WO2016195040A1 - 無線通信システム、管制サーバ、及び基地局切替動作制御方法 - Google Patents
無線通信システム、管制サーバ、及び基地局切替動作制御方法 Download PDFInfo
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- WO2016195040A1 WO2016195040A1 PCT/JP2016/066471 JP2016066471W WO2016195040A1 WO 2016195040 A1 WO2016195040 A1 WO 2016195040A1 JP 2016066471 W JP2016066471 W JP 2016066471W WO 2016195040 A1 WO2016195040 A1 WO 2016195040A1
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- handover
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/34—Reselection control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/18—Network planning tools
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- H04W36/08—Reselecting an access point
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- H—ELECTRICITY
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- H04W36/00—Hand-off or reselection arrangements
- H04W36/16—Performing reselection for specific purposes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/24—Reselection being triggered by specific parameters
- H04W36/32—Reselection being triggered by specific parameters by location or mobility data, e.g. speed data
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/24—Reselection being triggered by specific parameters
- H04W36/32—Reselection being triggered by specific parameters by location or mobility data, e.g. speed data
- H04W36/322—Reselection being triggered by specific parameters by location or mobility data, e.g. speed data by location data
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
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- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
Definitions
- the present invention relates to a wireless communication system, a control server, and a base station switching operation control method, and more particularly to a base station switching operation in a wireless communication system in which a mine work machine and a control server are connected by wireless communication.
- Patent Documents 1 and 2 are documents that describe techniques related to the handover technique.
- Patent Document 1 is composed of “a plurality of base stations, a plurality of radio zones covered by the base stations, and a mobile station moving within the radio zone, and one of a plurality of channels is used between the base station and the mobile station.
- a plurality of radio zones form a radio zone continuously
- the first base station BS11 of the plurality of base stations BS11 to BS51 is the remaining one or more base stations.
- Station frequency information f11 to f51 and position information are reported
- the mobile station is equipped with a GPS receiver, receives base station frequency information and position information broadcast from the first base station BS11, and receives GPS receiver data.
- the handover method having means for detecting the switching location of the wireless zone from the received location information and switching to the frequency of the next base station BS21 on this occasion "(required) Excerpt) is disclosed.
- Patent Document 2 discloses, as an example of a DSRC (dedicated range communications) technique in a highway traffic system, “in a travel support system including a radio base station device arranged on a road side and an in-vehicle radio device, the radio base station device Transmits an inquiry about the traveling state of a vehicle within a predetermined range of the road to the in-vehicle wireless device, and the in-vehicle wireless device wirelessly transmits a response including the vehicle identification information and the traveling state information indicating the traveling state of the vehicle in response thereto.
- DSRC dedicated range communications
- the radio base station device takes out the vehicle identification information and the running state information included in the response, stores them in the storage device, and stores them in correspondence with the vehicle identification information Analyzing the driving state information accumulated in the device, determining the driving state of the vehicle, and transmitting necessary information to the in-vehicle wireless device according to the driving state "(summary excerpt) It is.
- the handover point is set based on the data of the GPS receiver.
- GPS radio waves are difficult to reach due to terrain conditions such as cliffs and mountain ridges. May not be identified, and the wireless communication environment may become unstable, causing the operation of the work machine to stop.
- the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a wireless communication technology capable of operating a work machine more stably in a mine.
- the present invention provides an in-vehicle terminal device mounted on a work machine that travels along a predetermined travel route in a mine, and a control server that manages the operation of the work machine.
- the control server is a partial section of the traveling route that grants traveling permission only to the working machine to the working machine
- a travel permission section setting unit that sets a travel permission section and generates permission response information including the position information, and among the travel permission sections, the work machine sets a new travel permission section for the control server.
- a handoff that sets a permission request section for performing a request as a handover prohibition area that prohibits switching from the first radio base station to the second radio base station as a connection destination.
- a switching prohibition area setting section ; a switching operation control section for generating switching operation control information for causing the work machine to switch the connection destination outside the handover prohibition area; and the switching operation control information for the work machine.
- the vehicle-side terminal device receives the switching operation control information and, based on the switching operation control information, in a section outside the handover prohibition area based on the switching operation control information. It further comprises a terminal-side communication control unit that switches connection-destination radio base stations and transmits permission request information for making a setting request for the new travel-permitted section to the control server.
- FIG. 1 The figure which shows schematic structure of the radio
- Hardware configuration diagram of control server and in-vehicle terminal device It is a functional block diagram which shows the main functions of the control server and vehicle-mounted terminal device which concern on 1st embodiment, (a) is a control server, (b) shows the structure of a vehicle-mounted terminal device. It is a figure which shows the structure of communication quality information, hand-over map information, and hand-over prohibition area
- the first embodiment includes an in-vehicle terminal device mounted on a work machine such as an excavator, a wheel loader, a water truck, etc. that travels along a predetermined travel route in a mine, and a control server that manages the operation of the work machine.
- the present invention relates to a wireless communication system that generates handover map information to be referred to when an in-vehicle terminal apparatus determines a connection destination base station when connecting to a wireless communication line.
- the first embodiment is characterized in that the handover map representing the connection destination of the radio base station is configured such that the boundary of the communication area does not overlap with the handover prohibition area that prohibits the switching operation of the connection destination base station.
- an autonomous traveling vehicle (hereinafter referred to as “dump truck”) that autonomously travels without being driven by the driver will be described as an example of a working machine that travels on the travel route. It may be a manned work machine that travels.
- FIG. 1 is a diagram illustrating a schematic configuration of a wireless communication system according to the first embodiment.
