor 31 may be interpreted as a central processing unit (CPU), a controller, a control circuit, or the like.

[0023] The memory 32 stores computer programs, data, etc. The memory 32 is configured by a volatile storage medium and / or a non-volatile storage medium.

[0024] The communication I / F 33 controls transmission and reception of data with the imaging device 21 and / or the management device 40.

[0025] The edge terminal 30 has, as its functions, a detection unit 51 and a flow line generation unit 52. Details of these functions will be described later.

[0026] The management device 40 includes a processor 41, a memory 42, a communication I / F 43, an input device 44, a display device 45, and a trailer management DB 46.

[0027] The processor 31 cooperates with the memory 42 to execute a computer program, thereby realizing the functions of the management device 40.

[0028] The memory 42 stores computer programs, data, etc. The memory 42 may be configured by a volatile storage medium and / or a non-volatile storage medium.

[0029] The communication I / F 43 controls the transmission and reception of data to and from the edge terminal 30 .

[0030] The input device 44 is a device that allows a user to input information to the management device 40. Examples of the input device 44 include a keyboard, a mouse, a touch panel, and a microphone.

[0031] The display device 45 is a device for displaying images, information, etc. Examples of the display device 45 include a liquid crystal display, an organic EL display, a head-mounted display, a tablet terminal, and a smartphone.

[0032] The trailer management DB 46 manages, as a database, information relating to the trailers 12. The trailer management DB 46 may be configured in a non-volatile storage medium (not shown).

[0033] The management device 40 has, as its functions, a DO / PU determination unit 53 and an area determination unit 54. Details of these functions will be described later.

[0034] Fig. 3 is a diagram showing an example of a connecting portion 60 between the tractor 11 and the trailer 12 according to the first embodiment. Fig. 4 is a diagram for explaining a traffic line 70 according to the first embodiment. Fig. 5 is a diagram for explaining drop-off and pick-up according to the first embodiment. Next, the functions of the detection unit 51 and the traffic line generation unit 52 will be described with reference to Figs. 3 to 5.

[0035] The detection unit 51 detects a connection portion 60 between the tractor 11 and the trailer 12, as shown in FIG. 3 , from the captured image using a known image analysis technique. For example, the detection unit 51 detects the connection portion 60 from the captured image using artificial intelligence (AI) that has learned the image features of the connection portion between the tractor 11 and the trailer 12. Alternatively, the detection unit 51 detects the connection portion 60 from the captured image using a known pattern matching technique. In this embodiment, the connection portion 60 is defined as a range including the entire tractor 11 and the front half of the trailer 12. However, the connection portion 60 may include at least a portion of each of the tractor 11 and the trailer 12. For example, the connection portion 60 may be defined as a range including the rear half of the tractor 11 and the entire trailer 12, or as a range including the rear half of the tractor 11 and the front half of the trailer 12.

[0036] The flow line generating unit 52 tracks the position of the connecting portion 60 detected by the detecting unit 51 in the yard 1, and generates a flow line 70 of the connecting portion 60 in the yard 1 as shown in FIG.

[0037] The DO / PU determination unit 53 determines whether the trailer 12 is dropped off or picked up based on the detection status of the connecting portion 60, the flow line 70, etc. A specific example will be described below with reference to FIG.

[0038] As shown in PH1 of Figure 5, while the tractor 11 is towing the trailer 12, the detection unit 51 detects the connecting portion 60 from the captured image, and the traffic flow generation unit 52 tracks the movement of the connecting portion 60 and updates the traffic flow 70.

[0039] As shown in PH2 in Figure 5, when the tractor 11 detaches the trailer 12 (i.e., when a drop-off occurs), the detection unit 51 no longer detects the connecting portion 60 from the captured image, and the flow line generation unit 52 stops updating the flow line 70 of the connecting portion 60. In other words, the last position where the flow line 70 stopped being updated can be estimated to be the position where the drop-off occurred, i.e., the position where the trailer 12 was parked. Therefore, when the update of the flow line 70 is stopped, the DO / PU determination unit 53 determines that a drop-off occurred at the last position indicated by the flow line 70.

[0040] As shown in PH3 in FIG. 5, the detection unit 51 does not detect the connection portion 60 of the parked trailer 12, so the flow line generation unit 52 does not update the flow line 70 related to the trailer 12.

