JP2016086305A5

JP2016086305A5 -

Info

Publication number: JP2016086305A5
Application number: JP2014218384A
Authority: JP
Filing date: 2014-10-27
Publication date: 2017-12-07
Anticipated expiration: 2034-10-27

Description

上記課題を解決するために、本発明は、鉱山の構内に複数の基地局が配置され、自律走
行をする運搬車両及び当該運搬車両の管制制御を行う運行管理サーバを前記基地局の少な
くとも一つを介して無線通信接続する無線システムであって、前記運搬車両に設けられ、
前記無線通信接続するための制御を行う端末側通信制御部と、前記運行管理サーバに設け
られ、前記無線通信接続するための制御を行うサーバ側通信制御部と、前記鉱山内に設置
された走行路上の部分区間を、前記運搬車両の走行を許可する走行許可区間として設定す
る走行許可区間設定部と、前記走行路上の各地点における前記基地局のそれぞれとの通信
接続状況の良否を示す通信品質指標値を含む通信品質情報を記憶する通信品質情報記憶部
と、前記基地局のそれぞれの位置情報を含む基地局情報を記憶する基地局情報記憶部と、
前記走行許可区間の前方境界点よりも手前に設けられた許可要求区間であって、前記前方
境界点よりも更に前方の走行路を含む新たな走行許可区間の設定を要求するための走行許可要求情報を送信するために設けられた許可要求区間に含まれる前記各地点の通信品質指標値を基に、前記運搬車両及び当該運搬車両の接続先として設定されている基地局と前記許可要求区間との間の通信接続状況が、前記基地局の切替が必要であると判定するために設けられた切替条件を満たすか否かを判定し、前記切替条件を充足する場合に、前記基地局情報及び前記通信品質情報を基に、前記接続先として設定されている基地局よりも、前記許可要求区間における通信接続状況が良好である他の基地局を新たな接続先の基地局として特定する基地局切替処理部と、を備え、前記端末側通信制御部は、前記新たな接続先の基地局が特定されると、前記許可要求区間よりも手前に設けられた基地局切替地点において、前記接続先として設定されている基地局を前記新たな接続先の基地局に切替え、前記運搬車両が前記許可要求区間に到達すると、前記新たな接続先の基地局に対して前記走行許可要求情報を送信する、ことを特徴とする。 In order to solve the above-described problems, the present invention provides a transport vehicle in which a plurality of base stations are arranged in a mine premises and performs autonomous control, and an operation management server that performs control control of the transport vehicle. A wireless system for wireless communication connection via, provided in the transport vehicle,
A terminal-side communication control unit that performs control for wireless communication connection, a server-side communication control unit that is provided in the operation management server and performs control for wireless communication connection, and a traveling installed in the mine Communication quality indicating the quality of the communication connection status between the travel permission section setting unit that sets a partial section on the road as a travel permission section that permits travel of the transport vehicle and each of the base stations at each point on the travel path A communication quality information storage unit that stores communication quality information including an index value; a base station information storage unit that stores base station information including location information of each of the base stations;
A travel permission request for requesting setting of a new travel permission section that is a permission request section that is provided before the front boundary point of the travel permission section and that is further ahead of the front boundary point. Based on the communication quality index value of each point included in the permission request section provided for transmitting information, the base station set as the connection destination of the transport vehicle and the transport vehicle, and the permission request section The communication connection status between the base station information determines whether or not the switching condition provided for determining that the switching of the base station is necessary, and when the switching condition is satisfied, the base station information and Based on the communication quality information, a base station that identifies another base station having a better communication connection status in the permission request section as a new connection destination base station than the base station set as the connection destination Switching process The terminal-side communication control unit is set as the connection destination at a base station switching point provided before the permission request section when the new connection destination base station is specified. Switching to the new connection destination base station and transmitting the travel permission request information to the new connection destination base station when the transport vehicle reaches the permission request section. Features.

図３を参照して、地図情報について説明する。図３は、地図情報の一例を示す図であっ
て、（ａ）はノードテーブルを示し、（ｂ）はリンクテーブルを示す。地図情報は、ノー
ドテーブル３００（図３の（ａ）参照）及びリンクテーブル３２０（図３の（ｂ）参照）
を含む。ノードテーブル３００は、ノードＩＤ３０１にそのノードＩＤの実座標（ＧＮＳ
Ｓで測定したグローバル座標）を関連付けて記憶する。リンクテーブル３２０は、リンク
ＩＤ３２１にそのリンクの前方境界点に位置するノードＩＤ（前方ノードＩＤ）３２２及
び後方境界点に位置するノードＩＤ（後方ノードＩＤ）３２３、及び前方ノードＩＤ及び
後方ノードＩＤ３で区切られる走行路の部分区間の制限速度３２４、及びその部分区間の
カーブの曲率３２５が関連付けて記憶される。地図情報の構成は一例にすぎず、上記の例
に限定されない。 The map information will be described with reference to FIG. FIG. 3 is a diagram showing an example of map information, where (a) shows a node table and (b) shows a link table. Map information node table 300 (see FIG. 3 (a)) and a link table 3 2 0 (see (b) in FIG. 3)
including. In the node table 300, the node ID 301 has a real coordinate (GNS) of the node ID.
The global coordinates measured in S) are stored in association with each other. The link table 320 includes a link ID 321, a node ID (forward node ID) 322 located at the front boundary point of the link, a node ID (rear node ID) 323 located at the rear boundary point, and a forward node ID and a backward node ID3. The speed limit 324 of the partial section of the travel path to be divided and the curvature 325 of the curve of the partial section are stored in association with each other. The configuration of the map information is only an example and is not limited to the above example.