- a wireless communication system 1 shown in FIG. 1 includes an ultra-large hydraulic excavator (hereinafter abbreviated as an excavator) 10 as a loading machine that performs excavation work and loading work of earth and sand and ore in a quarry such as a mine, and earth and sand or ore.
- Dump trucks 20-1 and 20-2 for transporting loads such as, and a control server 31 installed near the quarry or in a remote control center 30. Since the configurations of the dump trucks 20-1 and 20-2 are the same, hereinafter, the dump trucks 20-1 and 20-2 are collectively referred to as the dump truck 20 without being distinguished.
- a loading place 61 where the excavator 10 performs excavation work and loading work onto the dump truck 20, an earthing place 62 where the dump truck 20 releases earth and sand, and a crusher (not shown) are arranged.
- a dumping ground 63 where the dump truck 20 releases ore and the like, and a transport path 60 that connects the loading ground 61 and the earthing grounds 62 and 63 are laid.
- Each dump truck 20 reciprocates between the loading place 61 and the earthing grounds 62 and 63 along a predetermined traveling route on the transportation path 60 to transport the load.
- the excavator 10, the dump truck 20, and the control server 31 are wirelessly connected to each other via the wireless communication line 40.
- a plurality of wireless base stations 41-1, 41-2, 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 radio base station 41-1, 41-2, 41-3 increases. 1 indicate ranges in which radio base stations 41-1, 41-2, 41-3 and each dump truck 20 can transmit and receive radio waves.
- Each of the radio base stations 41-1, 41-2, 41-3 should be installed so that the above-mentioned radio wave reach (hereinafter referred to as “communication area”) 42-1, 42-2, 42-3 overlap each other.
- the wireless communication line 40 can be connected from any point on the travel route 64.
- the range in which radio waves reach is shown as a circle, but in reality, it may not be a circle due to the influence of topography. Since the configurations of the radio base stations 41-1, 41-2, and 41-3 are the same, hereinafter, the radio base stations 41-1, 41-2, and 41-3 are collectively referred to without distinction, the radio base stations 41.
- an area designated as a connection-destination radio base station in a handover map within a range where radio waves reach is referred to as a communication area, and reference numerals 42-1 and 42-2 are also used in common for the communication area.
- the excavator 10 and the dump truck 20 receive a positioning radio wave from at least three navigation satellites 50-1, 50-2, 50-3, and acquire a position of the host vehicle (see FIG. 2).
- a GPS Global Positioning System
- the excavator 10 is provided with an antenna 18 for connecting to the radio communication line 40 in a place where the excavator 10 has good visibility, for example, at the top of the cab.
- the dump truck 20 is provided with an antenna 25 for connecting to the radio communication line 40 in a place with a good view, for example, in front of the top surface of the dump truck 20.
- the dump truck 20 includes an in-vehicle terminal device 26 that communicates with the control server 31 through the wireless communication line 40 and performs autonomous traveling control of the dump truck 20.
- the control server 31 is connected to the antenna 32 via a wired communication line 33 (see FIG. 2), is connected to the radio base stations 41-1 41-2 41-3 via the radio communication line 40, the excavator 10, And communicate with each of the dump trucks 20.
- FIG. 2 is a hardware configuration diagram of the control server and the in-vehicle terminal device.
- the control 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 route map information storage unit 316, and communication quality information.
- a storage unit 317, a section information storage unit 318, a handover map information storage unit 319, and a handover prohibited area information storage unit 320 are configured.
- the server-side control device 311 controls the operation of each component of the control server 31, and includes a calculation / control device such as a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), It includes hardware including a storage unit such as an HDD (Hard Disk Drive) and software executed by the server-side control device 311.
- the functions of the control server 31 are realized by executing software such as a handover map information generation program according to the present invention and an autonomous traveling program for executing autonomous traveling control of the dump truck 20 by these hardware. .
- the server side input device 312 is configured by an input device such as a mouse and a keyboard, and functions as an interface for receiving 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 is a wireless communication device.
- the communication bus 315 electrically connects the components to each other.
- the route map information storage unit 316 is configured using a storage unit that can store map information in a fixed manner, for example, an HDD.
- the map information is defined by points on the travel route (hereinafter referred to as “nodes”) and links that connect 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.
- Identification information hereinafter referred to as “node ID” and “link ID”) for uniquely identifying each node and each link is given.
- the communication quality information storage unit 317 stores data communication quality information (hereinafter abbreviated as “communication quality information”) at an arbitrary point in the mine.
- the communication quality information may be configured by accumulating what each dump truck transmits to the control server 31, or a communication index value (representing the data communication quality of wireless communication while the navigation vehicle is traveling on the travel route ( For example, the radio wave intensity may be collected and stored.
- the section information storage unit 318 stores section information including the position information of the travel-permitted section set for each dump truck 20.
- the handover map information storage unit 319 stores handover map information including information on a base station to which the mobile terminal is connected at an arbitrary position coordinate in the mine area.
- the handover prohibition area information storage unit 320 stores handover prohibition area information that defines areas for which handover is prohibited in the mine area.
- the in-vehicle terminal device 26 mounted on the dump truck 20 includes a terminal-side control device 261, a terminal-side input device 262, a terminal-side display device 263, a terminal-side communication device 264, a communication bus 265, a route map information storage unit 266, and a handover.
- a map information storage unit 270 is provided.
- the in-vehicle terminal device 26 is connected to each of the travel control device 267, the external sensor device 268, and the position calculation device 269 mounted on the dump truck 20.
- the traveling control device 267 is a control device for transmitting the acceleration / deceleration amount, the braking amount, and the steering angle to the traveling drive device related to the traveling of the dump truck 20 such as an acceleration device, a braking device, and a steering device of the dump truck 20. It is.
