JP6391424B2 - Wireless system and operation management server - Google Patents

Description

  The present invention relates to a wireless system and an operation management server, and more particularly, to a technology for wirelessly connecting a transport vehicle that runs in a mine and an operation management server that manages the operation of the transport vehicle.

  As a technique for maintaining and setting the communication environment of a mobile body and a radio base station that move within a predetermined area such as a mine, there are Patent Document 1 and Patent Document 2.

  Patent Document 1 states that “a position detection unit, an azimuth detection unit, and a speed detection unit are added to a radio mobile station, and the location information of the local station and neighboring base stations is added to the broadcast information from the radio base station, thereby performing handover control. When performing, in addition to the conventional control based on downlink communication quality, the number of unnecessary handover control is suppressed by considering the position, direction, and speed, thereby reducing the load on the entire radio communication system and reducing the power consumption of the radio mobile station. (Summary Extract) "is disclosed.

  Patent Document 2 discloses that “a mobile communication terminal mounted on a construction machine has a satellite communication terminal and a wireless LAN terminal. When the construction machine is placed at a new construction site, the mobile communication terminal In response to the request, the management server selects wireless LAN operating environment setting data at the construction site based on the received position information, and transmits the mobile communication terminal to the management server. The mobile communication terminal automatically sets the operating environment setting of the wireless LAN terminal based on the received setting data (summary excerpt).

US Pat. No. 7,016,691 JP 2005-160046 A

  In an mine, there is an autonomous traveling dump system in which an operation management server and a transport vehicle are connected by wireless communication, and the transport vehicle travels autonomously according to a control instruction from the operation management server. In this autonomous travel dump system, the transport vehicle transmits information (travel permission request information) for making a request for setting the travel permission for the travel path ahead of the host vehicle to the operation management server. If the travel permission request information does not reach the operation management server, the transport vehicle stops in order to avoid interference with the preceding vehicle. Therefore, in order to stably operate the autonomous traveling dump system, it is important to reliably transmit and receive traveling permission request information between the transport vehicle and the operation management server. In this regard, Patent Documents 1 and 2 do not consider any transmission / reception of travel permission request information, and leave room for improvement in the autonomous travel dump system.

  This invention is made | formed in view of the said situation, and it aims at providing the radio | wireless system and operation management server which can transmit / receive driving permission request information reliably.

In order to solve the above-described problems, the present invention provides a transport vehicle in which a plurality of base stations are arranged in a mine premises and performs autonomous control, and an operation management server that performs control control of the transport vehicle. A wireless system for wireless communication connection via, provided in the transport vehicle,
A terminal-side communication control unit that performs control for wireless communication connection, a server-side communication control unit that is provided in the operation management server and performs control for wireless communication connection, and a traveling installed in the mine Communication quality indicating the quality of the communication connection status between the travel permission section setting unit that sets a partial section on the road as a travel permission section that permits travel of the transport vehicle and each of the base stations at each point on the travel path A communication quality information storage unit that stores communication quality information including an index value; a base station information storage unit that stores base station information including location information of each of the base stations;
A travel permission request for requesting setting of a new travel permission section that is a permission request section that is provided before the front boundary point of the travel permission section and that is further ahead of the front boundary point. Based on the communication quality index value of each point included in the permission request section provided for transmitting information, the base station set as the connection destination of the transport vehicle and the transport vehicle, and the permission request section The communication connection status between the base station information determines whether or not the switching condition provided for determining that the switching of the base station is necessary, and when the switching condition is satisfied, the base station information and Based on the communication quality information, a base station that identifies another base station having a better communication connection status in the permission request section as a new connection destination base station than the base station set as the connection destination Switching process The terminal-side communication control unit is set as the connection destination at a base station switching point provided before the permission request section when the new connection destination base station is specified. Switching to the new connection destination base station and transmitting the travel permission request information to the new connection destination base station when the transport vehicle reaches the permission request section. Features.

  Further, the present invention is an operation management server in which a plurality of base stations are arranged in a mine premises, and is connected to a vehicle traveling autonomously by wireless communication via at least one of the base stations, the wireless communication connection A server-side communication control unit for performing control, a travel-permitted section setting unit that sets a partial section on a travel path installed in the mine as a travel-permitted section that permits travel of the transport vehicle, and the travel A communication quality information storage unit for storing communication quality information including a communication quality index value indicating the quality of the communication connection status with each of the base stations at each point on the road, and a base station including the position information of each of the base stations A base station information storage unit for storing information, and a permission request section provided before a front boundary point of the travel permission section, and a new travel including a travel path ahead of the front boundary point Based on the communication quality index value of each point included in the permission request section provided for transmitting permission request information for requesting setting of the permission section, set as the transport vehicle and the connection destination of the transport vehicle Determining whether the communication connection status between the base station being operated and the permission request section satisfies a switching condition provided for determining that the switching of the base station is necessary, and the switching condition Is satisfied, based on the base station information and the communication quality information, other base stations that have better communication connection status in the permission request section than the base station set as the connection destination, A base station switching processing unit that identifies a new connection destination base station, and the base station switching processing unit, when identifying the new connection destination base station, before the permission request section, The transport vehicle is Set a base station switching point that is a position for performing an operation of switching a base station to be connected, and generate base station switching information including information specifying the position of the base station switching point and the new connection destination, The server-side communication control unit performs control for transmitting the base station switching information to the transport vehicle.

