JP5459548B2 - Mobile control system - Google Patents

Description

  The present invention includes a mobile body for conveying articles provided with a wireless communication device, a communication relay device that forms a communication area having different radio wave intensity depending on a position and is capable of wireless communication with the wireless communication device of the mobile body, and the communication The present invention relates to a control system for a mobile body provided with an operation control device that transmits operation information to the mobile body via a relay device to control the operation of the mobile body.

  The mobile body control system transmits operation information from the operation control apparatus to the mobile body using wireless communication between the wireless communication apparatus and the communication relay apparatus, and the mobile body is within the communication area of the communication relay apparatus. The article is moved and moved to carry the article unattended.

  In the control system of the above mobile unit, a state in which the current mobile unit state information such as a traveling state of whether the mobile unit is running or stopped and a battery state is relayed by a communication relay device. Is configured to communicate with the operation control device. Thereby, the operation control apparatus can manage also about the present state information of a moving body (for example, refer to patent documents 1).

JP 2005-339367 A (paragraph “0031”)

  In the mobile control system, radio waves from the communication relay device are received by gradually reducing the reception capability of the mobile radio communication device with use due to deterioration of parts due to the influence of temperature and humidity. In some cases, the reception strength at the time decreases, and a communication failure may occur in which the operation information from the operation control device cannot be properly received. When such a communication failure occurs, it becomes impossible to control the moving body by the operation control device.

  To deal with this problem, it is conceivable to monitor the reception intensity of the wireless communication device while controlling the traveling movement of the mobile object. However, the radio field intensity of the communication area formed by the communication relay device varies depending on the position. When the moving body travels within the area, the position of the moving body with respect to the communication relay device changes, and the reception intensity of the radio wave received by the wireless communication device of the moving body is the distance between the communication relay device and the moving body. The longer it is, the lower it will be. Therefore, it cannot be determined that the reception capability of the wireless communication device is reduced just because the reception strength is low, and the occurrence of a communication failure due to the decrease in the reception capability of the wireless communication device cannot be predicted.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a mobile control system capable of predicting the occurrence of a communication failure due to a decrease in reception capability of a wireless communication device.

In order to achieve this object, a first characteristic configuration of a mobile body control system according to the present invention includes an article transport mobile body provided with a wireless communication device, and operation information transmitted to the mobile body to transmit the mobile body. An operation control device that controls the operation of the body, and a communication area of different radio wave intensity depending on the position is formed so as to be wirelessly communicable with the wireless communication device of the mobile body, and communication between the mobile body and the operation control device A communication relay device that relays the vehicle, and the mobile body is detected by a travel position detection unit that detects a travel position of the mobile body, and the operation information and the travel position detection unit that are received by the wireless communication device. In a moving body control system configured to include a travel control device that controls travel operation based on travel position information,
The travel control device is configured to transmit the travel position information to the operation control device using the wireless communication device, and the wireless communication device receives a radio signal received from the communication relay device. Received intensity information indicating strength is configured to be transmitted to the operation control device, and the operation control device corresponds to the travel position of the moving body acquired based on the travel position information and the received intensity information. Comprising reception strength evaluation means for comparing the reception strength with a reference reception strength for the travel position to determine whether or not the reception capability of the wireless communication device is reduced. It is in the point.

  According to this characteristic configuration, the vehicle travels based on the travel information transmitted from the travel control device and relay-transmitted by the communication relay device, and the travel position information detected by the travel position detection means for detecting the travel position. When the control device controls the traveling operation of the moving body, the moving body can travel and move within the communication area. Thereby, the article can be transported and moved according to the operation information by moving the moving body unattended.

  And the reception capability evaluation means with which the operation control device is provided receives from the travel position information transmitted from the travel control device of the mobile body and the received intensity information transmitted from the wireless communication device, corresponding to the travel position of the mobile body. It is determined whether or not the wireless communication device is in a reception capability lowered state by acquiring the strength and comparing the acquired reception strength with a reference reception strength for the travel position indicated by the travel position information.

