JP2003013418A - Method and system for moving snow-removing robot vehicle, and system for removing snow by using snow- removing robot vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable adaptation to snow removal from a stage of a forecast of accumulation of snow or an early stage of the accumulation of the snow by utilizing a snow-removing robot vehicle, so as to improve inefficiency of snow-removing work and traffic congestion caused by late timing of the snow removal on a roadway under a state of the accumulation of the snow. SOLUTION: The snow-removing robot vehicle, which is disposed in the vicinity of the roadway in advance, and an accumulation-of-snow control center, which controls traveling of the snow-removing robot vehicle according to the accumulation of the snow or the forecast of the accumulation of the snow, are provided in order to remove the snow from an area, requiring the snow removal, on the roadway. Additionally, the snow-removing robot vehicle is equipped with a snow-removal detecting means so as to detect completion of the snow removal and automatically stop the snow-removing work.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and system for moving a snow removing robot vehicle which removes snow on a motorway such as a main road in a snowy area by means of communication means such as wireless communication. The present invention relates to a snow removing system using a snow removing robot vehicle.

[0002]

2. Description of the Related Art Conventionally, for snow removal on a road in a snowy area, based on snow accumulation information or snow forecast information from a snow accumulation management center, a municipality that preserves the road dispatches a snow plow placed in a nearby area and It is common to manually operate a snowplow to perform snowplow work depending on the situation.

[0003]

According to the method of directing a snowplow to a snow-covering site when it is snowed, the timing of snow-plowing is delayed, traffic jams occur, or the amount of snowfall increases significantly. There is a drawback that snow removal must be performed, and the snow removal work becomes unnecessarily large.

According to the present invention, considering the above circumstances,
A main object of the present invention is to provide a method and system for moving a snow removal robot vehicle that can efficiently and efficiently perform snow removal work from an early stage of snowfall forecasting or snow accumulation using a snow removal robot vehicle.

Further, according to the present invention, by arranging the snow removal robot vehicle in advance in an area called a normal snow accumulation area of an automobile road, the snow removal robot vehicle can be dispatched quickly to remove the snow accumulation on the automobile road. Another object of the present invention is to provide a method of moving a snow removal robot vehicle and a moving system thereof that can prevent snow accumulation.

Further, according to the present invention, when the snow removal robot vehicle is moved, the travel support for the snow removal robot vehicle can be obtained by another means in an area where communication is difficult, such as an area where radio waves are obstructed or radio waves cannot be communicated. An object of the present invention is to provide a moving method and a moving system for a snow removal robot vehicle that can efficiently and quickly arrive at a snowy area.

Furthermore, the present invention provides a snow removal system for a snow removal robot vehicle, which automatically detects the snow removal situation and automatically stops the snow removal operation when the snow removal robot vehicle completes the snow removal. The purpose is to

[0008]

In order to achieve the above object, according to the invention of claim 1, a snow management center manages snow cover information of a motorway, and the snow cover of the motorway obtained by this management. A step of transmitting a dispatch command information signal such as a moving direction and a moving speed from the neighboring area to a snow removing robot vehicle arranged in advance in a neighboring area of the motorway based on the information; Is a step of receiving the dispatch command information signal and starting traveling according to the dispatch command; and the snow removal robot vehicle,
A step of transmitting a positioning information signal based on its own new position data to the snow accumulation management center along with the traveling, and the snow accumulation management center, based on the positioning information signal, a traveling command information signal such as a new moving direction or traveling speed. Transmitting the snow removal robot vehicle to the snow removal robot vehicle to automatically move the snow removal robot vehicle to a snow accumulation site on a motorway while repeatedly transmitting and receiving between the snow accumulation management center and the snow removal robot vehicle. A method for moving a snow removal robot vehicle is provided.

Therefore, in order to further improve traffic congestion and inefficiency of snow removal work due to a delay in snow removal timing on a snow-covered motorway, a snow removal robot vehicle is used, and snow removal forecast and snow removal from an early stage of snow removal are performed. It is possible to provide a method of moving a snow removal robot vehicle that utilizes the snow removal robot vehicle.

In order to achieve the above object, according to the invention of claim 2, the snow cover management center manages the snow cover information of the motorway, and based on the snow cover information of the motorway obtained by this management, A step of transmitting a dispatch command information signal such as a moving direction and a moving speed from within the tunnel or in the vicinity thereof to a snow removing robot vehicle previously arranged in the tunnel of the motorway or in the vicinity thereof; The step of receiving the dispatch command information signal and starting traveling according to the dispatch command; and the step of transmitting the positioning information signal based on the new position data of the snow removal robot vehicle to the snow accumulation management center in association with the traveling. Then, the snow cover management center, based on the positioning information signal, sends a travel command information signal such as a new moving direction and moving speed to the snow removal robot. And a step of transmitting the data to a snow vehicle, and repeatedly transmitting and receiving between the snow management center and the snow removal robot vehicle while automatically moving the snow removal robot vehicle to the snow accumulation site on the motorway. A method of moving a snow removal robot vehicle is provided.

Therefore, by arranging the snow-removing robot vehicle in advance in an area usually called a snow-covered area on the motorway, the snow-removing robot vehicle can be dispatched quickly to prevent snowfall on the motorway. It is possible to provide a method of moving the snow removal robot vehicle.

In order to achieve the above object, according to the invention of claim 3, the snow cover management center manages the snow cover information of the motorway, and based on the snow cover information of the specific motorway obtained by this management. , For snow removal robot vehicles pre-positioned in the neighborhood of the particular motorway,
A step of transmitting a dispatch command information signal such as a moving direction and a moving speed from the neighboring area, the snow removal robot vehicle receives the dispatch command information signal such as the moving direction and a moving speed, and travels according to the dispatch command. The step of starting and the snow removal robot vehicle starts running, and in an area where communication characteristics of the dispatch command information signal are not good or in an area where communication is not possible, a DSRC laid on a motorway in that area.
The step of traveling on the basis of the dispatch command information signal received by the communication means;
The step of transmitting the positioning information signal based on the new position data of the vehicle to the snow management center along with the traveling except the section traveling based on the dispatch command information signal by the C communication means; And transmitting a travel command information signal such as a new moving direction or moving speed to the snow removal robot vehicle, in the communicable section between the snow management center and the snow removal robot vehicle. It is possible to provide a method of moving a snow removal robot vehicle, which is characterized in that the snow removal robot vehicle is automatically moved to a snow accumulation site on an automobile road while repeating transmission and reception.