  ADVANTAGE OF THE INVENTION According to this invention, the radio | wireless system and operation management server which can transmit / receive driving permission request information reliably can be provided. Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

The figure which shows schematic structure of an autonomous traveling dump dump system Hardware configuration diagram of operation management server and in-vehicle terminal device It is a figure which shows an example of map information, Comprising: (a) shows a node table, (b) shows a link table. The figure which shows an example of a communication quality information table The figure which shows an example of an operation management information table The figure which shows an example of a base station information table The figure which shows the functional block of an operation management server and a vehicle-mounted terminal device It is a figure which shows the format of the information transmitted / received between an operation management server and autonomous running dump, Comprising: (a) shows a base station switching information format, (b) shows a driving | running | working permission request information format, (c ) Indicates a travel permission response information format. It is a figure which shows the setting process of a driving | running | working permission area, (a) shows the state which is drive | working the driving | running | working permission area n, (b) shows the state which reached | attained the switching process area, (c) is a permission request | requirement. The state which reached | attained the area is shown, (d) shows the state by which the following travel permission area was set. Sequence diagram showing operation sequence of each component in wireless system The flowchart which shows the flow of a base station switching necessity determination process Diagram showing the relationship between the switching destination base station and the current dump location

  In the following embodiment, when it is necessary for the sake of convenience, the description will be divided into a plurality of sections or embodiments. In the following embodiments, when referring to the number of elements, etc. (including the number, numerical value, quantity, range, etc.), unless otherwise specified and in principle limited to a specific number in principle, It is not limited to the specific number, and may be more or less than the specific number. In the following embodiments, the constituent elements (including processing steps and the like) are not necessarily essential unless explicitly stated or considered to be clearly essential in principle.

  In addition, each of the configurations, functions, processing units, processing units, and the like in the following embodiments may be realized in part or in whole as, for example, an integrated circuit or other hardware. In addition, each configuration, function, processing unit, processing unit, and the like to be described later may be realized as a program executed on a computer. That is, it may be realized as software. Information such as programs, tables, files, etc. for realizing each configuration, function, processing unit, processing means, etc. is stored in memory, hard disk, storage device such as SSD (Solid State Drive), storage medium such as IC card, SD card, DVD, etc. Can be stored.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that components having the same function are denoted by the same or related reference symbols throughout the drawings for describing the embodiments, and the repetitive description thereof is omitted.

  First, a schematic configuration of an autonomous traveling dump system to which a wireless system according to the present invention is applied will be described with reference to FIG. FIG. 1 is a diagram illustrating a schematic configuration of an autonomous traveling dump dump system.

  An autonomous traveling dump system 1 illustrated in FIG. 1 includes excavators 10-1 and 10-2 that perform loading work of earth and sand and ore in a quarry such as a mine, and a transport vehicle that transports loads such as earth and sand or ore (hereinafter referred to as “sandstone”). 20-1 and 20-2), and an operation management server 31 that is installed in the control center 30 in the vicinity of the quarry or remotely and controls the dumps 20-1 and 20-2. Since the configurations of the dumps 20-1 and 20-2 are the same, hereinafter, the dumps 20-1 and 20-2 are collectively referred to as the dump 20 without being distinguished. Since the excavators 10-1 and 10-2 have the same configuration, the excavators 10-1 and 10-2 are hereinafter collectively referred to as the excavator 10 without being distinguished.

  Each dump truck 20 reciprocates between a loading place where the excavator 10 is placed and a grounding place (not shown) along a traveling path 60 set in advance in the mine, and carries the load. The dump truck 20 according to the present embodiment is an unmanned dump truck that travels autonomously without boarding an operator.

  The excavator 10, the dump 20, and the operation management server 31 are wirelessly connected to each other via the wireless communication line 40. In order to smoothly perform this wireless communication connection, a plurality of wireless base stations (hereinafter abbreviated as “base stations”) 41-1, 41-2, and 41-3 are installed in the mine. Then, radio communication radio waves are transmitted and received via these base stations. The radio wave attenuates as the distance from each base station 41-1, 41-2, 41-3 increases. 1 are ranges (hereinafter referred to as “communication areas”) in which radio waves can be transmitted and received between the base stations 41-1, 41-2, and 41-3 and each dump 20. ). Each base station 41-1, 41-2, 41-3 is installed so that the communication areas 42-1, 42-2, and 42-3 overlap each other, so that from any point on the travel path 60 It is preferable to be able to connect to the wireless communication line 40. In FIG. 1, the call area is illustrated as a circle, but in reality, the call area may not be circular due to the influence of the topography. Since the configurations of the base stations 41-1, 41-2, and 41-3 are the same, the base stations 41-1, 41-2, and 41-3 are collectively referred to as the base station 41 without being distinguished from each other. To do.

  The excavator 10 and the dump 20 receive positioning radio waves from at least three navigation satellites 50-1, 50-2, and 50-3 of the Global Navigation Satellite System (GNSS) to acquire the position of the own vehicle. A position calculating device (not shown in FIG. 1). As the GNSS, for example, GPS (Global Positioning System), GLONASS, or GALILEO may be used.

  The excavator 10 is an ultra-large hydraulic excavator, and an antenna 18 for connecting to a wireless communication line is installed in a place where the excavator 10 has good visibility, for example, an upper part of a cab.

  The dump truck 20 includes a frame 21 that forms a main body, a front wheel 22 and a rear wheel 23, and a loading platform 24 that can rotate in a vertical direction around a hinge pin (not shown) provided at a rear portion of the frame 21. And a pair of left and right hoist cylinders (not shown) for rotating the loading platform 24 in the vertical direction. Further, the dump 20 is provided with an antenna 25 for connecting to the wireless communication line 40 in a place with a good view, for example, in front of the upper surface of the dump 20. In addition, the dump 20 includes an in-vehicle terminal device 26 that communicates with the operation management server 31 via the wireless communication line 40 and performs autonomous traveling control of the dump 20.