  In the communication area where the radio wave intensity varies depending on the position, the reception intensity of the radio wave received by the wireless communication device varies depending on the position of the moving body. That is, the reception intensity decreases as the distance between the wireless communication device and the moving object increases. Therefore, the reception capability evaluation means compares the reception strength corresponding to the traveling position of the mobile body with the reference reception strength for the traveling position, so that the reception capability is not affected by the difference of the reception strength position. It can be determined whether or not it is in a lowered state. Therefore, if the reception intensity corresponding to the traveling position of the mobile object is lower than the reference reception intensity for the traveling position, it is determined that the reception capability is reduced, and the reception intensity corresponding to the traveling position of the mobile object By comparing the reference reception intensity for the traveling position, even if the reception intensity of the wireless communication apparatus varies depending on the traveling position, it is possible to determine a decrease in the reception capability of the wireless communication apparatus. And when it determines with the receiving capability falling, generation | occurrence | production of the communication failure in radio | wireless communication between an operation control apparatus and a radio | wireless communication apparatus can be estimated.

  Thus, a mobile control system that can predict the occurrence of a communication failure due to a decrease in the reception capability of the wireless communication device has been obtained.

  In a second characteristic configuration of the mobile body control system according to the present invention, the operation control device synchronizes a travel position information request for requesting the travel position information and a reception intensity information request for requesting the reception intensity information. When the travel control device receives the travel position information request at the wireless communication device, the travel position information is transmitted. When the wireless communication device receives the reception strength information request, the reception strength information is transmitted. Is in the point of sending.

  According to this characteristic configuration, the travel position information is transmitted from the travel control device of the mobile body and received from the wireless communication device based on the travel position information request and the received intensity information request transmitted synchronously from the operation control device. Since the intensity information is transmitted, it is difficult for a time difference to occur between the transmission timing of the travel position information and the transmission timing of the reception intensity information. For this reason, the travel position information accurately corresponds to the travel position of the moving body having the reception intensity indicated by the reception intensity information. Therefore, when the reception capability evaluation unit compares the reference reception intensity for the travel position indicated by the travel position information with the reception intensity indicated by the reception intensity information, the reception intensity and the reference reception intensity corresponding more appropriately to the travel position Can be compared. Accordingly, it is possible to accurately evaluate the decrease in reception capability by eliminating the influence of the difference in reception intensity due to the difference in travel position as much as possible.

  A third characteristic configuration of the mobile body control system according to the present invention is that the reference reception intensity is set in advance corresponding to the travel position of the mobile body.

  According to this characteristic configuration, since the reference reception intensity is set in advance, the reception capability evaluation means included in the operation control device simply refers to the set value, and the reception intensity corresponding to the travel position of the mobile object The reference received intensity for the travel position can be compared. Therefore, the configuration of the operation control device can be simplified.

  A fourth characteristic configuration of the mobile body control system according to the present invention is that a plurality of the reference reception strengths are set stepwise.

  According to this characteristic configuration, the capability of the wireless communication device is gradually reduced by comparing the reception strength corresponding to the traveling position of the mobile object with a plurality of reference reception strengths set in stages. Can be evaluated. Therefore, when the deterioration of the capability of the wireless communication device is in the initial state, the monitoring of the reception capability of the wireless communication device of the mobile object is strengthened while continuing the operation control of the mobile object, while the capability of the wireless communication device is improved. When the decline is in the terminal state, detailed operation according to the decline in the capability of the wireless communication device is possible, such as stopping the operation control of the moving body at an early stage.

  According to a fifth characteristic configuration of the mobile body control system according to the present invention, the operation control device includes a storage unit that stores the reception intensity information in association with the travel position information, and the reference reception intensity is Of the received intensity information stored in the storage means, the received intensity indicated by the received intensity information corresponding to the travel position of the moving body is present.