In order to achieve the above object, according to the invention of claim 4, the snow cover management center manages the snow cover information of the motorway, and based on the snow cover information of the specific motorway obtained by this management. , For snow removal robot vehicles pre-positioned in the neighborhood of the particular motorway,
A step of transmitting a dispatch command information signal such as a moving direction and a moving speed from the neighboring area, the snow removal robot vehicle receives a traveling command information signal such as the moving direction and a moving speed, and travels according to the dispatch command. The step of starting and the snow removal robot vehicle starts running, and in an area where communication characteristics of the dispatch command information signal are not good or in an area where communication is not possible, a DSRC laid on a motorway in that area.
The step of traveling based on the traveling command information signal by the communication means, the snow removal robot vehicle transmits a positioning information signal based on its own new position data to the snow accumulation management center along with the traveling, and the snow accumulation management center, Based on the positioning information signal, a step of transmitting a travel command information signal such as a new moving direction or moving speed to the snow removal robot vehicle, and in a communicable section between the snow accumulation management center and the snow removal robot vehicle, Provided is a method for moving a snow removal robot vehicle, which is characterized in that the snow removal robot vehicle is automatically moved to a snowy site on an automobile road while repeatedly transmitting and receiving.

Therefore, when the snow removal robot vehicle is moved, when traveling control is performed on the snow removal robot vehicle, in a region where communication is difficult, such as an area where radio waves are obstructed or radio communication is not possible, while traveling support is obtained by another means, the snow removal site is reached. It is possible to provide a method for moving a snow removal robot vehicle that can arrive.

In order to achieve the above object, according to the invention of claim 5, the snow cover management center manages the snow cover information of the motorway, and based on the snow cover information of the motorway obtained by this management, A step of transmitting a dispatch command information signal such as a moving direction and a moving speed from the neighboring area to the snow removing robot vehicle arranged in advance in a nearby area of the motorway; A step of receiving a dispatch command information signal such as a moving speed and starting traveling according to an initial dispatch command; and the snow removal robot vehicle starts traveling and is in an area with poor communication characteristics of the dispatch command information signal or cannot communicate. In the area, the step of traveling along a lane marker laid on a motorway in the area and the snow removal robot vehicle installs the lane marker. Except for the section, the step of transmitting a positioning information signal based on its own new position data to the snow management center along with the traveling, the snow management center, based on the positioning information signal received from the snow removal robot vehicle, And a step of transmitting a traveling command information signal such as a moving direction and a moving speed to the snow removal robot vehicle, in a communicable section between the snow management center and the snow removal robot vehicle, while repeatedly transmitting and receiving, Provided is a method of moving a snow removal robot vehicle, which is characterized in that the snow removal robot vehicle is automatically moved to a snow accumulation site on an automobile road.

Therefore, when the snow removal robot vehicle is moved, when traveling control is performed on the snow removal robot vehicle, in a region where communication is difficult, such as a radio interference or a region where radio communication is not possible, traveling support can be obtained by another means while traveling to the snowy site. It is possible to provide a method for moving a snow removal robot vehicle that can arrive.

In order to achieve the above object, according to the invention of claim 6, it is provided in the snow management center and provided in the snow management database for managing the snow information of the motorway, and in the snow management center. , A snow cover management center side transmitter that transmits the snow cover information signal of the snow cover information database to a snow removal robot vehicle, a receiver that is arranged in advance in the vicinity of the motorway and receives the snow cover information signal, and its own position And a snow removal robot vehicle including a snow removal robot vehicle-side transmitter that transmits position information obtained by this positioning system to the management center, and an automatic driving device, and the automatic driving device includes the snow management center. The snow removal robot vehicle itself sends out a dispatch command such as a moving direction and a moving speed from the neighborhood of the motorway. It can provide a mobile system snow removal robotic vehicle, characterized by comprising a vehicle drive means for automatically travel along dispatch command based on broadcast signals.

In order to achieve the above object, according to the invention of claim 7, a snow cover information database provided in a snow cover management center for managing snow cover or snow cover forecast information of a motorway, and a snow cover management center. A snow cover management center side transmitter that transmits a snow cover information signal of the snow cover information database to a snow removal robot vehicle, a parking lot provided in a tunnel of the motorway, and is arranged in advance in the parking lot, A snow removal robot including a receiver that receives the snow accumulation information signal, a positioning system that detects its own position, a snow removal robot vehicle-side transmitter that transmits the position information obtained by this positioning system to the control center, and an automatic driving device. The vehicle and the automatic driving device are transmitted from the snow cover management center, and the snow removal robot vehicle itself is on the motorway. To provide a mobile system snow removal robotic vehicle, characterized in that the equipped and vehicle drive means for automatically travel along dispatch commands move based on the dispatch command information signal, such as the direction and speed of movement of the car park.

Therefore, by arranging the snow-removing robot vehicle in advance in an area usually called a snow-covered area on the motorway, the snow-removing robot vehicle can be dispatched quickly to prevent snow accumulation on the motorway. A snow removal robot vehicle movement system can be provided.

In order to achieve the above object, according to the invention of claim 8, it is provided in the snow management center and is provided in the snow management database for managing the snow information of the motorway and the snow management center. A transmitter for transmitting snow accumulation information to a snow removal robot vehicle, a parking lot provided in the tunnel of the motorway, and a receiver arranged in advance in the parking lot for receiving the snow accumulation information signal Machine, positioning system that detects its own position,
A snow removal robot vehicle including a snow removal robot vehicle-side transmitter that transmits position information obtained by this positioning system to the control center and an automatic driving device, and the automatic driving device is transmitted from the snow cover management center, An area or communication where the snow removal robot vehicle itself travels automatically according to a dispatch command based on dispatch command information signals such as the direction and speed of movement from a parking lot on the motorway and a communication characteristic in a dedicated wireless communication path with poor communication characteristics. DSRC to support automatic driving of snow removal robot vehicles that are provided in areas where snow can not be located and travel to snowy areas
A communication means, wherein the DSRC communication means can receive the dispatch command information signal from the snow management center and transmit the dispatch command information signal to the snow removal robot vehicle. A movement system for a snow removal robot vehicle is provided.

Therefore, when the snow removal robot vehicle is moved, when traveling control is performed on the snow removal robot vehicle, in a region where communication is difficult, such as a radio interference or a region where radio communication is not possible, traveling support can be obtained by another means while traveling to the snowy site. It is possible to provide a moving system of a snow removal robot vehicle that can be delivered.