  The operation management server 31 is connected to the antenna 32 via a wired communication line 33 (see FIG. 2), and is connected to the base stations 41-1, 41-2, 41-3 via the wireless communication line 40. And it communicates with each of excavator 10 and dumping 20 via base station 41-1, 41-2, and 41-3.

  Next, with reference to FIG. 2, the hardware configuration of the operation management server 31 and the in-vehicle terminal device 26 of FIG. 1 will be described. FIG. 2 is a hardware configuration diagram of the operation management server and the in-vehicle terminal device.

  As shown in FIG. 2, the operation management server 31 includes a server-side control device 311, a server-side input device 312, a server-side display device 313, a server-side communication device 314, a communication bus 315, a master map information database (hereinafter referred to as “database”). 316 ”(abbreviated as“ DB ”), communication quality information DB 317 (corresponding to communication quality information storage unit), operation management information DB 318, and base station information DB 319 (corresponding to base station information storage unit).

  The server-side control device 311 controls the operation of each component of the operation management server 31, and includes a calculation / control device such as a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). , Hardware including a storage device such as HDD (Hard Disk Drive) and software executed by the server-side control device 311. Each function of the operation management server 31 is realized by executing software such as the base station switching processing program according to the present invention and the autonomous traveling program for executing the autonomous traveling control of the dump 20 by these hardware. .

  The server-side input device 312 is configured by an input device such as a mouse or a keyboard, and functions as an interface that receives an input operation from an operator.

  The server side display device 313 is composed of a liquid crystal monitor or the like, and functions as an interface for displaying and providing information to the operator.

  The server-side communication device 314 may use a wireless communication device that conforms to the standards of Wi-Fi (Wireless Fidelity) or IEEE (Institut of Electrical and Electronics Engineers).

  The communication bus 315 electrically connects the components to each other.

  The master map information DB 316 is configured using a storage device that can store map information fixedly, such as an HDD. The map information is defined by each point (hereinafter referred to as “node”) on the travel path 60 and a link connecting adjacent nodes. The map information may include topographic information of the mine and absolute coordinates (three-dimensional actual coordinates calculated based on positioning radio waves) of each node. Each node and link is given position identification information (hereinafter referred to as “node ID” or “link ID”) that uniquely identifies the node and link. In addition, attribute information of each node and link, for example, speed limit, curvature of the traveling path 60, and the like are stored in association with the position identification information.

The map information will be described with reference to FIG. FIG. 3 is a diagram showing an example of map information, where (a) shows a node table and (b) shows a link table. Map information node table 300 (see FIG. 3 (a)) and a link table 3 2 0 (see (b) in FIG. 3)
including. In the node table 300, the node ID 301 has a real coordinate (GNS)
The global coordinates measured in S) are stored in association with each other. The link table 320 includes a link ID 321, a node ID (forward node ID) 322 located at the front boundary point of the link, a node ID (rear node ID) 323 located at the rear boundary point, and a forward node ID and a backward node ID3. The speed limit 324 of the partial section of the travel path to be divided and the curvature 325 of the curve of the partial section are stored in association with each other. The configuration of the map information is only an example and is not limited to the above example.

  The communication quality information DB 317 is configured using a storage device that can store communication quality information in a fixed manner, for example, an HDD. The communication quality information includes a communication quality index value indicating whether or not the communication connection status between each base station and the dump 20 in each node (and / or link) on the travel path 60 is good. The “communication quality index value” here is a value indicating the ease of establishing a wireless communication connection between the dump 20 located at each node and each base station 41. For example, a wireless connection at each node It may be a received power value indicating the radio wave intensity used for the wireless communication, or a success rate of wireless communication connection between the dump 20 located at each node and each base station 41. The “success rate” may be rephrased as a communication connection error rate. In this case, the direction of the inequality sign for threshold determination, which will be described later, is opposite to the case where the success rate is used.

The success rate can be calculated by the following equation (1), for example.
E = {(Σ_est) / (Σ_req)} × 100 (1)
However,
Σ_est: The total number of times that a wireless communication connection has been established between the operation management server 31 and the dump 20-1 (corresponding to the number of successful communications)
Σ_req: Total number of times that wireless communication connection is requested from the operation management server 31 or the dump 20-1 E: Communication success rate

  In Expression (1), the total number of times (Σ_req) requested for wireless communication connection from the operation management server 31 or the dump 20 may be difficult to obtain in practice. For example, if the travel permission request information transmitted from the dump 20 does not reach any wireless base station, the base station 41 and the operation management server 31 cannot obtain information that a wireless communication connection is requested. In that case, transmission records of each base station, operation management server 31, and each dump 20 are stored in log information, respectively, and the number of times that a session has been established is determined based on the log information. The communication success probability may be calculated by dividing by the sum of the number of times of connection and the number of times of not being established.

  The communication quality information is collected by the navigation vehicle and the dump truck 20 traveling on the traveling path 60 while wirelessly connected to the base station from which the communication quality index value is collected.

  The communication quality information will be described with reference to FIG. FIG. 4 is a diagram illustrating an example of the communication quality information table. The communication quality information table 400 of FIG. 4 includes a communication quality index value “AP quality” indicating a pass / fail level of a connection status between each base station (access point, hereinafter referred to as “AP”) in “node ID” 401. (Reference numerals 402, 403, 404, and 405) are stored in association with each other. For example, each of AP1 quality (reference numeral 402), AP2 quality (reference numeral 403), and AP3 quality (reference numeral 404) indicates a communication quality index value between a dump at each node and each of AP1, AP2, and AP3. .

  The operation management information DB 318 is configured using a storage device that can store operation management information in a fixed manner, such as an HDD. The operation management information stores information indicating the operation state of each dump such as the current position of each dump 20 and the traveling speed.