  According to this characteristic configuration, the reception intensity information received in the past is stored in the storage means in association with the travel position information, and the reception capability evaluation means determines the reception intensity based on the travel position information and the reception intensity information. When evaluating, the past reception intensity information corresponding to the same position as the traveling position indicated by the traveling position information or a position close thereto is selected with reference to the storage means, the selected past reception intensity information, and the evaluation By comparing the reception strength information of the object, even if the reception strength of the wireless communication device differs depending on the traveling position, it is possible to determine a decrease in the reception capability of the wireless communication device.

  In addition, since a decrease in reception capability is determined based on a change from the reception intensity of a radio signal actually received at the same or close traveling position, the actual communication environment in which the communication relay device is installed is determined. It is possible to determine a decrease in the reception capability of the wireless communication apparatus in a state where influence is eliminated as much as possible.

  According to a sixth characteristic configuration of the control system for a moving body according to the present invention, the operation control device includes display means capable of displaying the reception intensity information, and the reception intensity corresponding to a specific travel position of the mobile body. The change history of information is configured to be displayed on the display means.

  According to this characteristic configuration, since the change history of the received intensity information corresponding to the specific travel position of the moving body can be displayed on the display means, the operator can refer to the change history so that the wireless communication device It is possible to take preventive measures against communication failures that may occur in the future, such as making a prediction of a decrease in reception capability.

  According to a seventh characteristic configuration of the mobile body control system according to the present invention, a plurality of the mobile bodies are provided, and a plurality of the communication relay devices are provided in a state where their communication areas overlap each other, and each of the plurality of mobile bodies is provided. The wireless communication device included in the communication device is configured to communicate one of the plurality of communication relay devices as a communication relay device to be communicated.

  According to this characteristic configuration, since the wireless communication device provided in each of the plurality of mobile bodies communicates with one of the plurality of communication relay devices as a communication target, the traveling control unit of the mobile body includes the plurality of communication relay devices. Can communicate with the operation control device via the communication relay device in a communication region over a wide range formed with the communication regions overlapping each other. Therefore, each of the plurality of moving bodies can be operated over a wide range to perform the article transporting operation.

  As described above, when operating a plurality of moving bodies, if the reception capability of the wireless communication device is reduced and communication abnormality occurs in any of the plurality of moving bodies, the moving body stops due to communication abnormality. Thereby, the movement of another moving body will be prevented, and it will be in the situation which must interrupt the article conveyance operation | work by a several moving body. Therefore, such a control system includes a reception capability evaluation unit, and determines whether or not the wireless communication device is in a reception capability reduction state for each of a plurality of mobile units, thereby entering a reception capability reduction state. Maintenance work such as exchanging the wireless communication device by moving only the moving body including the wireless communication device to another location can be performed. Therefore, the article conveying work can be continuously performed by another moving body, the operating efficiency of the system can be improved, and the system is useful as a system for performing the article conveying work by a plurality of moving bodies.

  According to an eighth characteristic configuration of the mobile control system according to the present invention, each of the plurality of wireless communication devices is based on a reception strength of a wireless signal received from the communication relay device. A relay configured to be able to switch a device to another communication relay device that overlaps the communication area with the communication relay device, and the wireless communication device identifies the communication relay device after switching the communication relay device to be communicated Relay device identification information acquisition means for acquiring device identification information, and the travel position indicating the travel position of the mobile body provided with the wireless communication device when the wireless communication device switches the communication relay device to be communicated The relay device identification information acquisition means acquires the switching position information acquisition means for acquiring information and the travel position indicated by the travel position information acquired by the switch position information acquisition means. The communication relay device identified by the relay device identification information is provided with communication target switching position evaluation means for determining whether or not the communication relay device is appropriate in comparison with a preset communication target switching position. .

  According to this characteristic configuration, when the mobile body travels and moves in a wide communication area formed in a state where the communication areas of the plurality of communication relay devices overlap each other, the mobile body moves along with the movement of the mobile body. When the wireless communication device switches the transmission relay device to be communicated, the wireless communication device becomes communicable with a new communication relay device.