- the external sensor device 268 is a sensor for detecting an obstacle in front of the dump truck 20 and the surrounding environment, such as a millimeter wave radar and a front camera.
- the obstacle detection result is output to the travel control device 267, and used for the braking operation if necessary.
- 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, the route map information storage unit 266, and the handover map information storage unit 270 are respectively controlled by the server side.
- the device 311, the server-side input device 312, the server-side display device 313, the server-side communication device 314, and the communication bus 315 have the same configuration and execute the same function.
- the route map information storage unit 316 of the control server 31 and the route map information storage unit 266 of the in-vehicle terminal device 26 store the same route map information.
- the handover map information storage unit 270 stores the same information as the handover map information storage unit 319 provided in the control server 31.
- FIG. 3 is a functional block diagram showing main functions of the control server and the in-vehicle terminal device according to the first embodiment, where (a) shows the configuration of the control server and (b) shows the configuration of the in-vehicle terminal device.
- the server side control device 311 of the control server 31 includes a travel permission section setting unit 311a, a handover prohibited area setting unit 311b, a handover map information generation unit 311c, a server side communication control unit 311d, and an input.
- a control unit 311e and a display control unit 311f are provided.
- the travel permission section setting unit 311a refers to the map information and section information storage unit 318 of the route map information storage unit 316, and for each dump truck 20, a partial section of the travel route in which travel permission is given only to the work machine. Is set, and permission response information including the position information is generated.
- the travel permission section setting unit 311a sets a front boundary point at a point ahead of the current position of the dump truck 20 on the travel route 64, and sets a rear boundary point behind the front boundary point. Then, a partial section of the travel route 64 between the front boundary point and the rear boundary point is set as a travel permission section for the dump truck 20 that has transmitted the new travel permission section setting request information.
- a point in front of the permission request distance determined in consideration of the stoppable distance of the dump truck 20 from the front boundary point is called a permission request point, and a section between the points is called a permission request section. Further, in the permission request section, a braking start point is provided at a point that is distant from the front boundary point before the reference point and at a distance that can be stopped without exceeding the front boundary point.
- the handover prohibition area setting unit 311b refers to the section information stored in the section information storage unit 318, and sets the permission request section in the travel permission section as a handover prohibition area that prohibits the switching operation of the connection destination radio base station. Then, it is stored in the handover prohibited area information storage unit 320.
- the handover prohibited area setting unit 311b also sets the loading area 61 and the earthmoving areas 62 and 63 as handover prohibited areas.
- the handover prohibited area is defined as a closed area in the mine.
- the handover map information generation unit 311c refers to the communication quality information storage unit 317, refers to the data communication quality of the communication area of the first radio base station, eg, the radio base station 41-1, and the second radio base station, eg, the radio base station 41- Based on the data communication quality of the two communication areas, to generate provisional handover map information that tentatively defines the boundary for executing the switching operation of the first radio base station 41-1 and the second radio base station 41-2, Store in the handover map information storage unit 319.
- the handover map information generation unit 311c refers to the handover prohibited area information storage unit 320, and based on the data communication quality of the first radio base station 41-1 and the data communication quality of the second radio base station 41-2, Temporary handover map information that provisionally defines the communication area of one radio base station 41-1 and the communication area of the second radio base station 41-2 is generated, and the communication areas 42-1 and second of the first radio base station are generated.
- the provisional handover map information is corrected so that the boundary is outside the handover prohibition region to generate corrected handover map information, and the handover map The information may be stored in the information storage unit 319.
- the handover map information generation unit 311c includes an index value indicating the data communication quality in the handover prohibited area, the distance from the travel permitted section to the first radio base station 41-1, and the second radio base station 41 from the travel permitted section.
- the handover map information generation unit 311c includes an index value indicating the data communication quality in the handover prohibited area, the distance from the travel permitted section to the first radio base station 41-1, and the second radio base station 41 from the travel permitted section.
- the server-side communication control unit 311d executes a wireless data communication control process with the in-vehicle terminal device 26.
- Examples of data transmitted from the control server 31 to the in-vehicle terminal device 26 include corrected handover map information and permission response information in the present embodiment.
- the in-vehicle terminal device 26 performs the switching operation of the connection destination radio base station based on the corrected handover map information, the connection destination switching operation can be performed outside the handover prohibited area. Therefore, in this embodiment, the corrected handover map information corresponds to the switching operation control information, and the handover map information generation unit that generates the corrected handover map information corresponds to the switching operation control unit.
- the input control unit 311e receives an operation performed on the server side input device 312 by the user. For example, when the user performs an operation to change the position of the boundary area of the communication area displayed on the screen of the server-side display device 313 using the server-side input device 312, the handover map information generating unit receives the operation You may comprise so that operation may be reflected as a correction amount of handover map information.
- the display control unit 311f performs generation of an image to be displayed on the server-side display device 313 and display control processing.
- the terminal-side control device 261 of the in-vehicle terminal device 26 includes a terminal-side communication control unit 261a, a request information processing unit 261b, and an autonomous travel control unit 261c.
- the terminal-side communication control unit 261a executes a wireless data communication control process with the control server 31.
- Examples of data transmitted from the in-vehicle terminal device 26 to the control server 31 include permission request information for requesting a new (next) travel permission section and position information of the host vehicle. Further, control for receiving various data wirelessly transmitted from the control server 31 is executed.
- the terminal-side communication control unit 261a uses the provisional handover map information, the corrected handover map information, the handover prohibited area information, and information for the vehicle-mounted terminal device to perform the switching operation of the connection-destination radio base station based on the provisional handover map information. Based on at least one of the switching command information (for example, switching operation switching information), the switching operation is executed in a section outside the permission request section in the travel permission section, and the handover prohibited area (in the permission request section, in the loading area, in the landing area) ) Does not execute handover.