[0041] 5, when the tractor 11 couples the trailer 12 (i.e., when a pickup occurs), the detection unit 51 detects a new coupling portion 60 from the captured image, and the flow line generation unit 52 generates a new flow line 70 for this newly detected coupling portion 60. In other words, the initial position at which the newly generated flow line 70 is generated can be estimated to be the position at which the pickup occurred, i.e., the position at which the parked trailer 12 was picked up by the tractor 11. Therefore, when a new flow line 70 is generated, the DO / PU determination unit 53 determines that a pickup occurred at the initial position indicated by the flow line 70.

[0042] <Trailer Management DB> FIG. 6 is a diagram showing an example of the configuration of the trailer management DB 46 according to the first embodiment.

[0043] The trailer management DB 46 is a database for managing the trailers 12 in the yard 1. The trailer management DB 46 has the following items: trailer identification information, flow line ID, final coordinates, status, area, reception time, entry time, exit time, DO time, and PU time.

[0044] Trailer identification information is information for identifying the trailer 12. Generally, trailers or containers are marked with identification (hereinafter referred to as "ID") for identifying the trailer or container. Hereinafter, an ID for identifying a trailer is referred to as a "trailer ID," and an ID for identifying a container is referred to as a "container ID." Trailer identification information may be generated based on the trailer ID and / or container ID marked on the trailer 12. Specifically, the trailer ID and / or container ID itself may be used as the trailer identification information, or information obtained by converting the trailer ID and / or container ID or by linking it with other information may be used as the trailer identification information. Note that if a container is separable from the trailer 12, the container ID may not have a one-to-one correspondence with the trailer 12. However, in this embodiment, unless otherwise specified, the trailer 12 is treated as being able to be identified by the container ID. This is because, in the yard 1, containers are handled in a transportable state, and therefore, even if a container is separable from the trailer 12, it is often handled as an integrated unit.

[0045] The flow line ID is information for identifying the flow line 70 of the trailer 12 indicated by the trailer identification information. Information on the flow line 70 corresponding to the flow line ID may be managed in the trailer management DB 46, or may be managed in another DB (not shown).

[0046] The final coordinates are information indicating the coordinates at which the flow line 70 indicated by the flow line ID was last recorded. The final coordinates may be expressed as a set of X and Y coordinates.

[0047] The status is information indicating whether the trailer 12 indicated by the trailer identification information is in a moving or stopped state.

[0048] The area is information indicating the area in which the trailer 12 indicated by the trailer identification information is located.

[0049] The reception time indicates the time when the information on the flow line 70 indicated by the flow line ID was last received.

[0050] The entry time indicates the time when the trailer 12 indicated by the trailer identification information entered the yard 1 (that is, the time when it entered the entrance area 2).

[0051] The exit time indicates the time when the trailer 12 indicated by the trailer identification information exited the yard 1 (that is, the time when it left the exit area 3).

[0052] The DO time indicates the time when the trailer 12 indicated by the trailer identification information is dropped off.

[0053] The PU time indicates the time when the trailer 12 indicated by the trailer identification information is picked up.

[0054] <Operation sequence> FIG. 7 is a sequence chart showing an example of the operation of the trailer management system 20 according to the first embodiment.

[0055] The imaging device 21 transmits the captured image to the edge terminal 30 (S11).

[0056] The communication I / F 33 of the edge terminal 30 receives the captured image from the imaging device 21 (S12).

[0057] The detection unit 51 of the edge terminal 30 detects a moving object from the captured image (S13).

[0058] The detection unit 51 of the edge terminal 30 determines whether or not the detected moving object includes the connecting portion 60 between the tractor 11 and the trailer 12 (S14).

[0059] If the detected moving object includes a connecting portion 60, the flow line generating unit 52 of the edge terminal 30 generates or updates a flow line 70 based on the coordinates of the connecting portion 60 (S15).

[0060] The communication I / F 33 of the edge terminal 30 transmits the flow line 70 to the management device 40 (S16).

[0061] The communication I / F 43 of the management device 40 receives the flow line 70 from the edge terminal 30 (S17).

[0062] If the received flow line 70 is a newly generated one, the DO / PU determination unit 53 of the management device 40 determines that a pickup has occurred (S18).