  Then, the relay device identification information acquisition means acquires the relay device identification information for identifying the communication relay device after the wireless communication device switches the communication relay device to be communicated, and the switching position information acquisition means is the wireless communication device. The travel position information indicating the travel position of the mobile object equipped with the wireless communication device when the communication relay device to be communicated is switched is acquired.

  The communication target switching position evaluation means can identify the communication relay device that is the communication target from the relay device identification information, and includes the wireless communication device when the wireless communication device switches the communication target from the travel position information. It is possible to specify the traveling position of the moving body. In addition, by referring to the communication target switching position set in advance for the communication relay device specified by the relay device identification information, it is possible to obtain appropriate position information as a travel position where the communication relay device should be a communication target. .

  As a result, the communication target switching position evaluation means allows the travel position of the mobile body when the mobile body switches the communication target to a new communication relay apparatus to travel appropriately as the travel position where the communication relay apparatus should be a communication target. It is possible to determine whether or not it is a position. Therefore, it is possible to evaluate whether or not the traveling position where the mobile wireless communication device switches the communication relay device to be communicated properly corresponds to the communication target switching position set in advance for the communication relay device.

  According to a ninth characteristic configuration of the mobile body control system according to the present invention, the operation control device includes the communication object switching position evaluation unit, and each of the plurality of communication relay devices serves as the relay device identification information acquisition unit. The communicable state start information when a state in which the operation information, the reception intensity information, and the travel position information can be communicated with any of the wireless communication devices of the plurality of mobile bodies is newly started. Mobile unit identification information for identifying the wireless communication device as a new communication target and relay device identification information for identifying itself are added to the operation control device and transmitted to the operation control device. When the communicable state start information is received as the switching position information acquisition unit, the mobile unit indicated by the mobile unit identification information added to the communicable state start information is It is configured to transmit a travel position information request for requesting row position information, and the communication target switching position evaluation means transmits from the moving body based on the travel position information request acquired by the switching position information acquisition means. The travel position indicated by the travel position information is appropriate in comparison with the communication target switching position set in advance for the communication relay apparatus identified by the relay apparatus identification information acquired by the relay apparatus identification information acquisition means. It is in the point comprised so that it may discriminate | determine whether it is.

  According to this feature configuration, the communication relay device that is newly communicable with the wireless communication device adds the mobile unit identification information and the relay device identification information, and transmits the communicable state start information to the operation control device. . The operation control device can identify a mobile body including a wireless communication device whose communication target is switched based on the mobile body identification information added to the received communicable state start information. Moreover, the operation control apparatus can identify the communication relay apparatus which became a new communication object based on the relay apparatus identification information added to the received communicable state start information.

  Then, when the operation control device receives the communicable state start information, the operation control device transmits a traveling position information request to the moving object specified by the moving object identification information, so that the moving object switches the communication relay device to be communicated. The travel position of the moving body at the time can be acquired. In addition, by referring to the communication target switching position set in advance for the communication relay device specified by the relay device identification information, it is possible to obtain appropriate position information as a travel position where the communication relay device should be a communication target. .

  And the operation control apparatus is provided with the communication object switching position evaluation means, and discriminate | determines whether the traveling position which driving | running | working position information shows is appropriate compared with a communication object switching position. In other words, it is determined whether or not the travel position of the mobile object when the mobile object switches the communication target to a new communication relay apparatus is an appropriate travel position as the travel position where the communication relay apparatus should be a communication target. . Therefore, it is possible to evaluate whether or not the traveling position where the mobile wireless communication device switches the communication relay device to be communicated properly corresponds to the communication target switching position set in advance for the communication relay device.