In order to achieve the above object, according to the invention of claim 9, it is provided in the snow management center and provided in the snow management database for managing the snow information of the motorway, and in the snow management center. , A snow removal robot vehicle that transmits a snow accumulation information signal of the snow accumulation information database, a parking lot provided in a tunnel of the motorway, a snow parking information provided in advance in the parking lot, and the snow accumulation information. A snow removal robot vehicle including a receiver for receiving a signal, a positioning system for detecting its own position, a snow removal robot vehicle-side transmitter for transmitting position information obtained by this positioning system to the control center, and an automatic driving device, The automatic driving device is transmitted from the snow cover management center, the snow removal robot vehicle itself from a parking lot on the motorway. A snow removal robot that is provided in a region with poor communication characteristics in a dedicated wireless communication path or a region where communication is not possible with a vehicle drive means that automatically travels according to a travel command based on an initial command information signal such as a moving direction or moving speed, and moves to a snowy site The snow removal robot vehicle receives a dispatch command information signal transmitted from the DSRC communication unit, and has a DSRC communication unit for supporting automatic driving of the vehicle on an automobile road. And a drive signal generating device for driving the automatic driving device based on the snow removal robot provided with new position data obtained by the positioning system of the snow removing robot vehicle by driving the automatic driving device. The robot vehicle transmitter transmits to the DSRC communication means, and the To provide a mobile system snow removal robotic vehicle, characterized in that it has to transmit to the snow management center.

Therefore, when the snow removal robot vehicle is moved, when traveling control is performed on the snow removal robot vehicle, in a region where communication is difficult, such as an area where radio waves are obstructed or radio communication is not possible, while traveling support is obtained by another means, the snow removal site is reached. It is possible to provide a moving system of a snow removal robot vehicle that can be delivered.

In order to achieve the above object, according to the invention of claim 11, a snow cover information database provided in a snow cover management center for managing snow cover or snow cover forecast information of a motorway, and a snow cover management center. A snow cover management center side transmitter that transmits a snow cover information signal to a snow removal robot vehicle, a receiver that is placed in advance in the vicinity of the motorway and receives the snow cover information signal, and detects its own position. Positioning system, a snow removal robot vehicle transmitter including a snow removal robot vehicle-side transmitter that transmits position information obtained by this positioning system to the management center, and the automatic driving device transmitted from the snow accumulation management center First, the snow removal robot vehicle will be able to determine the direction and speed of movement from the parking lot installed in the tunnel of the motorway. It is provided in an area with poor communication characteristics or in an area where communication is not possible in the dedicated wireless communication path and the automatic driving means that automatically travels according to the command information signal, and supports the automatic running of the snow removal robot vehicle moving to the snowy site on the motorway. And a lane marker provided on an automobile road for enabling the snow removal robot vehicle to travel automatically along the lane marker.

Therefore, when the snow removal robot vehicle is moved, when traveling control is performed on the snow removal robot vehicle, in a region where communication is difficult, such as an area where radio waves are obstructed or radio communication is not possible, while traveling assistance is obtained by another means, the snow removal site is reached. It is possible to provide a moving system of a snow removal robot vehicle that can be delivered.

In order to achieve the above object, according to the invention of claim 12, it is provided in the snow management center and provided in the snow management database for managing the snow information of the motorway, and in the snow management center. , A snow cover management center side transmitter that transmits a snow cover information signal to a snow removal robot vehicle, a parking lot provided in a tunnel on the motorway, and a reception place that is arranged in advance in the parking lot and receives the snow cover information signal Machine, positioning system that detects its own position,
A snow removal robot vehicle including a snow removal robot vehicle-side transmitter that transmits position information obtained by this positioning system to the control center and an automatic driving device, and the automatic driving device is transmitted from the snow cover management center, A vehicle for driving the snow-removing robot to automatically travel according to a driving command based on an initial command information signal such as a moving direction and a moving speed from a parking lot provided in the tunnel of the motorway, and a snow-covered state after arriving at the snow-covered site. Provided is a snow removal system for a snow removal robot vehicle, comprising: a snow removal detection sensor for detecting a snow removal state, performing a snow removal operation by detecting the snow removal state, and detecting the snow removal state to stop the snow removal operation.

Therefore, it is possible to provide a snow removal system for a snow removal robot vehicle, which automatically detects the snow removal condition and automatically stops the snow removal operation when the snow removal robot completes the snow removal.

[0028]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a method for moving a snow removing robot vehicle, a moving system therefor, and a snow removing system using the snow removing robot vehicle according to the present invention will be described with reference to the accompanying drawings.

FIG. 1 shows an entire motorway according to an embodiment of the present invention.

A highway A and a general road B are provided in a certain area where snow is involved in a mountainous area, etc., one of which is for the downward ΔΔ direction and the other is for the upward ○○ direction. It is a road. Ski areas α to Δ are provided around each of the roads A and B, and a plurality of tunnels 1a to 1d are provided at various places in a mountainous area or the like.
Is provided.

On the highway A, each IC (Inter Change) IC1 to I is connected to the general road B.
C3 is provided, and connecting paths 3a to 3 with the general motorway B
Mutual access is possible via c.

Reference numeral 4 is a snow management center, which is provided at the top of the mountain where radio wave communication characteristics are good. The radio waves transmitted from the snow management center antenna 4a of the snow management center 4 are transmitted so as to be transmitted over the entire area of the highway A and the general road B.
The information signal 5a of the dedicated wireless communication path 5 can be transmitted / received to / from the general vehicle 23 and the snow removing robot 6.

Snow is easily generated on each of the motorways A and B, for example, in a mountainous area, the snow removal robot vehicle 6 can remove snow by a command from the snow management center 4 for snow removal. There is.

The snow removing robot vehicle 6 normally stands by at a parking lot 7 provided in a specific tunnel, for example, the tunnel 1a, when there is no snow.

CCTV (Closed) is provided on the road side of the highway A and the general road B near the ski areas α to Δ.
A snowfall detection sensor 8, 8 for detecting the snowfall state such as a Circuit TV) by image processing is installed.

The snowfall detection sensors 8 and 8 are provided so as to independently detect snowfall and notify the snowfall management center 4 of the snowfall state by the snowfall information signal 8a.