[0063] If the existing flow line 70 is not updated for a predetermined time or more, the DO / PU determination unit 53 of the management device 40 determines that a drop-off has occurred (S19).

[0064] Through the above processing, the management device 40 can detect the occurrence of pickup and drop-off in the yard 1. The processing in the edge terminal 30 and the management device 40 will be described in detail below.

[0065] <Edge terminal flow> FIG. 8 is a flowchart showing an example of processing performed by the edge terminal 30 according to the first embodiment.

[0066] The communication I / F 33 of the edge terminal 30 receives a captured image from the imaging device 21 (S101).

[0067] The detection unit 51 of the edge terminal 30 detects a moving object from the received captured image (S102).

[0068] The detection unit 51 of the edge terminal 30 determines whether the detected moving object includes the connecting portion 60 between the tractor 11 and the trailer 12 (S103).

[0069] If the moving object does not include a connecting portion 60 (S103: NO), the edge terminal 30 returns the process to step S101.

[0070] If the moving object includes a connection portion 60 (S103: YES), the edge terminal 30 proceeds to the next step S104.

[0071] The flow line generation unit 52 of the edge terminal 30 generates or updates a flow line 70 corresponding to the connection portion 60 detected by the detection unit 51 (S104). That is, if the connection portion 60 is newly detected by the detection unit 51, the flow line generation unit 52 generates a new flow line 70, and if the connection portion 60 has already been detected by the detection unit 51, the flow line generation unit 52 updates the existing flow line 70 in accordance with the movement of the connection portion 60.

[0072] The communication I / F 33 of the edge terminal 30 transmits the generated or updated flow line 70 to the management device 40 (S105). Then, the edge terminal 30 returns the process to step S101.

[0073] <Management device flow> FIG. 9 is a flowchart showing an example of processing performed by the management device 40 according to the first embodiment.

[0074] The communication I / F 43 of the management device 40 receives the flow line 70 from the edge terminal 30 (S201).

[0075] The management device 40 determines whether the received flow line 70 is a newly generated one (S202).

[0076] First, the case where the received flow line 70 is a newly generated one (S202: YES) will be described.

[0077] In this case, the area determination unit 54 of the management device 40 determines whether the flow line coordinates of the newly generated flow line 70 are within the entrance area 2 (S203). In other words, the area determination unit 54 of the management device 40 determines whether the position where the connection portion 60 is newly detected is within the entrance area 2. The flow line coordinates indicate the latest coordinates of the flow line 70 received from the edge terminal 30 (i.e., the position of the tip of the flow line 70).

[0078] If the flow line coordinates of the newly generated flow line 70 are within the entrance area 2 (S203: YES), the management device 40 generates new trailer identification information corresponding to the trailer 12 corresponding to the newly detected connecting portion 60 and a flow line ID for the newly generated flow line 70, and registers them in the trailer management DB 46 (S204). This is because a new trailer 12 has entered the yard 1. Then, the management device 40 returns the process to step S201.

[0079] If the flow line coordinates of the newly generated flow line 70 are not within the entrance area 2 (S203: NO), the DO / PU determination unit 53 of the management device 40 executes a PU determination process (S205). An example of when it is determined that the flow line coordinates of the newly generated flow line 70 are not within the entrance area 2 is when the flow line coordinates of the newly generated flow line 70 are within the parking area 4. Details of the PU determination process will be described later. Then, the management device 40 returns the process to step S201.

[0080] Next, a case where the received flow line 70 is not a newly generated one (S202: NO), that is, the received flow line 70 is an updated version of an existing flow line 70, will be described.

[0081] In this case, the area determination unit 54 of the management device 40 determines whether the flow line coordinates of the flow line 70 are within the exit area 3 (S210).

[0082] If the flow line coordinates of the flow line 70 are not within the exit area 3 (S210: NO), the management device 40 updates the final coordinates corresponding to the flow line 70 in the trailer management DB 46 to the latest flow line coordinates (S211). Then, the management device 40 returns the process to step S201.

[0083] If the flow line coordinates of the flow line 70 are within the exit area 3 (S210: YES), the management device 40 deletes the row of trailer identification information corresponding to the flow line 70 from the trailer management DB 46 (S212). This is because the trailer 12 corresponding to the flow line 70 has exited the yard 1. Then, the management device 40 returns the process to step S201.