Overall plan view of the control system for the goods transport vehicle Front and rear perspective views of the article transport vehicle Side view of goods transport vehicle Side view of goods transport vehicle Control block diagram of transfer device The perspective view explaining the detection of the present position of an article conveyance vehicle (A) The figure which shows the radio wave intensity in the communication area of the communication relay apparatus (b) The figure which shows the radio wave intensity in the part where the communication area of the communication relay apparatus overlaps (A) The figure which shows the reception strength of the radio | wireless communication apparatus in the boundary vicinity of an adjacent area (b) The figure which shows the reception intensity | strength of the radio | wireless communication apparatus in the vicinity of an area boundary when the communication area of an adjacent area is not adjusted appropriately Correspondence table of travel position and standard reception strength Change history of received strength information displayed on the monitor Communication flowchart between operation control device and mobile unit Flow chart of reception strength evaluation process Flow chart of communication target switching position evaluation process

An embodiment of a moving body control system according to the present invention will be described with reference to the drawings.
As shown in FIGS. 1 and 5, the control system includes a plurality of article transport vehicles 2 as article moving bodies including the wireless communication device 3, the wireless communication device 3 of the article transport vehicle 2, and the wireless communication device 3. A plurality of communication relay devices 18a to 18h that can communicate freely, and an operation control device 17 that controls operation of the article transport vehicle 2 by transmitting operation information to the article transport vehicle 2 via the communication relay devices 18a to 18h. Is provided.

  The article transport vehicle 2 controls the travel operation and transfer operation of the article transport vehicle 2 based on the operation information received by the wireless communication device 3 and the travel position information detected by the travel position detection means H1 described later. And a microcomputer-based travel control device 20 that autonomously travels along the travel route 1 to the station 4 specified by the destination information as the travel information transmitted by the ground-side travel control device 17. By running, the article is transported to each of the stations 4 as article transfer locations. Incidentally, as destination information, for example, each of a plurality of stations 4 is assigned a station No. such as No. 1 and No. 2, and the station No. in the target station 4 is communicated as destination information. It is configured.

  The travel route 1 of the article transport vehicle 2 is set in a state extending over a plurality of areas 5a to 5h, and a plurality of position detections are provided for each of the plurality of areas 5a to 5h in correspondence with the travel route 1. A reflector 6 is provided. In the example shown in FIG. 1, the travel route 1 is set in a state that covers eight areas of the first area 5 a to the eighth area 5 h, and the reflector 6 is disposed on the wall of the building.

As shown in FIG. 2, the vehicle body of the article transporting vehicle 2 includes a pair of left and right extending portions 7 extending in the front-rear direction of the vehicle body, and a main body portion 8 that connects the extending portions 7 on the front side of the vehicle body. It is configured to be substantially U-shaped in plan view, and is configured to place an article on the upper surface of the extended portion 7. Incidentally, ( a ) of FIG. 2 is a perspective view of the article transport vehicle 2 viewed from the front side, and ( b ) of FIG. 2 is a perspective view of the article transport vehicle 2 viewed from the rear side. is there.

  In addition, the vehicle body of the article transport vehicle 2 is provided with a transfer device 9 that can project to the rear side of the vehicle body. The transfer device 9 includes a fork 9a and a fork 9a as shown in FIGS. And a moving mechanism 9b that moves up and down along the longitudinal direction of the vehicle body and moves up and down in the vertical direction. Incidentally, the fork 9a is configured to move up and down along a post extending in the vertical direction via an electric mechanism such as a chain by an electric motor, and the post is erected on a carriage movable in the front-rear direction of the vehicle body. Thus, the fork 9a can be moved back and forth in the longitudinal direction of the vehicle body. Further, in the state where the fork 9a is lowered to the lowest position, the fork 9a enters the space between the left and right extension parts 7 and can be lowered below the upper surface of the extension parts 7. ing.

  The fork 9a is configured to be movable up and down with respect to the upper surface of the extension portion 7, and the extension portion 7 side, which is the rear side of the vehicle body, is opposed to each station 4 so that the fork 9a can be moved in and out. By moving up and down, the article on the station 4 side can be placed on the upper surface of the extension part 7, or the article on the upper surface of the extension part 7 can be transferred to the station 4 side.