  The operation management information will be described with reference to FIG. FIG. 5 is a diagram illustrating an example of an operation management information table. The operation management information table 500 in FIG. 5 includes a “dump ID” 501 that uniquely identifies each dump, a “front boundary point” (rear boundary point indicated by a node ID) of the travel permitted section set for the dump. The same)) 502, “rear boundary point” 503, “destination” 504 indicating the final destination coordinates currently set for each dump, actual “traveling speed” 505 of the dump, “Traveling direction” 506 indicating where the vehicle is traveling, “Current position” 507 of the dump notified periodically or as needed from each dump, and the current connection destination for each dump “Base station ID being set” 508 indicating the base station is stored in association with each other.

  The base station information DB 319 is configured using a storage device that can store base station information in a fixed manner, such as an HDD. The base station information includes position information where each base station is arranged and information (base station specifying information) for specifying each base station 41-1, 41-2, 41-3 as a connection destination. As this base station identification information, in this embodiment, a MAC address (Media Access Control address) assigned to the hardware constituting the base station is used, but the frequency of the radio wave assigned to each base station is used. The corresponding channel may be used. Since the MAC address is a physical address uniquely assigned to the communication device, the base station can be uniquely specified by using the MAC address as base station specifying information.

  In addition, when a different frequency (channel) is assigned to each base station so that it does not interfere with radio waves of adjacent base stations, each base station is uniquely identified even if the channel is used. be able to. In this case, if the arrangement positions of the plurality of base stations are sufficiently separated so as not to cause radio wave interference, the same frequency (channel) may be assigned to the plurality of base stations, and this aspect is also described above. It shall be included in the base station identification information.

  The base station information will be described with reference to FIG. FIG. 6 is a diagram illustrating an example of the base station information table. The base station information table 600 in FIG. 6 connects a “base station ID” 601 that uniquely identifies each base station to “location information” 602 that indicates the actual coordinates of the location where the base station is located, and the base station. “Connection destination information” (using a MAC address in FIG. 6) 603 for designating as a destination is stored in association with each other.

  Each of the above databases may include only a storage unit that stores map information, communication quality information, operation management information, or base station information, and the server-side control device 311 may perform update / search processing of those databases. Each database may be equipped with an engine for updating / retrieving information in the storage unit.

  Returning to FIG. 2, the in-vehicle terminal device 26 mounted on the dump 20 includes the terminal-side control device 261, the terminal-side input device 262, the terminal-side display device 263, the terminal-side communication device 264, the communication bus 265, and the terminal-side map information DB 266. , A travel control device 267, an external sensor device 268, and a position calculation device 269.

  The terminal-side control device 261 controls the operation of each component of the in-vehicle terminal device 26, and includes hardware including a calculation / control device such as a CPU, a storage device such as ROM, RAM, and HDD, and an in-vehicle terminal device. 26 and software executed by H.26. Each function of the in-vehicle terminal device 26 is realized by executing software by these hardware.

  The terminal-side input device 262 is configured by an input device such as a touch panel or various switches, and functions as an interface that receives an input operation from an operator.

  The terminal side display device 263 is configured by a liquid crystal monitor or the like, and functions as an interface for displaying and providing information to the operator.

  The terminal-side communication device 264 may be a general-purpose wireless communication device that conforms to Wi-Fi or IEEE standards.

  The communication bus 265 electrically connects the components to each other.

  The terminal-side map information DB 266 is configured using a storage device that is fixedly stored such as an HDD, and stores the same map information as the map information stored in the master map information DB 316.

  The travel control device 267 is a control device for transmitting an acceleration / deceleration amount, a braking amount, and a steering angle to a travel drive device related to travel of the dump 20 such as an acceleration device, a braking device, and a steering device of the dump 20. .

  The external sensor device 268 is a sensor for detecting obstacles in front of and around the traveling direction (traveling direction) of the dump truck 20 such as a millimeter wave radar and a front camera, and the kind thereof is not limited. The detection result of the external sensor device 268 is output to the terminal-side control device 261, and is used for monitoring and acceleration / deceleration of the travel position so as not to leave the travel path during normal times, and used for interference avoidance operation in an emergency.

  The position calculation device 269 calculates the current position of the host vehicle based on positioning radio waves from the navigation satellites 50-1, 50-2, and 50-3 (see FIG. 1).

  Next, functional configurations of the operation management server and the in-vehicle terminal device will be described with reference to FIG. FIG. 7 is a diagram illustrating functional blocks of the operation management server and the in-vehicle terminal device.

  As shown in FIG. 7, the server side control device 311 of the operation management server 31 includes a travel permission section setting unit 311a, a base station switching processing unit 311b, a server side communication control unit 311c, an input control unit 311d, and a display control unit 311e. Is provided.

  The travel permission section setting unit 311a refers to the map information of the master map information DB 316 and the operation management information DB 318, and when receiving the destination request information from each dump 20, sets the travel route to the destination of the dump 20. . Further, when the travel permission request information is received from the dump 20, the front boundary point is set ahead of the current position of the dump 20 on the travel path 60, and the rear boundary point is set behind it. Then, a partial section of the travel path 60 between the front boundary point and the rear boundary point is set as a travel permission section.

  The permission request section for transmitting the travel permission request information is before the front boundary point of the travel permission section, and the section for performing the switching operation of the base station (switching process) is further before this permission request section. Section) is set. Details of the permission request section and the switching process section will be described later with reference to FIG.

  The base station switching processing unit 311b determines whether or not the base station set as the connection destination of the dump 20 needs to be switched to a new base station. More specifically, based on the communication quality index value of each point included in the permission request section, the communication connection status between the transport vehicle and the base station set as the connection destination of the transport vehicle and the permission request section However, it is determined whether or not the switching condition provided for determining that the base station needs to be switched is satisfied. And when switching conditions are satisfied, based on operation management information, base station information, and communication quality information, the communication connection status in the permission request section is better than the base station set as the connection destination. The base station is specified as a new connection destination base station.