- the switching command information for example, switching operation switching information
- the terminal-side communication control unit 261a obtains the position information of the own vehicle from the position calculation device 269 mounted on the dump truck 20, and the position of the own vehicle is determined based on the information indicating the handover prohibited area and the position information of the own vehicle.
- the switching operation may be executed when there is a mismatch with the station.
- the terminal-side communication control unit 261a outputs the permission response information to the autonomous traveling control unit 261c.
- the request information processing unit 261b generates permission request information for requesting the control server 31 to give a setting of a new travel permission section. In addition, when no destination is set at the start of traveling of each dump truck 20, destination request information for requesting setting of the destination is generated.
- the request information processing unit 261b refers to the map information in the route map information storage unit 266, the position information of the host vehicle in the position calculation device 269, and the travel permission section information indicated in the permission response information, and the host vehicle reaches the permission request point. Determine whether or not.
- the autonomous travel control unit 261c refers to the permission response information, the route map information indicating the travel route in the route map information storage unit 266, and the position information of the host vehicle from the position calculation device 269, and travels along the travel route. Travel control is performed on the travel control device 267 so as not to protrude from the permitted section. Since the autonomous traveling control unit 261c performs traveling control so that it does not protrude from the permitted traveling section, if the permission response information is not received, the dump truck 20 stops, causing trouble in the operation of the mine and reducing the productivity of the mine. To do.
- FIG. 4 is a diagram showing the configuration of communication quality information, handover map information, and handover prohibited area information.
- A shows an example of a table configuration of communication quality information
- B is a table configuration of handover map information
- C shows a table configuration example of handover prohibited area information.
- the communication quality information 400 is configured as a list in which measurement coordinates 401 and AP (Access Point: radio base station) quality 402 are collected.
- the measurement coordinate 401 is an arbitrary position in the mine area.
- the AP quality 402 indicates data communication quality information with all APs installed in the mine area at each measurement coordinate 401.
- the data communication quality information may be of any type as long as it is a value indicating data communication quality, such as radio wave intensity or communication error rate.
- the handover map information 500 is configured by associating AP identification information 501 and handover area definition information 502.
- the AP identification information 501 is information for uniquely identifying each AP.
- the handover area definition information 502 is position information of a divided area in the mine area to be connected to the AP defined by the AP identification information 501.
- the handover area definition information 502 is a communication area of each AP.
- the expression method is not limited to the example of this embodiment, such as a set of vertex coordinates for defining line segments that divide the area, or a circular area defined by center point coordinates and radius information.
- the handover prohibition area definition information 601 defines an area in the mining area where the handover process is prohibited from being performed based on the position information.
- the method of defining the region information may be defined in various forms, similar to the handover region definition information 502.
- FIG. 5 is a diagram illustrating the operation of the dump truck that travels according to the travel permission section, where (a) illustrates a state during travel in the travel permission section n, and (b) illustrates a state in which the permission request point has been reached. (C) shows the setting state of a new travel-permitted section.
- the travel route 64 is defined using a node 65 and a link 66.
- the travel permission section n includes seven nodes 65 and six links 66. Nodes and links are defined in the route map information.
- the rear boundary point of the travel permitted section n is indicated by BP_n
- the front boundary point is indicated by FP_n.
- this permission request section is set as a handover prohibition area in which the in-vehicle terminal device 26 is prohibited from performing handover, and handover map information that specifies that handover is performed in a section that is not a permission request section in the travel route. Is characterized by generating
- the node immediately after the front boundary point FP_n is a braking start point SP_n at which a braking operation is started.
- the dump truck 20 starts to transmit permission request information from the permission request point RP_n (see FIG. 5B), and when it reaches the braking start point SP_n, permission response information indicating the next new travel permission section from the control server 31. If the signal cannot be received, the braking operation is started.
- the braking start point SP_n is set to a point where the braking operation can be started and stopped before the front boundary point FP_n with the front boundary point FP_n as a reference. As a result, the dump truck 20 stops before the front boundary point FP_n, and can be stopped without protruding the travel permitted section n, so that it is possible to prevent interference with the front vehicle even if it exists.
- the control server 31 When receiving the permission request information, the control server 31 releases the rear of the dump truck 20 in the travel permission section n. In the released section, travel permission can be given to other dump trucks. Furthermore, the control server 31 sets a new travel permission section n + 1. In the new travel permission section n + 1, a node having the maximum distance that can be set as the travel permission section (however, when there is a forward vehicle, the front end of the release section set behind the vehicle) is set as the front boundary point FP_n + 1. In FIG. 5C, the travel permission section n + 1 is a partial section from the front boundary point FP_n + 1 to the rear boundary point BP_n + 1, and includes a permission request point RP_n + 1 and a braking start point SP_n + 1.
- the permission request section is updated accordingly, but the handover prohibition area is also updated following the subsequent progress.
- the present embodiment can also be applied to the case where the travel permission section is fixed (statically) set with respect to the travel route 64.
- FIG. 6 is a flowchart showing a flow of handover map information generation processing according to the present embodiment.
- processing for generating temporary handover map information (S601 to S602) based on data communication quality information and processing for setting a handover prohibited area (S611 to S614) are executed in parallel. Is done. Subsequently, processing for re-setting the boundary of the communication area using the handover prohibited area information in the provisional handover map information and determining the handover map information (S621 to S625) is executed. By repeating these processes, the corrected handover map information corresponding to the change in the status of the data communication quality is generated. Details of the handover map information generation process will be described below.