  A drive wheel 10 is provided at the bottom of the main body portion 8 so as to be rotatable around a vertical axis along the vertical direction, and each of the pair of left and right extending portions 7 has a free play on the bottom in the middle in the front-rear direction. A rotary driven wheel 11 is provided, and a caster type idle wheel 12 is provided at the bottom of the tip. And it is comprised so that the load of the vehicle body of the article conveyance vehicle 2 may be supported by three-point support of the drive wheel 10 and the driven wheel 11. FIG.

  Incidentally, although not shown in FIGS. 3 and 4, the drive wheel 10 is composed of a pair of drive wheel bodies that are spaced apart from each other and an electric drive motor 13 is directly connected to each of the drive wheel bodies. . The two driving wheel bodies are configured to be capable of forward / reverse rotation driving separately, giving a difference in the rotational speeds of the two driving wheel bodies, or rotating them in opposite directions, so that they are integrated around the longitudinal axis. It is configured so that the orientation can be changed.

  Further, as shown in FIGS. 5 and 6, the article transport vehicle 2 scans the measurement light in a horizontal or substantially horizontal plane and receives light reflected from the reflecting plate 6 as light projecting / receiving means. A light detector 14, a distance detector 15 such as a rotary encoder provided in a drive motor 13 that detects the travel distance of the article transport vehicle 2, an orientation detector 16 such as a rate gyro that detects the orientation of the article transport vehicle 2, and the like are provided. It has been.

When the traveling control device 20 travels the article transport vehicle 2, the scanning angle information when the light projecting / receiving unit 14 receives reflected light and the plurality of reflecting plates 6 in each of the plurality of areas 5 a to 5 h. From the current position, the detection information of the distance detection unit 15 and the detection information of the direction detection unit 16 to the target station 4 along the travel route 1 while detecting the current position based on the arrangement position information of The article transport vehicle 2 is configured to travel.

  To describe the detection of the current position of the article transport vehicle 2, the travel control device 20 includes travel position detection means H1 for detecting the travel position of the article transport vehicle 2 in a program format.

  First, the travel position detection means H1 uses the area identification information ID transmitted by the communication relay devices 18a to 18h to determine the arrangement position information about the plurality of reflectors 6 in the current position and the scanning angle information of the light projecting and receiving unit 14. The current position is initially detected by comparison. This initial detection is performed when the article transport vehicle 2 is initially inserted, or when the current position is unknown because the reflector 6 is shielded by an obstacle or the like.

  The travel control device 20 stores in advance the arrangement position information about all of the reflectors 6 and the position information about the travel route 1 in a storage means H2 such as a memory as a layout map. The travel position detection means H1 In the state where the position is initially detected, the arrangement position information for the plurality of reflectors 6 in the area currently located is obtained from the layout map, and the obtained arrangement position information and the scanning angle information of the light projecting / receiving unit 14 Based on the current position.

  For example, if the area 5 where the current position is located is the first area 5a, the traveling position detection means H1 obtains the arrangement position information about the plurality of reflectors 6 in the first area 5a, and the obtained arrangement position information. Among them, the current position is detected by identifying the reflecting plate 6 that matches the scanning angle information of the light projecting / receiving unit 14.

  The travel control device 20 includes a communication control unit 20a that is connected to the wireless communication device 3 so that information can be input and output. The travel control device 20 is travel position information detected by the travel position detection unit H1. The machine identification information N assigned to the article transport vehicle 2 equipped with the travel control device 20 is added to Pp, and the wireless communication device 3 can output the wireless communication signal as a wireless signal.