On the expressway A in areas where communication characteristics are poor or areas where communication is not possible, such as in mountainous areas off the dedicated wireless communication path 5, along the roadside, communication with the snow removing robot vehicle 6 is established. DSRC (Dedicat
ed Short Range Communicat
ions) communication means 9 is provided.

The DSRC communication means 9 is provided with DSRC communication antennas 11 for performing two-way communication with the snow removal robot vehicle 6 and general vehicles (not shown). In the tunnel 1a, 11 and 11 are arranged at predetermined intervals along the tunnel side wall 10.

When the snow detection sensor 8, 8 informs the snow management center 4 of snow information, the snow management center 4
Is sent to the snow removal robot vehicle 6 by the information signal 5a.

This snowfall information notification has a function of notifying the snowfall management center 4 only when there is snowfall by means of wireless communication means (not shown) provided in the snowfall detection sensors 8 and 8 themselves.

In response to the dispatch command, the snow removing robot vehicle 6 has a predetermined traveling course so as to travel along a roadside belt (not shown) in the case of snow removal at the snow accumulation site D on the highway A.

The snow-removing robot vehicle 6 runs on, for example, a roadside belt of the highway A until the vehicle starts dispatching and returns to the parking lot 7.

Depending on the degree of snow accumulation and the number of snow removal robot vehicles 6 dispatched, the individual snow removal robot vehicles 6 can take the path on the outward path traveling on a predetermined roadside band or on the return path. .

In the case of the general automobile road B, the snow removal robot vehicle 6 is temporarily closed in a range that is unfavorable to the traveling, so that the snow removal can be smoothly performed.

Next, the configuration of the DSRC communication means 9 will be described with reference to FIG.

The DSRC communication means 9 comprises a roadside network 12 and an optical transmission network 13 and a signal transmission line 14 connecting them.

The optical transmission network 13 receives data through the three dedicated lines of the DSRC service dedicated line 16, the DSRC business system dedicated line 17 and the mobile phone / PHS service dedicated line 18, and these three dedicated lines 16-18. A radio wave multiplexer 19 for multiplexing the information signal 5a and a radio wave / optical converter 20 for converting the radio wave multiplexed information signal 5a from a radio wave signal to an optical signal.

Each of the leased lines 16 to 18 receives the information signal 5a including various information received from the snow accumulation management center 4 such as road information from the snow accumulation management center 4 through the common leased line reception antenna 13a.

The information signal 5a includes the weather forecast information signal 35 from the weather forecast information center 27.

The radio wave multiplexer 19 performs radio wave processing such as radio wave multiplexing on the received information signal 5a, and converts the radio wave processed radio wave signal into an optical signal, such as an optical signal input / output terminal connector. Equipped with 20.

The radio wave multiplexing device 19 radio wave multiplexes the information signal 5a including each information signal 5a received from the dedicated radio communication path 5 such as road traffic information and command information for the snow removal robot vehicle 6.

The radio wave multiplexer 19 converts the information signal 5a multiplexed into one into the narrow band communication radio wave 19a and the narrow band communication signal 20a.
Is provided.

The short range communication optical signal 20a is converted and transmitted to the signal transmission line 14.

The signal transmission line 14 is a narrow-range communication optical signal 20.
It is provided to transmit a to the roadside network 12.

The signal transmission path 14 is laid along the roadside of the highway A, for example.

The roadside network 12 is a signal transmission line 14 having an optical fiber 15 as a transmission line on the roadside of the highway A, and a plurality of DSRC communications installed at predetermined intervals with respect to the signal transmission line 14. The DSRC antennas 11 and 1 for the general vehicles 23 and 23, which are configured by the towers 37 to 39 and travel on the highway A, for example.
It is provided so as to be able to communicate via one.

The running general vehicles 23 and 23 and the snow removing robot vehicle 6 can communicate with the snow management center 4 in the radio wave propagation path 40 of the DSRC antennas 11 and 11.

The radio wave propagation path 40 is limited to an area having a linear distance of about 100 meters from the positions of the DSRC antennas 11 and 11 as a high speed communication characteristic of DSRC communication.

Therefore, the DSRC antennas 11 and 1
It is necessary to set the distance between ones to about 100 meters or less.

DSRC communication means 9 and snow cover management center 4
An information signal 5a is transmitted and received between and via the dedicated wireless communication path 5.

Snow removal robot vehicle 6 and snow management center 4
There are two communication paths for communication with the dedicated wireless communication path 5 or only the dedicated wireless communication path 5 and the DSRC communication means 9.

These communication routes are used for the snow management center 4
There is a method in which the communication is selected each time in consideration of the communication characteristics between the vehicle and the general vehicle 23 or the snow removal robot vehicle 6, or there is a method in which one of them is maintained in the state of being always used together.

In the embodiment of the present invention, a method of selecting each time is adopted.

The DSRC service leased line 16 communicating with the dedicated wireless communication channel 5 displays necessary inter-vehicle distance and traveling direction for supporting safe traveling of the general vehicles 23, 23 traveling on the highway A, and This is a dedicated line for transmitting messages on the braking surface such as acceleration / deceleration of the general vehicles 23, 23.

The DSRC service leased line 16 is a leased line that is connected to the mobile communication network 26 and the Internet communication network 25 linked to the ITS information DB 24, which will be described later, and receives the information signal 5a including this kind of information.

The DSRC business-use dedicated line 17 is provided for areas where communication characteristics are poor or areas where communication is not possible.
It is a dedicated line for providing the snow-removing robot vehicle 6 with dispatch or travel support information.

The DSRC business-use dedicated line 17 receives information from the snow cover management center DB 4c, which will be described later, of the snow cover information data and the weather forecast information center 27.
It is a dedicated line for receiving the information signal 5a to be transmitted as a result of comprehensive analysis.

The mobile phone / PHS service dedicated line 18 is a dedicated line for providing general communication services corresponding to mobile phone and PHS (including car phone) communication.

This mobile phone / PHS service dedicated line 1
Reference numeral 8 is a dedicated line which is connected to the mobile communication network 26 and the Internet communication network 25 linked to the ITS information DB 24 and receives the information signal 5a including this kind of information.

The signal transmission path 4 is installed along the roadside,
In the tunnel 1a, as shown in FIG. 1, the tunnel side wall 10 is installed.

Next, the configuration of the snow removing robot vehicle 6, the DSR
With respect to the snow removal work of the snow removal robot vehicle 6 based on the dispatch or travel command to the snow removal robot vehicle 6 by the C communication means 9 and the step of returning to the parking lot 7 after snow removal,
This will be described with reference to FIG.