[0084] <Flowchart of PU determination process> FIG. 10 is a flowchart showing an example of PU (pickup) determination processing according to Embodiment 1. This processing corresponds to the details of step S205 in FIG. 9.

[0085] The DO / PU determination unit 53 of the management device 40 acquires, from the trailer management DB 46, the final coordinates closest to the route coordinates of the newly generated route 70 (S301).

[0086] The DO / PU determination unit 53 of the management device 40 calculates the difference between the route coordinates and the acquired final coordinates (S302).

[0087] The DO / PU determination unit 53 of the management device 40 determines whether or not the difference calculated in step S302 is less than a predetermined threshold (S303).

[0088] If the difference is less than the predetermined threshold (S303: YES), the DO / PU determination unit 53 of the management device 40 determines that a pickup has occurred (S304). This is because when a new route 70 is generated near the final coordinates, it means that the connection part 60 has been newly detected from the captured image, and the connection part 60 is newly detected at the time of pickup (i.e., connection).

[0089] The DO / PU determination unit 53 of the management device 40 records the time when the new route 70 was generated in the PU time included in the row of the above final coordinates in the trailer management DB 46 (S305). Then, this processing is completed and returns to the processing shown in FIG. 9.

[0090] If the difference is greater than or equal to the predetermined threshold (S303: YES), the DO / PU determination unit 53 of the management device 40 notifies an error (S310). This is because when the difference is greater than or equal to the predetermined threshold, it means that the connection part 60 has been newly detected at a location not near the final coordinates, and there is a high possibility of an error. Then, this processing is completed and returns to the processing shown in FIG. 9.

[0091] <Flowchart of DO determination process> 11 is a flowchart showing an example of a DO (drop-off) determination process according to Embodiment 1. This process is executed in parallel with (that is, as a separate process from) the process shown in FIG.

[0092] The DO / PU determination unit 53 of the management device 40 extracts from the trailer management DB 46 rows in which the elapsed time from the reception time to the current time is equal to or greater than a predetermined threshold (S401).

[0093] The DO / PU determination unit 53 of the management device 40 determines that the trailer 12 indicated by the trailer identification information of the extracted row is the trailer 12 in which a drop-off occurred (S402). This is because if the flow line 70 is not updated for a certain period of time or more, it is assumed that a drop-off occurred at the position (coordinates) last indicated by the flow line 70.

[0094] The management device 40 records the reception time in the DO time of the row corresponding to the trailer 12 for which it was determined in step S402 that a drop-off occurred in the trailer management DB 46 (S403). Then, the process returns to step S401.

[0095] <Modification of trailer management system> 12 is a block diagram showing a modified example of the configuration of the trailer management system 20 according to embodiment 1. The trailer management system 20 is not limited to the configuration shown in FIG. 2, and may have the configuration shown in FIG.

[0096] 12, the trailer management system 20 is an integrated system of an edge terminal 30 and an imaging device 21. The edge terminal 30 has a detection unit 51, and the management device 40 has a flow line generation unit 52, a DO / PU determination unit 53, and an area determination unit 54.

[0097] 12, when the detection unit 51 of the edge terminal 30 detects a connecting portion 60, it transmits the coordinates of the detected connecting portion 60 to the management device 40. Then, the flow line generation unit 52 of the management device 40 generates or updates the flow line 70 based on the coordinates of the connecting portion 60 received from the edge terminal 30. In this way, the trailer management system 20 shown in FIG. 12 can perform the same processing as the configuration of FIG. 2 described above.

[0098] The flow line generating unit 52, the DO / PU determining unit 53, and the area determining unit 54 may be assigned to either the edge terminal 30 or the management device 40, respectively.

[0099] (Embodiment 2) In the first embodiment, the drop-off and pickup of the trailer 12 is detected by detecting the connecting portion 60. In the second embodiment, the drop-off and pickup of the trailer 12 is detected by detecting the position and movement of the trailer 12. This will be explained in detail below. In the second embodiment, the trailer management system 20 will be explained as having the configuration shown in FIG. 2. However, the trailer management system 20 according to the second embodiment may also have the configuration shown in FIG. 12.

[0100] <Edge terminal flow> FIG. 13 is a flowchart showing an example of processing performed by the edge terminal 30 according to the second embodiment.