  The switching condition may be that the minimum value of the communication quality index value at each point included in the permission request section is lower than a threshold set to determine that the base station needs to be switched. Thereby, since every node of the permission request section has a communication quality index value equal to or higher than the threshold value, the travel permission request information can be transmitted to the base station more reliably.

The server-side communication control unit 311 c performs control for performing wireless communication with each dump 20. More specifically, the destination permission information and the travel permission request information are received from each dump 20, and the travel permission response information indicating the set travel permission section and the non-permission response information indicating that the travel permission section cannot be set. , and transmits the base station switching information outputted from the base station switching unit 311 b.

  The input control unit 311d receives an operation performed on the server side input device 312 by the user. For example, the user can input and edit the travel-permitted section by performing an editing operation on the operation management information stored in the operation management information DB 318 using the server-side input device 312. The input control unit 311d and the server-side input device 312 are collectively referred to as an input unit.

  The display control unit 311e performs generation of an image to be displayed on the server side display device 313 and display control processing. The display control unit 311e and the server-side display device 313 are collectively referred to as a display unit.

  Next, the in-vehicle terminal device 26 will be described. The terminal-side control device 261 of the in-vehicle terminal device 26 is information for designating a base station set as a connection destination of the travel control unit 261a, the terminal-side communication control unit 261b, the request information processing unit 261c, and the in-vehicle terminal device 26. For example, a connection destination information storage unit 261d that stores the MAC address and channel of the base station is provided. Hereinafter, a case where a MAC address is stored will be described as an example.

  The travel control unit 261a performs control for autonomous travel according to the current position of the host vehicle acquired from the position calculation device 269, the map information in the terminal-side map information DB 266, and the travel permission section included in the travel permission response information. To the device 267. Further, the traveling control unit 261a determines the presence or absence of a front obstacle based on the detection result of the external sensor device 268, and also determines the presence or absence of an interference with the obstacle and a collision avoidance operation. Control for.

  The terminal-side communication control unit 261b performs control for performing wireless communication with the operation management server 31. For example, when the in-vehicle terminal device 26 receives base station switching information from the operation management server 31, the terminal-side communication control unit 261b includes the MAC address stored in the connection destination information storage unit 261d in the base station switching information. Switch (overwrite) to the MAC address of the switching destination base station. Then, the travel permission request information is transmitted to the operation management server 31 using the overwritten MAC address. As a result, the travel permission request information is transmitted to the operation management server 31 via the new base station specified by the base station switching information.

  The server-side communication control unit 311c of the operation management server 31 transmits travel permission response information indicating the travel permission section set according to the travel permission request information to the in-vehicle terminal device 26. At that time, the server-side communication control unit 311c sets the MAC address of the base station included in the travel permission request information as a transit base station for the travel permission response information. As a result, the travel permission response information is transmitted to the in-vehicle terminal device 26 via the base station set by the base station switching information.

  When the terminal-side communication control unit 261b receives the travel permission response information, the terminal-side communication control unit 261b outputs the travel permission response information to the travel control unit 261a.

  The request information processing unit 261c generates travel permission request information with reference to the current position and map information of the dump 20 and, when reaching the permission request section, leaves the terminal side communication control unit 261b as a fishing area. In addition, when no destination is set at the start of traveling of each dump 20, destination request information for requesting setting of the destination is generated.

  Next, the format of information transmitted and received between the operation management server and the autonomous traveling dump will be described with reference to FIG. FIG. 8 is a diagram illustrating a format of information transmitted and received between the operation management server and the autonomous traveling dump, in which (a) illustrates a base station switching information format, and (b) illustrates a travel permission request information format. (C) shows a travel permission response information format.

  As shown in FIG. 8A, the base station switching information format 800 is mainly configured to include a “header” 810 and a “body” 820. The “header” 810 includes a “final IP address” 811 for specifying the final transmission destination, that is, the terminal-side communication device 264, and a “connection destination base station MAC” connected when each dump 20 performs wireless communication. Address "812. Further, although not shown, the MAC address of the server side communication device 314 may be included as information for specifying the transmission source of the base station switching information.

  “Body” 820 roughly includes “data specifying information” 821, “MAC address of base station after switching” 822 as base station information after switching, and “node ID of switching point” 823 as switching point information. The “data specifying information” 821 includes “information type information corresponding to base station switching information” 821a indicating the type of data, and “data number” 821b sequentially assigned in the data type. By combining “information type information corresponding to base station switching information” 821a and “data number” 821b, the base station switching information can be uniquely specified.

  Similarly to the base station switching information format 800, the travel permission request information format 830 (FIG. 8B) and the travel permission response information format 860 (FIG. 8C) also include “headers” 840 and 870 and “body”. 850 and 880. The “last IP address” 841 of the travel permission request information format 830 is an IP address for specifying the server side communication device 314, and the “final IP address” 871 of the travel permission response information format 860 is the terminal side communication device 264. This is an IP address for identifying.

  “Body” 850 and 880 include “data specifying information” 851 and 881, similarly to “body” 820 of base station switching information format 800. The “data specifying information” 851 includes “information type information corresponding to the travel permission request information” 851a and “data number” 851b. The “data specifying information” 881 includes “information type information corresponding to the travel permission response information” 881a and “data number” 881b.

  The “data number” 851b includes the same number as the “data number” 821b included in the travel permission request information format 830 that is a trigger for generating the travel permission response information. Thereby, it is possible to determine which travel permission request information is sent from which dump, and even if the dump 20 is broadcast transmitted from the operation management server 31, each dump 20 is directed to the own vehicle. Whether it is information can be identified.