The snow cover management center 4 has an ITS information DB.
The Internet communication network 25 including the (Data Base) 24, the mobile communication network 26 connected to the higher level of the Internet communication network 25, the weather forecast information center 27 for obtaining the weather forecast information, and the snow cover information on the highway A The snowfall detection sensors 8 and 8 for detection are communicatively connected by respective communication means.

The mobile communication network 26 is a dedicated communication network for mobile units and can provide various information by linking with the GPS positioning system 28 and the terrestrial general radio communication system 29. .

That is, a call or various data can be exchanged between the mobile phone / PHS 21 and the mobile communication network 26 by the general radio signal 29a.

The GPS positioning system 28 provides GPS information as a navigation function for vehicles and the like.
Also in the snow removal robot vehicle 6, the GPS information signal 28a is received by the snow removal robot vehicle antenna 6a so that the position of the own vehicle can be always confirmed.

Snow management center 4 of snow management center 4
Includes mobile communication information such as the above ITS information and GPS information,
Each piece of weather forecast information and snow cover information is stored as data, and a snow cover management center DB 4c is provided.

The snow removal robot vehicle 6 has a GPS positioning transmission / reception terminal (not shown), and each time the vehicle is running, the position information signal 22a including the position information of the own vehicle 6 itself is used as the information signal 5a for the snow management center. 4 has the function of transmitting.

The position information signal 22a is stored in the snow cover management center DB 4c every time.

The snow removal robot vehicle 6 is provided with a snow removal robot vehicle transceiver 30 and is provided with a function capable of automatic traveling by the received dispatch command information signal 22b from the snow cover management center 4 and the travel command information signal 22c after dispatch. ing.

That is, the snow removal robot vehicle 6 has a drive signal generator 32 for automatic traveling and a vehicle drive means 33 for automatically driving the snow removal robot vehicle 6 upon receiving a drive signal from the drive signal generator 32. The automatic driving device 34 is provided.

The snow cover management center 4 is located on the highway A
The snowfall information D is transmitted as the snowfall field D (see FIG. 1), or snowfall information based on a fairly reliable snowfall forecast is reported from the snowfall detection sensors 8 and 8 and the weather forecast information center 27 as a weather forecast information signal 35. The system is configured to

A determination system (not shown) in which the weather forecast information signal 35 is replaced with a signal of a level (not shown) classified according to the accuracy of snowfall information and the expected scale.
The snow cover management center 4 uses the weather forecast information signal 35 as reference data for the timing of issuing a dispatch command to the snow removal robot vehicle 6.

The snow cover detection sensors 8 and 8 detect the snow cover situation (snow cover amount, snow quality, snow cover amount per unit time, etc.), and are notified to the snow cover management center 4 only when there is actual snow cover. It has a function.

The DB 4c for snow management center has a function of storing the latest information of the weather forecast information signal 35 and the snow information signals 8a, 8a from the snow detection sensors 8, 8 as data each time.

When it is determined that the snow removal robot vehicle 6 should be dispatched to the snow accumulation site D based on this data, the snow removal robot vehicle 6 waiting in the parking lot 7 of the tunnel 1a closest to the snow accumulation site D is commanded to be dispatched. It has a function of transmitting the information signal 22b.

At the same time, the snow cover management center 4 also determines how many snow removing robots 6 should be dispatched from the parking lot 7 (see FIG. 1), and sends out the dispatch command information signal 22b at the timing. It has a function.

Snow removal robot vehicle 6 of snow management center 4
For the dispatch command to the snow removal robot vehicle 6 is first waiting in the parking lot 7 in the tunnel 1a, the dispatch command information signal 22b transmitted from the snow cover management center 4 is:
As described above, the DSRC communication means 9 selected in an area with poor communication characteristics is used.

The DSRC communication means 9 is provided with a function (not shown) in which the snow removing robot vehicle 6 independently determines the deterioration of the communication characteristic by itself and automatically determines it.

The snow removing robot vehicle 6 has a function (not shown) for automatically switching to the route of the dedicated wireless communication path 5.

The DSRC communication means 9 comprises the optical transmission network 13, the signal transmission line 14 and the DSRC communication tower 3.
It is possible to enable bidirectional communication with the snow removal robot vehicle 6 running in the radio wave propagation path 40 from the DSRC communication antennas 11 and 11 of 7.

The snow removal robot vehicle 6 that runs according to the dispatch command and the travel command from the snow cover management center 4 as described above.
Can arrive at the snow site D by moving down the expressway A in the direction of ΔΔ.

The roadside (not shown) uses a roadside belt provided for an emergency vehicle. However, in the case of a general motorway B having no roadside belt, the roadside belt is temporarily changed according to the degree of snow. Road closures can be implemented and addressed.

The roadside network 12 can communicate with the snow removal robot vehicle 6 running on the highway A through the DSRC communication tower antennas 37a to 39a of the DSRC communication towers 37 to 39 provided on the roadside. It has a function.

On the other hand, the optical transmission network 13 is used for two-way communication using the DSRC communication means 9 through the DSRC business system dedicated line 17 during snowfall when the snow removal robot vehicle 6 is dispatched.

During normal times other than during snow, the DSRC service dedicated line 16 and mobile phones / PHSs are exclusively used.
Bidirectional communication is performed using the DSRC communication means 9 through the service dedicated line 18.

The information signal 5a received by the dedicated line 17 of the snow removal robot vehicle 6 is multiplexed by the radio wave multiplexer 19 and further the radio wave / light converter 20 is arranged so that the multiplexed signal is converted into an optical signal. Transmitted to.

The transmitted short-range communication radio wave 19a is connected to the short-range communication optical signal 20a, and is connected to the roadside network 12 via the signal transmission line 14.

The information signal 5a received through the DSRC service dedicated line 16 and the mobile phone / PHS service dedicated line 18 can receive service information such as road traffic information and GPS positioning information.

In areas where communication is not possible, such as in the tunnel 1a, the DSRC communication tower antennas 37a to 39a are used.
DSRC communication antennas 11 and 11 corresponding to the above are respectively provided.

This DSRC communication antenna 11, 11
Is the DS installed in the DSRC communication tower outside the tunnel 1a
It is the same as the RC communication antennas 11, 11.