[0101] The communication I / F 33 of the edge terminal 30 receives a captured image from the imaging device 21 (S501).

[0102] The detection unit 51 of the edge terminal 30 detects a moving object from the received captured image (S502).

[0103] The detection unit 51 of the edge terminal 30 determines whether the detected moving object includes at least a part of the trailer 12 (hereinafter referred to as the trailer part) (S503).

[0104] If the moving object does not include a trailer portion (S503: NO), the edge terminal 30 returns the process to step S501.

[0105] If the moving object includes a trailer portion (S503: YES), the edge terminal 30 proceeds to the next step S504.

[0106] The flow line generation unit 52 of the edge terminal 30 generates or updates a flow line 70 corresponding to the trailer portion detected by the detection unit 51 (S504). That is, if the trailer portion is newly detected by the detection unit 51, the flow line generation unit 52 generates a new flow line 70, and if the trailer portion has already been detected by the detection unit 51, the flow line generation unit 52 updates the existing flow line 70 in accordance with the movement of the trailer portion.

[0107] The communication I / F 33 of the edge terminal 30 transmits the generated or updated flow line 70 to the management device 40 (S505). Then, the edge terminal 30 returns the process to step S501.

[0108] <Management device flow> FIG. 14 is a flowchart showing an example of processing performed by the management device 40 according to the second embodiment.

[0109] The communication I / F 43 of the management device 40 receives the flow line 70 from the edge terminal 30 (S601).

[0110] The flow line generating unit 52 of the management device 40 determines whether the received flow line 70 is a newly generated one (S602).

[0111] First, the case where the received flow line 70 is a newly generated one (S602: YES) will be described.

[0112] In this case, the area determination unit 54 of the management device 40 determines whether the flow line coordinates of the flow line 70 are within the entrance area 2 (S603).

[0113] If the flow line coordinates of the flow line 70 are within the entrance area 2 (S603: YES), the flow line generation unit 52 of the management device 40 newly registers trailer identification information corresponding to the newly generated flow line 70 in the trailer management DB 46 (S604). Then, the process returns to step S601.

[0114] If the flow line coordinates of the flow line 70 are not within the entrance area 2 (S603: NO), the process returns to step S601.

[0115] Next, a case where the received flow line 70 is not a newly generated one (S602: NO), that is, a case where the received flow line 70 is an update of an existing flow line 70, will be described.

[0116] In this case, the area determination unit 54 of the management device 40 determines the area in which the flow line coordinates of the flow line 70 exist (S605).

[0117] First, a case where the area where the flow line coordinates of the flow line 70 exist is the parking area 4 (S605: parking area) will be described.

[0118] In this case, the management device 40 determines whether the area where the final coordinates (i.e., previous flow line coordinates) corresponding to the flow line 70 in the trailer management DB 46 existed is the parking area 4 (S606). Here, "previous" may refer to, for example, the stage one cycle before when the process shown in FIG. 14 is considered to be one cycle.

[0119] If the area where the final coordinates were located is not the parking area 4 (S606: NO), that is, if it can be determined that the tractor 11 entered the parking area 4 in this cycle, the time of reception of the flow line 70 is registered as the parking area entry time (S607). This parking area entry time is used in the DO determination process shown in FIG. 15. The parking area entry time may be added as a new item in the trailer management DB 46. Then, the process proceeds to step S608.

[0120] If the area where the final coordinates existed is parking area 4 (S606: YES), the management device 40 updates the final coordinates in the trailer management DB 46 with the flow line coordinates (S608), and then the process returns to step S601.

[0121] Next, a case where the area where the flow line coordinates of the flow line 70 exist is other than the parking area 4 or the entrance area 2 (S605: other than the parking area or entrance area) will be described.

[0122] In this case, the management device 40 updates the final coordinates in the trailer management DB 46 with the flow line coordinates (S611).

[0123] The DO / PU determination unit 53 of the management device 40 determines whether the area in which the final coordinates corresponding to the flow line 70 in the trailer management DB 46 existed is the parking area 4 (S612).

[0124] If the area where the final coordinates existed is not parking area 4 (S612: NO), the process returns to step S601.

[0125] If the area where the final coordinates existed is parking area 4 (S612: YES), DO / PU determination unit 53 of management device 40 registers the reception time of flow line 70 as the parking area entry time in trailer management DB 46 (S613).