  The communication relay devices 18a to 18h are configured to relay communication between the operation control device 17 and the wireless communication device 3 of the travel control device 20, and the communication relay devices 18a to 18h relay destination information. Communication between the operation control device 17 and the travel control device 20 by adding an area identification information ID for identifying which of the plurality of areas 5a to 5h is the self-arrangement area. Relay. For example, when the article transport vehicle 2 is located in the first area 5a, the destination information from the operation control device 17 is disposed in the area where the article transport vehicle 2 is currently located among the plurality of communication relay devices 18a to 18h. The destination information to which the area identification information ID of the first area 5a is added is relayed by the first communication relay device 18a as the communication relay device 18 and transmitted to the travel control device 20. Each communication relay device 18 can be connected simultaneously with the wireless communication devices 3 of the plurality of article transport vehicles 2, so that the plurality of article transport vehicles 2 can travel within the same area 5.

  One communication relay device 18a to 18h is disposed for each of the plurality of areas 5a to 5h, and corresponds to each of the first area 5a to the eighth area 5h, and the first communication relay device 18a to the eighth communication relay device. Eight of 18h are provided. As shown in FIGS. 5 and 6, each communication relay device 18 is connected to a first antenna 19a to an eighth antenna 19h for transmitting and receiving a radio signal, and these antennas 19a to 19h are connected to each other in FIG. As shown, it is installed on the ceiling of each of the areas 5a to 5h.

  As shown in FIG. 7A, the communication relay devices 18a to 18h form a communication area Z having different radio wave strengths depending on the position, and the communication area Z is determined from the installation position of the communication relay device 18 that forms the communication area Z. The farther away, the weaker the radio field is. A plurality of communication relay devices 18 are provided in a state where their communication areas Z overlap each other, and the boundary position of the adjacent areas 5 is within a range where the communication areas Z of two or more communication relay devices 18 overlap. Is set. For example, as shown in FIG. 7B, the boundary position between the first area 5a and the second area 5b overlaps the communication area Z1 of the first communication relay device 18a and the communication area Z2 of the second communication relay device 18b. It is located in the range.

  And the communication area Z of each communication relay apparatus 18 is adjusted so that each radio field intensity of the communication relay apparatus 18 about the said adjacent area 5 may reverse in the boundary position of the adjacent area 5. FIG. For example, as shown in FIG. 7B, the radio wave intensity of the first communication relay device 18a and the radio wave intensity of the second communication relay device 18b are reversed at the boundary position between the first area 5a and the second area 5b. The radio field intensity of the first communication relay device 18a and the second communication relay device 18b is adjusted.

When there are a plurality of communication relay devices 18 capable of communicating, the wireless communication device 3 of the article transport vehicle 2 uses the communication relay device 18 having the strongest radio signal reception strength received from the plurality of communication relay devices 18 as a communication target. It has been configured to select as the relay device 18. For example, when the article transport vehicle 2 is located in a location near the boundary with the second area 5b in the first area 5a, the wireless communication device 3 is connected to the first communication relay device 18a and the second communication relay device 18b. Although it is possible to communicate with both, the reception strength L1 of the radio signal of the first communication relay device 18a and the reception strength L2 of the radio signal of the second communication relay device 18b, as shown in FIG. Since the reception strength L1 of the radio signal of the first communication relay device 18a is stronger, the first communication relay device 18a is selected as the communication relay device to be communicated. 8A and 8B, the horizontal axis corresponds to the travel position of the article transport vehicle 2, and the radio signal reception intensity of the communication relay device 18 to be communicated selected at each travel position. Is indicated by a bold line.

  Further, the wireless communication device 3 is configured to switch the communication relay device 18 to be communicated when moving to an adjacent area as the article transport vehicle 2 provided with the wireless communication device 3 moves. For example, while the article transport vehicle 2 is located in the first area 5a, the wireless communication device 3 communicates with the first communication relay device 18a as a communication target, and the article transport vehicle 2 moves from the first area 5a to the second area. When traveling to 5b, the radio signal reception strength L2 of the second communication relay device 18b becomes stronger than the radio signal reception strength L1 of the first communication relay device 18a. The communication relay device 18a is switched to the second communication relay device 18b.