Next, assuming that there is snowfall or a snowfall forecast in a specific area of the highway A, and the snowfall management center 4 determines that an activity for snow removal is necessary, the snowfall management center 4 will use the snow removal robot. It is assumed that a dispatch command is issued to the vehicle 6.

The steps until the snow removal robot vehicle 6 is dispatched to the snow accumulation site D to start the snow removal work and to complete it will be described below.

On the highway A, if there is snow to be removed in the vicinity of the ski area α,
The snowfall detection sensors 8 and 8 arranged on the roadside of the expressway A detect snowfall, and the detected snowfall or snowfall forecast information is built into the snowfall detection sensors 8 and 8 by a signal transmission means (not shown). Snowfall or snowfall forecast information via the dedicated wireless communication path 5, and snowfall management center 4 via the information signal 5a
Send to.

The snow management center 4 is equipped with a snow removal robot vehicle 6 waiting in a parking lot 7 provided near the tunnel 1a.
In response, the dispatch command information signal 22b is transmitted via the dedicated wireless communication path 5.

The dispatch command information signal 22b includes travel support information such as the direction of travel to the site and the speed of travel, which is intermittently transmitted to the snow removal robot vehicle 6 to provide travel support.

Immediately after the snow removal robot vehicle 6 is dispatched, the snow removal robot vehicle 6 automatically travels according to the dispatch command based on the dispatch command information signal 22b.

The snow removing robot vehicle 6 receives the dispatch command information signal 22b transmitted from the DSRC communication antennas 11, 11 of the DSRC communication means 9 and travels toward the snowy site D.

As the snow removal robot vehicle 6 travels, the current position is acquired by the GPS positioning system 28 each time the current position of the snow removal robot vehicle 6 changes with time.
The current position data is transmitted to the snow cover management center 4.

When the snow cover management center 4 receives the current position data of the new current position, the current position data of the new current position is updated and stored in the snow cover management center DB 4c.

Each time the snow management center 4 updates the
The snow removal robot vehicle 6 that continues to transmit the travel command information signal 22c based on the data of the snow accumulation management center DB 4c arrives at the snow site D while receiving the travel command information signal 22c.

If the running command information signal 22c transmitted by the snow cover management center 4 is intermittent, and if the positioning accuracy of the GPS positioning system 28 is several meters, the snow removal robot vehicle 6 will be It is desirable to receive the updated driving command information signal 22c every time the vehicle travels a meter.

As described above, the snow removal robot vehicle 6 exchanges information with the snow accumulation management center 4 until the snow removal robot vehicle 6 reaches the snow accumulation site D and travels on the road until the snow removal operation is completed. Is performed.

When snow removal is completed, the snow removal detection sensor 8,
8 detects and the transmission of the snow accumulation information signals 8a and 8a is stopped. Thereby, the snow cover management center 4 recognizes that the snow removal is completed.

Upon recognition of the completion of snow removal, the snow accumulation management center 4 sends new travel command information 22c to the snow removal robot vehicle 6 to return it to the original parking lot 7 to the snow removal robot vehicle 6.

The snow removing robot vehicle 6 can return to the original parking lot 7 by continuing to receive the travel command information 22c.

For this return, the snow management center 4 uses the data of the snow management center DB 4c in which the data of the outward route from the parking lot 7 is stored.

Further, it goes without saying that a plurality of snow removal robot vehicles 6 can be dispatched depending on the snow cover scale.

In this case, communication is performed almost continuously between the snow removal robot vehicles 6 and 6 and the snow cover management center 4, and as a result, the communication speed slightly decreases due to an increase in the amount of information to be communicated. By reducing the amount of information and adjusting the communication time interval, it is possible to set in advance a range that does not interfere.

Although the highway A is described according to the above-described embodiment, the general highway B has the same structure as the highway A, so the description thereof is omitted.

Further, according to the above-described embodiment of the present invention, the travel support for the snow removing robot vehicle 6 is automatically traveled by the dispatch or travel command by the communication system. However, by using the magnetic system automatic travel means, Although it has a single function, it can be reliably driven in a predetermined direction.

That is, as shown in FIG. 4, in the tunnels 1a to 1d, the curved portion (not shown) of the highway A, and at the defective point in the communication state, for example, in the traveling lane of the highway A. The lane marker system 44 is adopted along the boundary lines C, C displayed intermittently.

In the lane marker system 44, for example, magnetic nails 44, 44 are laid along the traveling direction on the highway A side, and the snow removing robot vehicle 6 automatically reads the positions of the magnetic nails 44, 44. It is a driving method that can drive.

The snow removal robot vehicle 6 can be equipped with a lane marker reading device (not shown) corresponding to the adoption of the lane marker system 45 so as to enable guided traveling to reach the destination.

In the normal time when there is no snow, the same transmission / reception is performed with respect to the general vehicles 23, 23, and the general radio communication system 29, the Internet communication network 25 and the mobile communication network 26 (GPS information) are used. You can always get driving assistance.

[0125] Further, the ordinary vehicles 23, 23 are normally operated by the dedicated wireless communication path 5 or the DSRC communication means 9 such as driving support information such as ITS information and GPS information and drive supplement information in a normal time when there is no snow. You can get the information service of.

[0126]

According to the present invention, as described above,
It is possible to further improve the inefficiency of the snow removal work due to the delay in the snow removal timing.

Further, since the snow removal robot vehicle is used and the snow removal robot vehicle is moved to cope with the snowfall forecast or from an early stage of snowfall, the influence of traffic congestion due to snowfall can be prevented. In snow removal work, preliminary snow removal can be quickly performed before full-scale snow removal, and road congestion due to snow accumulation can be prevented in advance.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall outline of an embodiment of the present invention.

2 is a DSRC that is part of one embodiment in FIG.
The figure which shows the outline of (narrow area communication).

FIG. 3 is a schematic diagram showing a system of dispatching and running commands for a snow removal robot vehicle in the present invention.

FIG. 4 is a schematic view showing an arrangement state of a snow removal robot vehicle inside the tunnel in FIG.