- the communication quality information in the communication quality information storage unit 317 is updated according to the change in the data communication quality (S601 / Yes).
- the handover map information generation unit 311c reads the communication quality information stored in the communication quality information storage unit 317, and generates provisional handover map information based on this (S602).
- the handover map information generation unit 311c connects the measurement coordinates 401 that satisfy the predetermined data communication quality index value so that the AP quality 402 in the communication quality table (see FIG. 4A) reduces the risk of radio interruption.
- Handover map information may be generated by setting a boundary to be performed and defining a closed region. In the handover map information generated in this way, the same AP is set as the connection destination base station in the closed area.
- the boundary of the handover map indicates a point where the connection destination base station is switched, that is, a handover point.
- the user may manually generate it by operating the server side input device 312.
- step S601 If the communication quality information has not been updated in step S601 (S601 / No), the process proceeds to step S621.
- the travel-permitted section setting unit 311a When the travel-permitted section setting unit 311a receives the permission request information from the dump truck 20 and sets a new travel-permitted section (S611 / Yes), the travel-permitted section setting unit 311a performs the permission-requested section in the new travel-permitted section. Is calculated (S612) and stored as section information in the section information storage unit 318.
- the handover prohibition area setting unit 311b cancels the setting of the handover prohibition area set in the permission request section of the released travel permission section n, and updates and sets a new permission request section n + 1 as the handover prohibition area ( S613).
- the map stored in the route map information storage unit 316 is transmitted to the control server 31 by transmitting the position information of the area where the navigation vehicle travels on the edge in the loading area and the earthing ground and the dump truck 20 is permitted to travel.
- the handover prohibited area setting unit 311b cancels the setting of the handover prohibited area in the original boundary and updates and sets the new boundary as the handover prohibited area (S615). .
- step S614 If a new travel-permitted section is not set (S611 / No), the process proceeds to step S614. If the boundary between the loading field and the earthing field is not changed (S614 / No), the process proceeds to step S621.
- the handover map information generation unit 311c refers to the handover prohibited area information and determines whether each handover prohibited area includes a plurality of AP communication areas, in other words, each handover prohibited area overlaps with a boundary of a different communication area. To do.
- step S621 If affirmative (S621 / Yes), a certain communication area is specified from a plurality of communication areas included in the handover prohibited area, and the provisional handover map information is changed so that only this area occupies the handover prohibited area. Then, a corrected handover map is generated (S622). As a guideline for selecting one communication area at this time, for example, select the communication area with the largest area, select the communication area with the shortest distance to the AP, or select the one with better data communication quality. There are ways to do it. If a negative result is obtained in step S621 (S621 / No), the process proceeds to step S623.
- step S621 If the handover map information generation unit 311c has not completed verification for all handover prohibited areas, the process returns to step S621 (S623 / No), and if completed (S623 / Yes), the handover map information generation unit 311c Updates and registers the handover map information in the handover map information storage unit 319 (S624).
- the server-side communication control unit 311d transmits the corrected handover map information from the server-side communication device 314 to each dump truck 20 (S625).
- the dump truck 20 that has received the corrected handover map information updates the handover map information in the handover map information storage unit 270 of the in-vehicle terminal device 26.
- the handover map information is synchronized between the control server 31 and the in-vehicle terminal device 26, and the connection destination base station of the dump truck 20 is selected according to the latest handover map information.
- the display control unit 313e may display the display example on the screen of the server-side display device 313 of the control server 31.
- FIG. 7 is a diagram illustrating an example of a display screen that displays a state where the boundary of the communication area and the handover prohibition region overlap.
- FIG. 8 is a diagram illustrating an example of a display screen displaying a state in which the boundary of the communication area in FIG. 7 is changed outside the handover prohibition region.
- the travel route 64 is divided into four communication areas AP1, AP2, AP3, and AP4.
- a travel permission section 710 is set from the AP3 area toward the AP2 area.
- a section including the front boundary point is a permission request section 711 and is a section set as a handover prohibited area.
- a rear section 712 including a rear boundary point is a section in which handover is permitted.
- the rear section 712 includes a boundary between the AP1 area and the AP3 area, but the position of this boundary does not need to be changed.
- the permission request section 711 includes a boundary between the AP1 area and the AP2 area, but the position of this boundary needs to be changed.
- the loading route 61 and the earthing grounds 62 and 63 are connected to the traveling route 64.
- the insides of these loading places 61 and earthing places 62 and 63 are also set as handover prohibited areas.
- the shape of the handover prohibited area may be a closed area, and the shape of the closed area such as a polygon or an ellipse is not limited.
- the handover map information generation unit 311c changes the boundary L1 crossing the permission request section 711 to the rear section 712 side of the permission request section 711 (change from the boundary L1 to L1a). Further, the handover map information generation unit 311c changes the boundary L2 in the loading field 61a to outside the loading field 61a (changes from the boundary L2 to L2a).
- the dump truck 20 After the dump truck 20 starts traveling, when new handover map information is acquired from the control server 31 (S901 / Yes), the received new handover map information is overwritten in the handover map information storage unit 270 (S902). Thereafter, the current received handover map information is referred to until the next new handover map information is received.
- the dump truck 20 does not receive new handover map information (S901 / No)
- the handover map information stored in the handover map information storage unit 270 of the in-vehicle terminal device 26 becomes a reference target.
- the terminal-side communication control unit 261a acquires the position information of the host vehicle from the position calculation device 269 before the permission request section during traveling (S903).
- the permission request section here is a section in which the dump truck 20 travels the travel route 64 and transmits setting request information for a new travel permission section. This is a section for transmitting information requesting an approach route (dynamic path) to a stop spot (loading point, earthing point) set in a loading place or earthing place.