  “Body” 850 includes “dump ID” 852a that uniquely identifies the dump as dump information 852 related to the dump that transmitted the travel permission request information, and “dump current position” that indicates the current position of the host vehicle calculated by the position calculation device 269. Information "852b and" state information "852c indicating the state of the dump such as traveling speed and tire pressure.

  “Body” 880 includes “front boundary point ID” 882a, which is the node ID at the forefront of the travel-permitted section, and “rearward”, which is the node ID at the end of the travel-permitted section, as newly set travel-permitted section information 882. It includes “boundary point ID” 882b and “restricted speed” 882c set for a partial section of the travel path 60 from “rear boundary point ID” 882b to “front boundary point ID” 882a.

  With reference to FIG. 8, the process which switches the base station of connection destination with respect to the dump 20 from AP1 to AP2 is demonstrated. Information that AP1 is currently set as the connection destination base station is stored in the “base station ID being set” 508 of the operation management information table 500 in the operation management server 31, and the dump 20 stores the connection destination information. Stored in the unit 261d. In the dump 20, when transmitting base station switching information, “MAC address of connected base station” 812 in the base station switching information format 800 corresponds to the MAC address of AP1 as the current base station, and “body” 820 “ “MAC address of base station after switching” 822 corresponds to the MAC address of AP2.

  When receiving the base station switching information, the in-vehicle terminal device 26 mounted on the dump 20 switches the connection destination base station from AP1 to AP2, and the “MAC address of connection destination base station” 842 in the travel permission request information format 830. Uses the MAC address of AP2. Thereby, travel permission request information is transmitted to the operation management server 31 via AP2.

  The operation management server 31 uses the “connection destination base station MAC address” included in the travel permission request information corresponding to the travel permission response information as “MAC address of connection destination base station” 872 in the travel permission response information format 860. '842. Thus, the travel permission response information is also transmitted from the operation management server 31 to the in-vehicle terminal device 26 of the dump 20 via the base station switched by the base station switching information.

  Next, with reference to FIG. 9, the processing operation of autonomous traveling will be described. FIGS. 9A and 9B are diagrams showing setting processing of a travel permission section, where FIG. 9A shows a state where the travel permission section n is traveling, FIG. 9B shows a state where the switching processing section has been reached, and (c ) Indicates a state where the permission request section is reached, and (d) indicates a state where the next travel permission section is set.

  In (a) to (c) of FIG. 9, the traveling path 60 has nodes indicated by circles in the figure, and links are indicated by lines connecting adjacent circles in the figure. The rear boundary point of the travel permitted section n is indicated by BP_bn, and the front boundary point is indicated by BP_fn.

  The front boundary point is a safety margin section having a distance that the dump truck 20 can stop without protruding from the front boundary point BP_fn from BP_fn to the node RP_f before it. The distance of the safety margin section is calculated based on the brake stop performance of the dump truck 20 by the travel permission section setting unit 311a.

  Before the safety margin section, a permission request section (a partial section between the front end point RP_f and the rear end point RP_b) is provided. A switching process section (a partial section between the front end point SWP_f and the rear end point SWP_b) is provided in front of the permission request section. The switching process section starts from the rear end point RP_b of the permission request section, and the base station switching point SWP_b is separated by a distance obtained by multiplying the time required for the switching operation of the base station by the actual traveling speed of the dump or the speed limit of the traveling path. It is set by providing. That is, a portion between the rear end point RP_b and the base station switching point SWP_b in the permission request section corresponds to the switching process section. The “time required for the base station switching operation” depends on the base station switching method of the radio. In this embodiment, since the switching process section is provided continuously to the permission request section, the front end point SWP_f of the switching process section and the rear end point RP_b of the permission request section are the same node.

  When setting the switching processing section based on the actual dump traveling speed, the switching processing section can be set at a distance according to the actual behavior of the dump 20, so that the switching operation of the base station can be reliably terminated, The switching process section can be set with a shorter distance.

  When the switching process section is set based on the speed limit of the travel path, the dump travel speed does not exceed the speed limit of the travel path, so the base station is switched even if the travel speed of the dump truck 20 is unknown. The switching process section can be set at a distance that can reliably end the operation.

  When the dump truck 20 is traveling in the travel permitted section n ((a) of FIG. 9), the base station switching information is received and reaches the switching processing section ((b) of FIG. 9). Switch to the base station described in the switching information. For example, the dump 20 is switched from AP1 to AP2.

  The operation management server 31 releases the section behind the dump 20 out of the travel permission section n so that travel permission can be given to other dumps. This released section is called a released section.

  When the dump truck 20 further travels and reaches the permission request section ((c) in FIG. 9), the travel permission request information is transmitted to the base station (AP2 in the above example) after the switching as the connection destination, and a new travel is performed. When the travel permission request information including the setting information of the permitted section n + 1 is received, the traveling is continued according to the new traveling permitted section n + 1 ((d) in FIG. 9).

  If the dump truck 20 does not receive the travel permission response information within the permission request section (FIG. 9C), that is, if the travel permission response information is not received even when the front end point RP_f of the permission request section is reached, the brake is applied. Operates and stops. In this case, since the safety margin section is set, it can be stopped without exceeding the front boundary point BP_fn, and the dump truck 20 is prevented from interfering with the preceding vehicle.

  Next, with reference to FIG. 10, an operation flow of the wireless system according to the present embodiment will be described. FIG. 10 is a sequence diagram showing the operation order of each component in the wireless system.

  When starting the processing of FIG. 10, the dump 20 is in a stopped state, and the main power sources of the base stations (AP1, AP2) and the operation management server 31 are turned on. Each dump truck 20 cannot travel in a state where the next destination is not set. Therefore, the request information processing unit 261c sends the destination request information to the base station (AP1) when the travel control unit 261a does not have the travel permission section information, for example, when the travel control unit 261c is stopped at the loading or unloading site. To the operation management server 31 (S1001, S1002).