[Explanation of symbols]

1a to 1d Tunnels 3a to 3c Communication path 4 Snow management center 4a Snow management center antenna 4b Snow management center transceiver 4c Snow management center DB (Data Base) 5 Special wireless communication path 5a Information signal 6 Snow removal robot vehicle 6a Snow removal Robot vehicle antenna 7 Parking lot 8 Snow detection sensor 8a Snow information signal 9 DSRC (Dedicated Short Ra)
communication means 10 tunnel side wall 11 communication antenna for DSRC 12 roadside network 13 optical transmission network 13a dedicated line receiving antenna 14 signal transmission line 15 optical fiber 16 DSRC service dedicated line 17 DSRC business dedicated line 18 mobile phone / PHS service Dedicated line 19 Radio wave multiplexer 19a Short range communication radio wave 20 Radio wave / light conversion device 20a Short range communication optical signal 21 Cellular phone / PHS 22a Position information signal 22b Dispatch command information signal 22c Travel command information signal 23 General vehicle 24 ITS information DB ( Data Base) 25 Internet communication network 26 Mobile communication network 27 Weather forecast information center 28 GPS positioning system 28a GPS information signal 29 General wireless communication system 29a General wireless signal 30 Snow removal robot vehicle Transceiver 32 Drive signal generator 33 Vehicle drive means 34 Automatic driving device 35 Weather forecast information signal 37-39 DSRC communication tower 40 Radio wave propagation channel 45 Lane marker A Expressway A1-A3 Interchange (IC) B General vehicle road C Boundary Line D Snowfall area α-Δ Ski area

Claims (12)