- the terminal-side communication control unit 261a compares the handover map information stored in the handover map information storage unit 270 with the position information of the host vehicle, and specifies a connection destination base station for connection to the wireless communication line 40 ( S904).
- the terminal-side communication control unit 261a switches to the radio base station identified in step S903 ( Handover is performed (S906). Thereafter, when the vehicle continues traveling and reaches the permission request point, permission request information is transmitted to the control server 31.
- the request information processing unit 261b refers to the position of the host vehicle to determine which of the travel permission section or the approach route is requested for the content of the permission request information, and generates permission request information corresponding thereto.
- step S904 When the connection destination base station specified in step S904 is the same as the base station currently set as the connection destination (S905 / Yes), the dump truck 20 continues traveling without performing handover. Thereafter, the dump truck 20 repeats the processing from step S901 to step S906 during traveling.
- handover is performed before the permission request section, loading place, and dumping ground, and handover is not performed within the permission request section, loading place, and dumping ground.
- handover is executed frequently between the dump truck and the control server and at a point where information essential to the operation of the dump truck is transmitted and received.
- the radio interruption due to the handover failure is avoided, and the dump truck is prevented from stopping.
- a GPS signal is not required to determine a handover prohibited area, in other words, an area where a handover can be performed, even in a mine environment where GPS radio wave interference is likely to occur, handover is performed without being affected by the GPS signal. The area can be determined.
- the loading and unloading fields are uniformly set as handover prohibited areas, changes in the position of the approach route do not affect the handover operation.
- the control server creates handover map information, receives the position information of the host vehicle periodically transmitted by the dump truck, and determines whether or not the dump truck handover needs to be performed on the control server side.
- a handover process execution command switching command information
- the dump truck side receives the handover execution command to perform the handover process.
- FIG. 10 is a functional block diagram showing main functions of the control server and the in-vehicle terminal device according to the second embodiment, where (a) shows the control server and (b) shows the in-vehicle terminal device.
- FIG. 11 is a sequence diagram showing the flow of the control server and the in-vehicle terminal device in the second embodiment.
- the control server 31 includes a handover necessity determination unit 311g in addition to the configuration of the control server 31 in the first embodiment.
- the in-vehicle terminal device 26 is different in that it does not include the handover map information storage unit 270.
- the handover necessity determining unit 311g The station switching operation is determined to be necessary, and switching command information for switching operation for the in-vehicle terminal device is generated and transmitted.
- the switching command information corresponds to the switching operation control information
- the handover map information generation unit and the handover necessity determination unit necessary to generate the switching command information correspond to the switching operation control unit.
- the dump truck 20 periodically transmits its own vehicle position information output from the position calculation device 269 to the control server 31 (S1101, S1103).
- the control server 31 determines whether the handover is necessary based on the received position information of the own vehicle of the dump truck 20 (S1102, S1104). This handover necessity determination process is the same process as steps S904 and 905 of the first embodiment. If it is determined as a result of the handover necessity determination that the handover is necessary, the control server 31 transmits a handover execution command (switching command information) to the dump truck (S1105). When the dump truck 20 receives the switching command information, the dump truck 20 executes a handover process accordingly (S1106).
- the handover map information is set so that the boundary of the communication area is located outside the handover prohibited area (permission request section)
- the dump truck when the switching command information is transmitted and the handover process is executed Assume that 20 is outside the handover prohibition area.
- the dump truck 20 arrives at the permission request section (S1107), and transmits permission request information (S1108).
- the control server 31 sets a new travel permission section or approach route (S1109), and returns permission response information indicating the contents to the dump truck 20 (S1110).
- handover map information can be created and whether or not handover is necessary can be performed on the control server side.
- the third embodiment transmits the handover map information and the handover prohibition area information to the in-vehicle terminal device of the dump truck, and if the position of the own vehicle is outside the handover prohibition area, the handover base radio station refers to the handover map information And switch if necessary. Therefore, in this embodiment, the handover map information and the handover prohibited area information correspond to the switching operation control information, and the handover map information generation unit for generating the handover map information corresponds to the switching operation control unit.
- FIG. 12 is a functional block diagram illustrating main functions of the control server and the in-vehicle terminal device according to the third embodiment.
- FIG. 13 is a flowchart showing the flow of processing of the in-vehicle terminal device according to the third embodiment.
- the in-vehicle terminal device 26 according to the third embodiment is different from the in-vehicle terminal device 26 according to the third embodiment in that it includes a handover prohibited area information storage unit 271.
- the flow of processing (processing related to handover) of the in-vehicle terminal device according to the present embodiment will be described.
- the handover map information storage unit 270 and the handover prohibited area information storage unit 271 have already been input to the dump truck 20.
- the travel range of the dump truck is within the communication area of any AP at any position, and the communication areas of adjacent APs overlap. As a result, even in a section where handover cannot be performed, it belongs to the communication area of any AP and wireless communication is not interrupted.
- the terminal-side communication control unit 261a acquires the position information of the host vehicle from the position calculation device 269 (S1303). Then, the terminal side communication control unit 261a compares the handover prohibition region information stored in the handover prohibition region information storage unit 271 with the position information of the host vehicle, and if the position of the host vehicle is not within the handover prohibition region (S1304 / Yes), the processing from step S904 to step S906 of the first embodiment is executed. If the position of the host vehicle is within the handover prohibited area (S1304 / No), the process returns to step S1301 without performing the handover process.
- an in-vehicle terminal device mounted on an autonomously traveling vehicle has been described as an example. May be.