[0126] The DO / PU determination unit 53 of the management device 40 determines whether the status corresponding to the flow line 70 in the trailer management DB 46 is "stopped" (S614).

[0127] If the status is not "Stopped" (S614: NO), the process returns to step S601. In this case, it is assumed that the trailer 12 is being towed by the tractor 11 and is not stopped in the parking area 4.

[0128] When the status is "stopped" (S614: YES), the management device 40 registers the reception time of the traffic line 70 at the PU time in the trailer management DB46 (S615). The reason that the current traffic line coordinates of the trailer 12 whose status is "stopped" and the area of the final coordinates is the parking area 4 exist outside the parking area 4 is that it can be estimated that the trailer 12 has been picked up from the parking area 4.

[0129] The management device 40 updates the status corresponding to the traffic line 70 in the trailer management DB46 to "moving" (S616). Then, the process returns to step S601.

[0130] Next, the case where the area where the traffic line coordinates of the traffic line 70 exist is the exit area 3 (S605: exit area) will be described.

[0131] In this case, the management device 40 deletes the row of the trailer identification information corresponding to the traffic line 70 from the trailer management DB46 (S621). The reason that the trailer 12 exists in the exit area 3 is that it can be estimated that the trailer 12 has left the yard 1. Then, the process returns to step S601.

[0132] <Flow of DO determination process> FIG. 15 is a flowchart showing an example of a DO (drop-off) determination process according to the second embodiment. This process is executed in parallel with the process shown in FIG. 14 (that is, as a separate process).

[0133] The DO / PU determination unit 53 of the management device 40 extracts from the trailer management DB 46 rows where the elapsed time from the parking area entry time to the current time is equal to or greater than a predetermined threshold (for example, equal to or greater than one minute) and where the trailer 12 is continuously detected in the parking area 4 (S701). Here, the reason why the condition that the trailer 12 is continuously detected in the parking area 4 is added is to prevent trailers 12 other than the trailer 12 staying in the parking area 4 from being erroneously determined as having dropped off. However, the condition that the trailer 12 is continuously detected in the parking area 4 is optional and does not need to be included in the determination conditions of step S701.

[0134] The DO / PU determination unit 53 of the management device 40 determines that a drop-off has occurred in the trailer 12 of the row extracted in step S701, updates the status of the row to "stopped," and registers the parking area entry time as the DO time of the row (S702). Then, the process returns to step S701.

[0135] (Summary of the second embodiment) The above description of the second embodiment discloses the following techniques.

[0136] <Technology 1> A management device (40) that manages trailers (12) in a yard (1) includes a processor (41) and a memory (42), and the yard has a parking area (4) where the trailers are parked. The processor works in conjunction with the memory to identify the position of the trailer in the yard detected from an image captured by at least one imaging device (21) installed in the yard, and if the identified position of the trailer exists within the parking area for a predetermined period of time or longer, it determines that the trailer has been dropped off from the tractor at that position. This allows the management device to identify that the trailer has been dropped off from the tractor and the location where it has been dropped off.

[0137] <Technology 2> In the management device described in Technology 1, the processor updates the status of the trailer determined to have been dropped off from the tractor to stopped. This allows the management device to manage the status of the trailer.

[0138] <Technology 3> In the management device described in Technology 2, if the identified trailer position is outside the parking area, the trailer's previous position is in the parking area, and the trailer's status is stopped, the processor determines that the trailer was picked up by the tractor at that position. This allows the management device to identify that the trailer has been picked up by the tractor and the location where it has been picked up.

[0139] <Technology 4> In the management device described in Technique 3, the processor updates the status of the trailer determined to have been picked up by the tractor to moving. This allows the management device to manage the status of the trailer.

[0140] <Technology 5> The management device described in Technology 4 further includes a database that manages at least the trailer's location, the trailer's status, the time when the trailer is determined to be dropped off, and the time when the trailer is determined to be picked up in association with each other. This allows the management device to manage the status of the trailer in a database.

[0141] <Technology 6> In the management device described in Technology 5, the yard has an exit area for the trailer and the tractor to exit the area where the drop-off or pickup is managed, and if the identified position of the trailer is within the exit area, the processor records information in the database indicating that the trailer will be excluded from the drop-off or pickup management. This allows the management device to remove the trailer that has left the yard from the list of those to be managed.