  The server-side communication control unit 311c receives the destination request information and outputs it to the travel permission section setting unit 311a (S1003). The travel permission section setting unit 311a refers to the current position information of the dump 20 and the map information of the master map information DB 316, determines a destination (S1004), and generates destination response information indicating the contents. At this time, the travel permission section setting unit 311a records the destination of the dump 20 in the operation management information. In the present embodiment, the travel-permitted section setting unit 311a sets the destination, but a module (for example, a vehicle allocation management unit) that sets only the destination, which is different from the travel-permitted section setting unit 311a, may be provided. .

  The travel permission section setting unit 311a outputs the destination response information to the server side communication control unit 311c (S1005).

  The server side communication control unit 311c returns the destination response information to the dump 20 via the base station (AP1) (S1006, S1007).

  Upon receiving the destination response information, the request information processing unit 261c transmits travel permission section request information (including current position information) to the operation management server 31 via the base station (AP1) (S1008, S1009).

  The server side communication control section 311c outputs the travel permission section request information to the travel permission section setting section 311a (S1010), the travel permission section setting section 311a sets the travel permission section (S1011), and the travel permission indicating the contents thereof. Generate response information. At this time, the travel permission section setting unit 311a records the travel permission operation management information set for the dump 20 in the operation management information of the operation management information DB 318.

  The travel permission section setting unit 311a outputs travel permission response information to the server side communication control unit 311c (S1012).

  The server-side communication control unit 311c transmits the travel permission response information to the dump 20 via the base station (AP1) (S1013, S1014). When the dump truck 20 receives the travel permission response information, the dump truck 20 starts traveling (S1015).

  In step S1012, the travel permission section setting unit 311a outputs travel permission response information to the server-side communication control unit 311c and notifies the base station switching processing unit 311b that the travel permission section has been set (S1016). .

  When the base station switching processing unit 311b obtains the travel permission section setting notification, the base station switching processing unit 311b executes base station switching necessity determination processing (S1017). The base station switching necessity determination process will be described later.

  When the base station switching processing unit 311b determines that switching is necessary in the base station switching necessity determination processing, the base station switching processing unit 311b transmits the base station switching information to the dump 20 via the base station (AP1) (S1018, S1019, S1020). ).

  When receiving the base station switching information, the terminal-side communication control unit 261b of the dump 20 refers to the current position from the position calculation device 269 and the map information in the terminal-side map information DB 266, and until the dump 20 reaches the switching point. The connection destination base station (AP1) stored in the connection destination information storage unit 261d is maintained. When the terminal-side communication control unit 261b determines that the switching point has been reached, the base station information stored in the connection destination information storage unit 261d is changed to the connection destination base station (AP2) described in the base station switching information. ).

  When the request information processing unit 261c generates travel permission request information and outputs it to the terminal side communication control unit 261b, the terminal side communication control unit 261b travels to the operation management server 31 via the base station (AP2) (S1022). The permission request information is transmitted (S1023) and output to the travel permission section setting unit 311a (S1024).

  Next, an operation flow of the wireless system according to the present embodiment will be described with reference to FIGS. FIG. 11 is a flowchart showing the flow of base station switching necessity determination processing. FIG. 12 is a diagram illustrating a relationship between the switching destination base station and the current dump position.

When the travel permission section is set, the travel permission section setting unit 311a outputs a travel permission setting notification indicating a predetermined safety margin section and a permission request section within the set travel permission section to the base station switching processing section 311b. .

  When the base station switching processing unit 311b obtains the travel permission section setting notification (S1101 / Yes), the travel permission section is set with reference to the “base station ID being set” 508 in the operation management information (FIG. 5). The base station to which the dump 20 is connected is specified.

  Next, the base station switching processing unit 311b refers to the communication quality information (FIG. 4), acquires communication quality index values between the identified connection destination base station and all nodes in the permission request section, and allows the permission request section. It is determined whether or not the communication quality status satisfies the switching condition. If the switching condition is satisfied (S1102 / Yes), the base station switching processing unit 311b refers to the base station information, as a new connection destination base station, from the base station set as the connection destination of the dump 20 Also, another base station located forward and closest along the traveling path toward the destination of the dump truck 20 is identified as the switching destination base station (S1103).

  In FIG. 12, the travel path toward the destination of the dump truck 20 is indicated by a solid line, and the other travel paths (side roads) are indicated by a dotted line. Assume that there is a base station (AP3) closest to the current position along the side street. In this case, even if the distance D2 between the base station (AP2) and the distance D3 between the dump 20 and the base station (AP3) is farther, the base station (AP3) does not follow the traveling path toward the destination. The base station (AP2) is selected as the base station to be switched to as the forward and nearest base station. Thereby, the dump truck approaches the base station switched as it travels toward the destination, and the communication situation becomes better.

  Furthermore, in the above example, by not selecting the base station (AP3), the frequent handover from the base station (AP1) to the base station (AP3) and then the base station (AP2) is avoided, and a stable communication environment is provided. can do.

  The base station switching processing unit 311b sets a base station switching point at a point away from the front boundary point by the safety margin distance and the switching distance (S1104).

  The base station switching processing unit 311b generates base station switching information including the switching destination base station information and the switching point, and transmits the base station switching information to the dump 20 (S1105).

  When the travel permission section setting notification is not acquired (S1101 / No) and when the communication status of the permission request section does not satisfy the switching condition (S1102 / No), it is determined that the switching of the base station is not necessary, and the process returns to step S1101.

  According to the procedure described above, dumping can reliably perform switching of base stations before transmission of travel permission request information. Thereby, the autonomous running dump resulting from the communication error of the running permission request information can suppress the stop.