- the control server sets the next new permitted travel section, it calculates the position of the permission request section based on the position from the front boundary point, and determines whether the boundary of the communication area is included in it. May be. If a boundary is included, a permission response information for generating a command for executing a handover in a rear section outside the permission request section in the new travel permission section and responding to the new travel permission section with the command. May be added.
- a command for executing a handover process outside the permission request section can be transmitted from the control server to the in-vehicle terminal device together with the setting of the travel permission section, and handover within the permission request section can be avoided.
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Abstract
Description
[システム構成]
第一実施形態は、鉱山内の予め定められた走行経路に沿って走行するショベル、ホイールローダ、散水車等の作業機械に搭載された車載端末装置と、作業機械の運行を管理する管制サーバとを無線通信回線を介して接続した無線通信システムにおいて、車載端末装置が無線通信回線に接続する際の接続先基地局を決定する際に参照するハンドオーバ地図情報を生成する無線通信システムに関する。特に第一実施形態では、無線基地局の接続先を表すハンドオーバ地図において、通信エリアの境界が接続先基地局の切替動作を禁止するハンドオーバ禁止領域と重ならないように構成する点に特徴がある。
第二実施形態は、管制サーバがハンドオーバ地図情報を作成し、ダンプトラックが定期的に送信する自車両の位置情報を受信して、ダンプトラックのハンドオーバ実施の要否の判定を管制サーバ側で行い、ハンドオーバ処理が必要と判定した場合は、ハンドオーバ処理の実行命令(切替命令情報)をダンプトラック側へ出し、ダンプトラック側はハンドオーバ実行命令を受信することでハンドオーバ処理を行う実施形態である。以下、図10、図11を参照して第二実施形態について説明する。
第三実施形態は、ハンドオーバ地図情報及びハンドオーバ禁止領域情報をダンプトラックの車載端末装置へ送信し、自車両の位置がハンドオーバ禁止領域外であればハンドオーバ地図情報を参照して接続先の無線基地局を決定し、必要があれば切り替える。従って、本実施形態ではハンドオーバ地図情報及びハンドオーバ禁止領域情報が切替動作制御情報に相当し、ハンドオーバ地図情報を生成するためのハンドオーバ地図情報生成部が切替動作制御部に相当する。以下、図12、図13を参照して第三実施形態について説明する。図12は、第三実施形態に係る管制サーバ及び車載端末装置の主な機能を示す機能ブロック図である。図13は第三実施形態に係る車載端末装置の処理の流れを示すフローチャートである。
10、10-1、10-2 ショベル
20、20-1、20-2 ダンプトラック
31 管制サーバ
40 無線通信回線
41-1、41-2、41-3 無線基地局
60 走行経路
Claims (9)
- 鉱山内の予め定められた走行経路に沿って走行する作業機械に搭載された車載端末装置と、前記作業機械の運行を管理する管制サーバとを、第一無線基地局及び第二無線基地局を含むネットワークで通信接続した無線通信システムにおいて、
前記管制サーバは、
前記作業機械に対して、当該作業機械のみに走行許可を付与した前記走行経路の部分区間である走行許可区間を設定し、その位置情報を含む許可応答情報を生成する走行許可区間設定部と、
前記走行許可区間の内、前記作業機械が前記管制サーバに対し新たな走行許可区間の設定要求を行う許可要求区間を、前記第一無線基地局から前記第二無線基地局に接続先として切り替えることを禁止するハンドオーバ禁止領域として設定するハンドオーバ禁止領域設定部と、
前記作業機械に前記ハンドオーバ禁止領域外で前記接続先の切替えをさせるための切替動作制御情報を生成する切替動作制御部と、
前記作業機械に対して前記切替動作制御情報を送信するサーバ側通信制御部と、を備え、
前記車載端末装置は、
前記切替動作制御情報を受信し、当該切替動作制御情報に基づき前記走行許可区間のうちの前記ハンドオーバ禁止領域外の区間で接続先の無線基地局を切替え、前記新たな走行許可区間の設定要求を行うための許可要求情報を前記管制サーバに対して送信する端末側通信制御部を備える、
ことを特徴とする無線通信システム。 - 前記管制サーバは、前記切替動作制御部として、前記第一無線基地局の通信エリアのデータ通信品質及び前記第二無線基地局の通信エリアのデータ通信品質を基に、前記第一無線基地局の通信エリア及び前記第二無線基地局の通信エリアを暫定的に定めた暫定ハンドオーバ地図情報を生成し、前記第一無線基地局の通信エリア及び前記第二無線基地局の通信エリアの境界と前記ハンドオーバ禁止領域とが重なる場合に、前記境界が前記ハンドオーバ禁止領域外となるように前記暫定ハンドオーバ地図情報を補正して補正後ハンドオーバ地図情報を生成するハンドオーバ地図情報生成部を備え、
前記サーバ側通信制御部は前記切替動作制御情報として前記補正後ハンドオーバ地図情報を前記車載端末装置に送信し、