[0142] <Technology 7> In the management device described in Technology 5 or 6, the yard has an entrance area for the trailer and the tractor to enter the area where the drop-off or pickup is managed, and if the identified position of the trailer is within the entrance area, the processor records information in the database indicating that the trailer will be added to the drop-off or pickup management area. This allows the management device to manage trailers that have entered the yard.

[0143] <Technology 8> A management method for managing trailers (12) in a yard (1) includes the steps of: the yard having a parking area (4) where the trailers are parked; identifying the position of the trailer in the yard detected from an image captured by at least one imaging device (21) installed in the yard; and, if the identified position of the trailer exists within the parking area for a predetermined period of time or longer, determining that the trailer has been dropped off from the tractor at that position. This allows the management method to identify that the trailer has been dropped off from the tractor and where it has been dropped off.

[0144] <Technology 9> A management system (e.g., trailer management system 20) for managing trailers (12) in a yard (1) has a parking area (4) where the trailers are parked, and is equipped with at least one imaging device (21) installed in the yard, and a management device (40) that identifies the position of the trailer in the yard detected from images captured by each imaging device, and determines that the trailer has been dropped off from the tractor at that position if the identified position of the trailer remains within the parking area for a predetermined period of time or more. This allows the management system to identify that the trailer has been dropped off from the tractor and where it has been dropped off.

[0145] (Other variations) The position of the connecting portion 60 in the first embodiment and the position of the trailer 12 in the second embodiment may be any coordinates that are included within the range of the area in which the connecting portion 60 or the trailer 12 is detected. For example, the center of the area or the coordinates with the smallest X and Y coordinates may be used as the position of the connecting portion 60 or the trailer 12.

[0146] In the first and second embodiments, if the flow line coordinates of the newly generated flow line 70 are within the entrance area 2, it is assumed that the trailer 12 has entered the yard 1, and the trailer identification information of the trailer 12 corresponding to the flow line 70 is newly registered in the trailer management DB 46. This allows the trailer identification information of the trailer to be managed for drop-off or pickup to be added to the trailer management DB 46. However, if the trailer identification information is known before the new flow line 70 is generated, the trailer identification information may be recorded in advance in the trailer management DB 46. For example, if the trailer identification information of the trailer 12 visiting the yard 1 is notified in advance, or if the trailer identification information is recognized by OCR or the like immediately after the trailer 12 enters the yard 1, the trailer identification information may be known before the flow line 70 is generated. In this case, if a new flow line 70 is generated within the entrance area 2, a flag indicating this may be recorded in association with the trailer identification information, or information indicating the generated flow line 70 may be recorded in association with the trailer identification information. In this way, regardless of when the trailer identification information of the trailer 12 was recorded, it is possible to determine which trailer 12 corresponding to the trailer identification information is subject to drop-off or pickup management from the recorded contents of the trailer management DB 46. Note that the information indicating the flow line 70 may be one or more of the flow line ID, final coordinates, status, area, reception time, entry time, exit time, DO time, and PU time. Furthermore, when recording information that is not determined when a new flow line 70 is registered, a dummy value or information indicating that it is undetermined may be recorded. In other words, if the flow line coordinates of a newly created flow line 70 are within the entrance area 2, the specific form of information recorded in the trailer management DB 46 is not important as long as the trailer 12 corresponding to that flow line 70 can be added to the drop-off or pickup management targets.

[0147] In the first and second embodiments, if the flow line coordinates of the flow line 70 are within the exit area 3, it is assumed that the trailer 12 has exited the yard 1, and the trailer identification information of the trailer 12 corresponding to that flow line 70 is deleted from the trailer management DB 46. By doing so, the trailer identification information of the trailer that is subject to drop-off or pickup management is deleted from the trailer management DB 46. In other words, the trailer 12 that is assumed to have exited can be excluded from the drop-off or pickup management. However, the identification information of the trailer 12 may be stored in the trailer management DB 46 even after the trailer 12 has exited, and the fact that the trailer 12 has been excluded from the drop-off or pickup management may be recorded by another method. For example, a flag indicating that the trailer 12 has exited may be recorded, or only the information indicating the flow line 70 may be deleted. In other words, if the flow line coordinates of the flow line 70 are within the exit area 3, the specific form of information recorded in the trailer management DB 46 is not important as long as the trailer 12 corresponding to that flow line 70 can be excluded from the drop-off or pickup management targets.