サーバ側通信制御部３１１ｃは、各ダンプ２０との間で無線通信を行う制御を行う。よ
り具体的には、各ダンプ２０から目的地要求情報及び走行許可要求情報を受信するととも
に、設定された走行許可区間を示す走行許可応答情報及び走行許可区間が設定できないこ
とを示す不許可応答情報、及び基地局切替処理部３１１ｂから出力される基地局切替情報の送信を行う。 The server-side communication control unit 311 c performs control for performing wireless communication with each dump 20. More specifically, the destination permission information and the travel permission request information are received from each dump 20, and the travel permission response information indicating the set travel permission section and the non-permission response information indicating that the travel permission section cannot be set. , and transmits the base station switching information outputted from the base station switching unit 311 b.

走行許可区間設定部３１１ａは、走行許可区間を設定すると、設定された走行許可区間
内の予め定められた安全余裕区間及び許可要求区間を示す走行許可設定通知を基地局切替処理部３１１ｂに出力する。 When the travel permission section is set, the travel permission section setting unit 311a outputs a travel permission setting notification indicating a predetermined safety margin section and a permission request section within the set travel permission section to the base station switching processing section 311b. .

Claims

A wireless system in which a plurality of base stations are arranged in a mine premises, and an operation management server that performs control control of the transportation vehicle that autonomously travels is connected via wireless communication via at least one of the base stations. ,
A terminal-side communication control unit that is provided in the transport vehicle and performs control for the wireless communication connection;
A server-side communication control unit that is provided in the operation management server and controls the wireless communication connection;
A travel permission section setting unit that sets a partial section on the travel path installed in the mine as a travel permission section that permits travel of the transport vehicle;
A communication quality information storage unit for storing communication quality information including a communication quality index value indicating the quality of the communication connection status with each of the base stations at each point on the travel path;
A base station information storage unit that stores base station information including position information of each of the base stations;
A travel permission request for requesting setting of a new travel permission section that is a permission request section that is provided before the front boundary point of the travel permission section and that is further ahead of the front boundary point. Based on the communication quality index value of each point included in the permission request section provided for transmitting information, the base station set as the connection destination of the transport vehicle and the transport vehicle, and the permission request section The communication connection status between the base station information determines whether or not the switching condition provided for determining that the switching of the base station is necessary, and when the switching condition is satisfied, the base station information and Based on the communication quality information, a base station that identifies another base station having a better communication connection status in the permission request section as a new connection destination base station than the base station set as the connection destination Station switching processing Comprises a part, the,
When the new connection destination base station is specified, the terminal-side communication control unit selects a base station set as the connection destination at a base station switching point provided before the permission request section. Switch to the new connection destination base station, and when the transport vehicle reaches the permission request section, transmit the travel permission request information to the new connection destination base station,
A wireless system characterized by that.

The base station switching point starts from the rear end point of the permission request section, and is located at the nearest position with a distance more than the actual traveling speed of the transport vehicle multiplied by the time required for the switching operation of the base station. Set,
The wireless system according to claim 1.

The base station switching point is set as the base station switching point, with a distance obtained by multiplying the time required for the switching operation of the base station by the speed limit of the travel path from the rear end point of the permission request section. The
The wireless system according to claim 1.

The travel permission section setting unit sets the travel route to the destination of the transport vehicle,
The base station switching processing unit identifies, as the new connection destination base station, another base station that is positioned forward and closest to the base station set as the connection destination in front of the traveling path. ,
The wireless system according to claim 1.

The terminal-side communication control unit, when switching the new connection destination base station, the physical address uniquely assigned to the hardware constituting the base station, or between the base station and the transport vehicle Switch the channel corresponding to the frequency of radio waves transmitted and received at
The wireless system according to claim 1.

The switching condition is that the minimum value of the communication quality index value of each point included in the permission request section is less than a threshold set to determine that switching of the base station is necessary.
The wireless system according to claim 1.

A plurality of base stations are arranged on the premises of the mine, and is an operation management server that is wirelessly connected to a transport vehicle that travels autonomously via at least one of the base stations,
A server-side communication control unit that performs control for wireless communication connection;
A travel permission section setting unit that sets a partial section on the travel path installed in the mine as a travel permission section that permits travel of the transport vehicle;
A communication quality information storage unit for storing communication quality information including a communication quality index value indicating the quality of the communication connection status with each of the base stations at each point on the travel path;
A base station information storage unit that stores base station information including position information of each of the base stations;
Permission request information for requesting setting of a new travel permission section that is a permission request section provided before the front boundary point of the travel permission section and that includes a travel path ahead of the front boundary point. Between the base station set as the connection destination of the transport vehicle and the transport vehicle and the permission request section based on the communication quality index value of each point included in the permission request section provided for transmitting The communication connection status between the base station information and the base station information and the base station information when the switching condition provided to determine that the switching of the base station is necessary, A base station that identifies, as a new connection destination base station, another base station having a better communication connection status in the permission request section than the base station set as the connection destination based on communication quality information Switching processor , Equipped with a,
When the base station switching processing unit specifies the new connection destination base station, the base station is a position where the transport vehicle executes an operation of switching the connection destination base station before the permission request section. Set a switching point, generate base station switching information including information specifying the position of the base station switching point and the new connection destination,
The server-side communication control unit performs control for transmitting the base station switching information to the transport vehicle.
An operation management server characterized by that.