  The above-described embodiment is an example for explaining the present invention, and is not intended to limit the scope of the present invention to the above-described embodiment. Those skilled in the art can implement the present invention in various other modes without departing from the gist of the present invention.

  For example, in the above embodiment, the base station switching processing unit is mounted on the operation management server, but may be mounted on a dump. In this case, the in-vehicle terminal device includes a base station information DB and a base station switching processing unit. Then, the terminal side communication control unit of the in-vehicle terminal device may be configured to execute the same process as described in the above embodiment, triggered by reception of the travel permission response information from the operation management server. .

  In the above, the MAC address of the base station that is the connection destination of the dump is included in the travel permission response information, but after the terminal side communication control unit transmits the travel permission request information, the travel permission response information is acquired, In reaching the front end point of the permission request section, it is configured to maintain communication with the connection destination base station, without including the MAC address of the base station that is the connection destination of the dump in the travel permission response information, You may comprise so that driving | running | working permission response information can be received from the said connection destination base station.

  Further, the switching condition is not limited to the comparison between the minimum value of the communication quality index value of each node in the permission request section and the threshold value, but the average value, median value, and mode value of the communication quality index values of each node in the permission request section. It may be compared with a threshold value.

1 Autonomous traveling dump system (wireless system)
10, 10-1, 10-2 Excavator 20, 20-1, 20-2 Dump 31 Operation management server 40 Wireless communication line 41-1, 41-2, 41-3 Radio base station 60 Traveling path

Claims (7)

A wireless system in which a plurality of base stations are arranged in a mine premises, and an operation management server that performs control control of the transportation vehicle that autonomously travels is connected via wireless communication via at least one of the base stations. ,
A terminal-side communication control unit that is provided in the transport vehicle and performs control for the wireless communication connection;
A server-side communication control unit that is provided in the operation management server and controls the wireless communication connection;
A travel permission section setting unit that sets a partial section on the travel path installed in the mine as a travel permission section that permits travel of the transport vehicle;
A communication quality information storage unit for storing communication quality information including a communication quality index value indicating the quality of the communication connection status with each of the base stations at each point on the travel path;
A base station information storage unit that stores base station information including position information of each of the base stations;
A travel permission request for requesting setting of a new travel permission section that is a permission request section that is provided before the front boundary point of the travel permission section and that is further ahead of the front boundary point. Based on the communication quality index value of each point included in the permission request section provided for transmitting information, the base station set as the connection destination of the transport vehicle and the transport vehicle, and the permission request section The communication connection status between the base station information determines whether or not the switching condition provided for determining that the switching of the base station is necessary, and when the switching condition is satisfied, the base station information and Based on the communication quality information, a base station that identifies another base station having a better communication connection status in the permission request section as a new connection destination base station than the base station set as the connection destination Station switching processing Comprises a part, the,
When the new connection destination base station is specified, the terminal-side communication control unit selects a base station set as the connection destination at a base station switching point provided before the permission request section. Switch to the new connection destination base station, and when the transport vehicle reaches the permission request section, transmit the travel permission request information to the new connection destination base station,
A wireless system characterized by that. The base station switching point starts from the rear end point of the permission request section, and is located at the nearest position with a distance more than the actual traveling speed of the transport vehicle multiplied by the time required for the switching operation of the base station. Set,
The wireless system according to claim 1. The base station switching point is set as the base station switching point, with a distance obtained by multiplying the time required for the switching operation of the base station by the speed limit of the travel path from the rear end point of the permission request section. The
The wireless system according to claim 1. The travel permission section setting unit sets the travel route to the destination of the transport vehicle,
The base station switching processing unit identifies, as the new connection destination base station, another base station that is positioned forward and closest to the base station set as the connection destination in front of the traveling path. ,
The wireless system according to claim 1. The terminal-side communication control unit, when switching the new connection destination base station, the physical address uniquely assigned to the hardware constituting the base station, or between the base station and the transport vehicle Switch the channel corresponding to the frequency of radio waves transmitted and received at
The wireless system according to claim 1. The switching condition is that the minimum value of the communication quality index value of each point included in the permission request section is less than a threshold set to determine that switching of the base station is necessary.
The wireless system according to claim 1. A plurality of base stations are arranged on the premises of the mine, and is an operation management server that is wirelessly connected to a transport vehicle that travels autonomously via at least one of the base stations,
A server-side communication control unit that performs control for wireless communication connection;
A travel permission section setting unit that sets a partial section on the travel path installed in the mine as a travel permission section that permits travel of the transport vehicle;
A communication quality information storage unit for storing communication quality information including a communication quality index value indicating the quality of the communication connection status with each of the base stations at each point on the travel path;
A base station information storage unit that stores base station information including position information of each of the base stations;
Permission request information for requesting setting of a new travel permission section that is a permission request section provided before the front boundary point of the travel permission section and that includes a travel path ahead of the front boundary point. Between the base station set as the connection destination of the transport vehicle and the transport vehicle and the permission request section based on the communication quality index value of each point included in the permission request section provided for transmitting The communication connection status between the base station information and the base station information and the base station information when the switching condition provided to determine that the switching of the base station is necessary, A base station that identifies, as a new connection destination base station, another base station having a better communication connection status in the permission request section than the base station set as the connection destination based on communication quality information Switching processor , Equipped with a,
When the base station switching processing unit specifies the new connection destination base station, the base station is a position where the transport vehicle executes an operation of switching the connection destination base station before the permission request section. Set a switching point, generate base station switching information including information specifying the position of the base station switching point and the new connection destination,
The server-side communication control unit performs control for transmitting the base station switching information to the transport vehicle.
An operation management server characterized by that.