[0148] In the first and second embodiments, the area for managing the drop-off or pickup of the trailer 12 is the entire yard 1. However, the traffic flow 70 may be tracked for only a portion of the yard 1 to manage the drop-off or pickup. For example, if the area where the parking area 4 is located is limited as shown in FIG. 1 , the area surrounding the parking area 4 is an area where drop-off or pickup may occur, and other areas may be excluded from the area for managing the drop-off or pickup. In this case, the entrance area 2 and the exit area 3 are located at the entrance and exit of the area for managing the drop-off or pickup. If it is difficult to separate the entrance area 2 and the exit area 3 with a wall or the like, the entrance area 2 and the exit area 3 may be displayed and managed by signs or the like installed within the yard. More specifically, the arrival of the tractor 11 at the entrance area 2 or the exit area 3 may be detected by having a reader installed on the tractor 11 recognize text or a code printed on a sign or the like. If the connecting part 60 or the trailer 12 is also detected at that time, it may be determined that the connecting part 60 or the trailer 12 is present in the entrance area 2 or the exit area 3.

[0149] Although the 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, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also fall within the technical scope of the present disclosure. Furthermore, the components in the above-described embodiments may be combined in any manner without departing from the spirit of the invention. [Industrial Applicability]

[0150] The techniques of the present disclosure are useful for managing trailers. [Explanation of symbols]

[0151] 1 yard 2 Entrance area 3 Exit Area 4 Parking Area 11 Tractor 12 Trailer 20 Trailer Management System 21 Imaging device 30 Edge Devices 31 processors 32 memory 33 Communication I / F 40 Management device 41 processors 42 memory 43 Communication I / F 44 Input Devices 45 Display device 46 Trailer Management DB 51 Detection unit 52 Flow line generation section 53 DO / PU judgment section 54 Area determination unit 60 Connecting part 70 Flow line

Claims

1. A management device for managing trailers in a yard, the management device comprising a processor and a memory, the yard has a parking area in which the trailer is parked; The processor, in cooperation with the memory, Identifying a position in the yard of the trailer detected from an image captured by at least one imaging device installed in the yard; If the identified position of the trailer exists within the parking area for a predetermined period of time or more, it is determined that the trailer has been dropped off from the tractor at that position. Management device.

2. the processor updates the status of the trailer determined to have been dropped off from the tractor to stopped; The management device according to claim 1 .

3. If the identified location of the trailer is outside the parking area, the previous location of the trailer is the parking area, and the status of the trailer is stopped, the processor determines that the trailer was picked up by the tractor at the identified location. The management device according to claim 2 .

4. the processor updates the status of the trailer determined to have been picked up by the tractor to moving; The management device according to claim 3 .

5. The system further includes a database that manages at least the location of the trailer, the status of the trailer, the time when the trailer is determined to be dropped off, and the time when the trailer is determined to be picked up in association with each other. The management device according to claim 4 .

6. the yard having an exit area for the trailer and the tractor to exit the area managing the drop-off or the pick-up; If the identified trailer location is within the exit area, the processor records information in the database indicating that the trailer is to be excluded from drop-off or pick-up management. The management device according to claim 5 .

7. the yard having an entrance area for the trailer and the tractor to enter an area managing the drop-off or the pick-up; If the identified trailer location is within the entrance area, the processor records information in the database indicating that the trailer will be added to a drop-off or pick-up management target. The management device according to claim 5 .

8. A management method for managing trailers in a yard, comprising: the yard has a parking area in which the trailer is parked; Identifying a position in the yard of the trailer detected from an image captured by at least one imaging device installed in the yard; If the identified position of the trailer exists within the parking area for a predetermined period of time or more, it is determined that the trailer has been dropped off from the tractor at that position. Management method.

9. A management system for managing trailers in a yard, the yard has a parking area in which the trailer is parked; At least one imaging device installed in the yard; a management device that identifies the position in the yard of the trailer detected from the images captured by each imaging device, and determines that the trailer has been dropped off from the tractor at the identified position if the identified position of the trailer remains within the parking area for a predetermined period of time or longer; Management system.

Images