前記端末側通信制御部は、前記補正後ハンドオーバ地図情報を受信するとともに、前記作業機械の稼働中に前記作業機械に搭載された位置算出装置から自車両の位置情報を取得し、前記補正後ハンドオーバ地図情報において前記自車両の位置に対応する通信エリアの無線基地局と前記端末側通信制御部が接続先として設定している無線基地局とが異なる場合に、接続先の無線基地局を前記自車両の位置に対応する無線基地局に切り替える、
ことを特徴とする請求項1に記載の無線通信システム。 - 前記ハンドオーバ地図情報生成部は、前記ハンドオーバ禁止領域内のデータ通信品質を示す指標値、前記走行許可区間から前記第一無線基地局までの距離及び前記走行許可区間から前記第二無線基地局までの距離の比較結果、前記許可要求区間に占める前記第一無線基地局の通信エリアの面積及び前記許可要求区間に占める前記第二無線基地局の通信エリアの面積の比較結果、の少なくとも一つに基づいて前記補正を行う、
ことを特徴とする請求項2に記載の無線通信システム。 - 前記管制サーバは、前記切替動作制御部として、前記第一無線基地局の通信エリアのデータ通信品質及び前記第二無線基地局の通信エリアのデータ通信品質を基に、前記第一無線基地局の通信エリア及び前記第二無線基地局の通信エリアを暫定的に定めた暫定ハンドオーバ地図情報を生成し、前記第一無線基地局の通信エリア及び前記第二無線基地局の通信エリアの境界と前記ハンドオーバ禁止領域とが重なる場合に、前記境界が前記ハンドオーバ禁止領域外となるように前記暫定ハンドオーバ地図情報を補正して補正後ハンドオーバ地図情報を生成するハンドオーバ地図情報生成部と、前記車載端末装置における接続先の無線基地局の切替えの要否を判定するハンドオーバ要否判定部と、を備え、
前記端末側通信制御部は、前記作業機械に搭載された位置算出装置から自車両の位置情報を取得し、当該自車両の位置情報及び現在接続先として設定された無線基地局を固有に示す基地局識別情報を前記管制サーバに送信し、
前記ハンドオーバ要否判定部は、前記補正後ハンドオーバ地図情報において前記自車両の位置を含む通信エリアに対応する無線基地局と、前記基地局識別情報が示す無線基地局とが不一致の場合は接続先の無線基地局の切替えが必要と判定し、前記車載端末装置に接続先の無線基地局を切替させるための切替命令情報を生成し、
前記サーバ側通信制御部は、前記切替動作制御情報としての前記切替命令情報を送信し、
前記端末側通信制御部は、前記切替命令情報に従って接続先の無線基地局を切り替える、
ことを特徴とする請求項1に記載の無線通信システム。 - 前記管制サーバは、前記切替動作制御部として、前記第一無線基地局の通信エリアのデータ通信品質及び前記第二無線基地局の通信エリアのデータ通信品質を基に、前記第一無線基地局の通信エリア及び前記第二無線基地局の通信エリアを定めたハンドオーバ地図情報を生成するハンドオーバ地図情報生成部を備え、
前記サーバ側通信制御部は、前記切替動作制御情報として前記ハンドオーバ地図情報及び前記ハンドオーバ禁止領域を示すハンドオーバ禁止領域情報を前記車載端末装置に送信し、
前記端末側通信制御部は、前記作業機械に搭載された位置算出装置から自車両の位置情報を取得し、前記ハンドオーバ禁止領域情報及び前記自車両の位置情報を比較し、前記自車両の位置が前記ハンドオーバ禁止領域に含まれておらず、かつ現在の接続先の無線基地局が、前記ハンドオーバ地図情報における前記自車両の位置を含む通信エリアに対応する無線基地局と不一致な場合に、接続先の無線基地局を切り替える、
ことを特徴とする請求項1に記載の無線通信システム。 - 前記走行経路は、前記作業機械に積荷を積込む積込場、及び前記作業機械が積荷を下す放土場の少なくとも一つに接続され、
前記ハンドオーバ禁止領域設定部は、前記積込場内及び前記放土場内を前記ハンドオーバ禁止領域として更に設定する、
ことを特徴とする請求項1に記載の無線通信システム。 - 前記ハンドオーバ禁止領域は、前記鉱山内の閉領域として定義される、
ことを特徴とする請求項1に記載の無線通信システム。 - 鉱山内の予め定められた走行経路に沿って走行する作業機械に搭載された車載端末装置に、第一無線基地局及び第二無線基地局を含むネットワークを介して通信接続され、前記作業機械の運行を管理する管制サーバであって、
前記作業機械に対して、当該作業機械のみに走行許可を付与した前記走行経路の部分区間である走行許可区間を設定し、その位置情報を含む許可応答情報を生成する走行許可区間設定部と、
前記走行許可区間の内、前記作業機械が前記管制サーバに対し新たな走行許可区間の設定要求を行う許可要求区間を、前記第一無線基地局から前記第二無線基地局に接続先として切り替えることを禁止するハンドオーバ禁止領域として設定するハンドオーバ禁止領域設定部と、
前記作業機械に前記ハンドオーバ禁止領域外で前記接続先の切替えをさせるための切替動作制御情報を生成する切替動作制御部と、
前記作業機械に対して前記切替動作制御情報を送信するサーバ側通信制御部と、
を備えることを特徴とする管制サーバ。 - 鉱山内の予め定められた走行経路に沿って走行する作業機械に搭載された車載端末装置と、前記作業機械の運行を管理する管制サーバとを、第一無線基地局及び第二無線基地局を含むネットワークで通信接続した無線通信システムにおいて、前記車載端末装置の基地局切替動作を制御するための基地局切替動作制御方法であって、
前記作業機械に対して、当該作業機械のみに走行許可を付与した前記走行経路の部分区間である走行許可区間を設定するステップと、
前記走行許可区間の内、前記作業機械が前記管制サーバに対し新たな走行許可区間の設定要求を行う許可要求区間を、前記第一無線基地局から前記第二無線基地局に接続先として切り替えることを禁止するハンドオーバ禁止領域として設定するステップと、
前記作業機械に前記ハンドオーバ禁止領域外で前記接続先の切替えをさせるための切替動作制御情報を生成するステップと、
前記切替動作制御情報を前記作業機械に送信するステップと、
前記作業機械が前記切替動作制御情報に従って接続先の無線基地局を切り替えるステッと、
を含むことを特徴とする基地局切替動作制御方法。
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