[Claims] 1. A snow removal robot vehicle which manages snow cover information of a motorway at a snow cover management center and is preliminarily arranged in a neighborhood area of the motorway based on the snow cover information of the motorway obtained by this management. On the other hand, a step of transmitting a dispatch command information signal such as a moving direction and a moving speed from the neighboring area, the snow removal robot vehicle receives the dispatch command information signal, and starts traveling according to the dispatch command. The snow removal robot vehicle transmits a positioning information signal based on its new position data to the snow management center along with the traveling, and the snow management center determines a new moving direction or moving speed based on the positioning information signal. Between the snow management center and the snow removal robot vehicle. While repeating transmission and reception to each other, the moving method of snow removal robotic vehicle, characterized in that to make the snow removal robotic vehicle automatically moves to the snow local motorway. 2. A snow cover management center manages snow cover information of an automobile road, and the snow cover information is preliminarily placed in a tunnel of the automobile road or in the vicinity thereof based on the snow cover information of the automobile road obtained by this management. For the snow removal robot vehicle, a step of transmitting a dispatch command information signal such as a moving direction or a moving speed from within the tunnel or in the vicinity thereof, the snow removal robot vehicle receives the dispatch command information signal, and follows the dispatch command. The step of starting traveling, the snow removal robot vehicle transmitting a positioning information signal based on its new position data to the snow management center along with the traveling, and the snow management center, based on the positioning information signal, And a traveling command information signal such as a moving direction and a moving speed are transmitted to the snow removal robot vehicle. While repeating transmission and reception to and from the centers and snow robotic vehicle, method of moving the snow removal robotic vehicle, characterized in that to make the snow removal robotic vehicle automatically moves to the snow local motorway. 3. A snow cover management center manages snow cover information of a motorway, and based on the snow cover information of a specific motorway obtained by this management, the snow cover information is arranged in advance in a neighborhood area of the specific motorway. A step of transmitting a dispatch command information signal such as a moving direction and a moving speed from the neighboring area to the snow removing robot vehicle, and the snow removing robot vehicle receives a dispatch command information signal such as the moving direction and a moving speed. , A step of starting traveling according to a dispatch command, the snow removal robot vehicle starts traveling, and in a region where communication characteristics of the dispatch command information signal are not good or in a region where communication is not possible, is laid on a motorway in the region. DS
A step of traveling based on the dispatch command information signal received by the RC communication means, and the snow removal robot vehicle, except for a section traveling based on the dispatch command information signal from the DSRC communication means, own new position data with the traveling. Based on the positioning information signal, the snow management center transmits to the snow removal robot vehicle a travel command information signal such as a new moving direction or moving speed based on the positioning information signal. In the area where the snow management center and the snow removal robot vehicle can communicate with each other, the snow removal robot vehicle is automatically moved to the snow accumulation site on the motorway while repeatedly transmitting and receiving. How to move a snow removal robot vehicle. 4. A snow cover management center manages snow cover information of a motorway, and based on the snow cover information of the specific motorway obtained by this management, the snowfall management center is arranged in advance in a neighborhood area of the specific motorway. A step of transmitting a dispatch command information signal such as a moving direction and a moving speed from the neighboring area to the snow removing robot vehicle, and the snow removing robot vehicle receives a dispatch command information signal such as the moving direction and a moving speed. , A step of starting traveling according to a dispatch command, the snow removal robot vehicle starts traveling, and in a region where communication characteristics of the dispatch command information signal are not good or in a region where communication is not possible, is laid on a motorway in the region. DS
A step of traveling based on a traveling command information signal by the RC communication means, a step of transmitting the positioning information signal based on the new position data of the snow removal robot vehicle to the snow accumulation management center along with the traveling, and the snow accumulation management center, A step of transmitting a travel command information signal such as a new moving direction or moving speed to the snow removal robot vehicle based on the positioning information signal, in a communication possible section between the snow accumulation management center and the snow removal robot vehicle. Is a method for moving a snow removal robot vehicle, characterized in that the snow removal robot vehicle is automatically moved to a snow-covered site on an automobile road while repeatedly transmitting and receiving. 5. A snow removal robot vehicle that manages snow cover information of a motorway at a snow cover management center and is arranged in advance in a neighborhood area of the motorway based on the snow cover information of the motorway obtained by this management. In contrast, the step of transmitting a dispatch command information signal such as a moving direction and a moving speed from the neighboring area, the snow removal robot vehicle receives the dispatch command information signal such as the moving direction and a moving speed, and an initial dispatch command. In the area where the communication characteristic of the dispatch command information signal is not good or in the area where communication is not possible, the snow removal robot vehicle starts running along a lane marker laid on a motorway in the area. And the snow removal robot vehicle, except for the section where the lane marker is laid, moves to a new position. Transmitting a positioning information signal based on the data to the snow management center, the snow management center sends a travel command information signal such as a new moving direction or moving speed based on the positioning information signal received from the snow removal robot vehicle. The step of transmitting to the snow removal robot vehicle is performed, and the snow removal robot vehicle is automatically transmitted to the snow accumulation site on the motorway while repeatedly transmitting and receiving in a communicable section between the snow removal management center and the snow removal robot vehicle. A method of moving a snow removal robot vehicle, characterized in that the vehicle is moved. 6. A snow cover information database provided in a snow cover management center for managing snow cover information on a motorway, and a snow cover information signal provided in the snow cover management center for transmitting a snow cover information signal from the snow cover information database to a snow removal robot vehicle. A snow management center-side transmitter, a receiver that is placed in advance in the vicinity of the motorway and receives the snow information signal, a positioning system that detects its own position, and position information obtained by this positioning system. A snow removal robot vehicle equipped with a snow removal robot vehicle-side transmitter and an automatic driving device for transmitting to the control center, the automatic driving device is transmitted from the snow cover management center, and the snow removal robot vehicle itself is on the motorway. A vehicle that automatically travels according to a travel command based on dispatch command information signals such as the direction and speed of travel from nearby areas A moving system for a snow removal robot vehicle, comprising: a driving means. 7. A snow cover information database provided in a snow cover management center for managing snow cover or snow cover forecast information of a motorway, and a snow removal robot vehicle provided in a snow cover management center for storing snow information in the snow cover information database. A snow cover management center side transmitter that transmits a signal, a parking lot provided in the tunnel of the motorway, a receiver that is arranged in advance in the parking lot and receives the snow cover information signal, and detects its own position Positioning system, a snow removal robot vehicle equipped with a snow removal robot vehicle-side transmitter that transmits position information obtained by this positioning system to the management center, and an automatic driving device, and the automatic driving device is transmitted from the snow accumulation management center. The snow removal robot vehicle itself issues a dispatch command such as a moving direction and a moving speed from the parking lot on the motorway. Transport systems for snow removal robotic vehicle, characterized by comprising a vehicle drive means for automatically travel along the travel command based on broadcast signals. 8. A snow cover information database provided in a snow cover management center for managing snow cover information on a motorway, and a snow cover management center provided in the snow cover management center for transmitting a snow cover information signal to a snow removal robot vehicle. A transmitter, a parking lot provided in the tunnel of the motorway, a receiver arranged in advance in the parking lot, for receiving the snowfall information signal, a positioning system for detecting its own position, and this positioning system A snow removal robot vehicle equipped with a snow removal robot vehicle-side transmitter that transmits the obtained position information and an automatic driving device, and the automatic driving device is the snow removal robot vehicle itself transmitted from the snow cover management center. Is automatically driven according to the travel command based on the dispatch command information signal such as the moving direction from the parking lot on the motorway and the moving speed. The vehicle driving means and the DSRC communication means provided in an area where communication characteristics are poor or in an area where communication is not possible in the dedicated wireless communication path, and DSRC communication means for supporting the automatic driving of the snow removal robot vehicle moving to the snowy site on the motorway. The snow removal robot vehicle is characterized in that the DSRC communication means is adapted to receive the dispatch command information signal from the snow management center and to transmit the dispatch command information signal to the snow removal robot vehicle. Moving system. 9. A snow accumulation information database provided in a snow accumulation management center for managing snow accumulation information on a motorway, and a snow removal robot vehicle provided in a snow accumulation management center for transmitting snow accumulation information signals from the snow accumulation information database. A snow cover management center side transmitter, a parking lot provided in the tunnel of the motorway, a receiver arranged in advance in the parking lot, which receives the snow cover information signal, and a positioning system which detects its own position. , A snow removal robot vehicle including a snow removal robot vehicle-side transmitter that transmits position information obtained by this positioning system to the management center and an automatic driving device, and the automatic driving device is transmitted from the snow accumulation management center, The snow removal robot vehicle itself is based on a dispatch command information signal such as a moving direction and a moving speed from the parking lot on the motorway. It is provided in a region with poor communication characteristics or in a region where communication is not possible in the dedicated wireless communication path with the vehicle driving means that automatically travels according to the dispatch command, and supports the automatic running of the snow removal robot vehicle moving to the snowy site on the motorway. DSRC communication means, the snow removal robot vehicle receives a dispatch command information signal transmitted from the DSRC communication means, drive signal generation for driving the automatic driving device based on the dispatch command information signal And a new position data obtained by the positioning system of the snow removal robot vehicle by driving the automatic driving device, by the snow removal robot vehicle transmission device provided in the snow removal robot vehicle, to the DSRC communication means, And this DSRC
A snow removal robot vehicle movement system, characterized in that transmission is made from a communication means to the snow accumulation management center. 10. The snow removing system according to claim 6, wherein the region adjacent to the specific motorway on which the snow removal robot vehicle is arranged is inside or near the tunnel. Robot vehicle movement system. 11. A snow cover information database provided in a snow cover management center for managing snow cover or snow cover forecast information of a motorway, and a snow cover provided in a snow cover management center for transmitting a snow cover information signal to a snow removing robot vehicle. The management center side transmitter, the receiver which is arranged in advance in the vicinity of the motorway and receives the snow cover information signal, the positioning system for detecting its own position, the position information obtained by this positioning system is managed by the management system. A snow removal robot vehicle transmitter and an automatic driving device for transmitting to the snow removal robot, and the automatic driving device is transmitted from the snow cover management center, and the snow removal robot vehicle itself is in a tunnel of the motorway. And an automatic driving means that automatically runs along the dispatch command information signal such as the moving direction and moving speed from the parking lot A lane marker provided on a motorway to support automatic driving of a snow removal robot vehicle that moves to a snowy site and is provided in an area with poor communication characteristics or in an area where communication is not possible in a dedicated wireless communication path. In addition, the snow removal robot vehicle is configured to be capable of automatically traveling along a lane marker. 12. A snow cover information database provided in a snow cover management center for managing snow cover information on a motorway, and a snow cover management center provided in a snow cover management center for transmitting a snow cover information signal to a snow removal robot vehicle. A transmitter, a parking lot provided in the tunnel of the motorway, a receiver arranged in advance in the parking lot, for receiving the snowfall information signal, a positioning system for detecting its own position, and this positioning system A snow removal robot vehicle equipped with a snow removal robot vehicle-side transmitter that transmits the obtained position information and an automatic driving device, and the automatic driving device is the snow removal robot vehicle itself transmitted from the snow cover management center. Is dispatched based on dispatch command information signals such as the moving direction and the moving speed from the parking lot provided in the tunnel of the motorway. It is equipped with a vehicle driving means that automatically travels according to the decree and a snow cover detection sensor that detects the snow cover state and the snow remove state after arriving at the snow cover site, detects the snow cover state and performs snow removal work, and detects the snow removal state and snow removal work. A snow removal system for a snow removal robot vehicle.