  If the communication area Z of each communication relay device 18 is not properly adjusted, the radio field intensity of each communication relay device 18 for the adjacent area 5 is different from the boundary position of the adjacent area 5. It will be reversed. Therefore, for example, when the radio wave strength of the first communication relay device 18a is too strong or the radio wave strength of the second communication relay device 18b is too weak, the reception strength received by the wireless communication device 3 is as shown in FIG. Even if the article transport vehicle 2 travels from the first area 5a to the second area 5b, the radio signal reception strength L2 of the second communication relay device 18b is received by the first communication relay device 18a. Since the intensity L1 is stronger than the boundary position at the position X1 shifted to the second area 5b, the wireless communication device 3 switches the communication target from the first communication relay device 18a to the second communication relay device 18b. Is delayed from the timing at which the article transport vehicle 2 passes the boundary position of the area 5.

  Therefore, in order to match the timing at which the communication target of the wireless communication device 3 is switched with the timing at which the article transport vehicle 2 passes the boundary position of the area 5, as described above, at the boundary position of the adjacent area 5, the adjacent The communication area Z of each communication relay device 18 is adjusted so that the radio field intensity of each communication relay device 18 for the area 5 to be reversed is reversed. Thereby, the wireless communication device 3 communicates with the communication relay device 18 disposed in the area where the article transport vehicle 2 is currently located among the plurality of communication relay devices 18a to 18h as communication targets.

In this way, when the travel control device 20 of the article transport vehicle 2 communicates the destination information from the operation control device 17 with the communication relay devices 18a to 18h and the wireless communication device 3 being relayed, the travel control device 20 includes the destination information. based on, and controls the operation of the drive motor 13 to reach the station 4 of purposes, and reaches the station 4 purpose, controls the operation of the transfer device 9 such that the transfer device 9 projecting and retracting and lifting is It is configured as follows.

The traveling control device 20 of the article transport vehicle 2 presents the current state such as the traveling state whether the vehicle is traveling or stopped, the traveling position information Pp detected by the traveling position detection means H1, and the battery state. Is transmitted to the operation control device 17 in a state of being relayed by the wireless communication device 3 and the communication relay devices 18a to 18h, and the wireless communication device 3 itself is also a communication subject to communication. The reception strength information Pr indicating the reception strength of the radio signal output by the relay device is configured to be transmitted to the operation control device 17 while being relayed by the communication relay devices 18a to 18h. Thereby, the operation control apparatus 17 is comprised so that the present condition information of the article conveyance vehicle 2 and the present condition information of the radio | wireless communication apparatus 3 with which the article conveyance vehicle 2 is provided are also managed.

  As shown in FIG. 5, the operation control device 17 includes reception capability evaluation means H <b> 3 that determines whether or not the reception capability of the wireless communication device 3 is decreased in a program format. The reception capability evaluation means H3 compares the reception intensity corresponding to the travel position of the article transport vehicle 2 obtained based on the travel position information Pp and the reception intensity information Pr with the reference reception intensity Ls for the travel position. When the reception intensity corresponding to the travel position of the article transport vehicle 2 is lower than the reference reception intensity Ls, it is determined that the reception capability is in a reduced state.

  As the reference reception intensity Ls, the first reference reception intensity Ls1 and the second reference reception intensity Ls2 having a value lower than the first reference reception intensity Ls1 are stepwise associated with the travel position of the article transport vehicle 2. Two values are preset. When the reception intensity corresponding to the travel position of the article transport vehicle 2 is lower than the first reference reception intensity Ls1, the reception capacity evaluation unit H3 determines that the reception capacity is in the initial reduced state among the reception capacity reduction states, and the second If it is lower than the reference reception strength Ls2, it is determined that the terminal terminal is in the end-of-decrease state among the reception capability reduction states.

  As shown in FIG. 9, the first reference reception strength Ls1 and the second reference reception strength Ls2 are classified based on the distance (unit [m]) from the installation position of the communication relay device 18 to the travel position of the article transport vehicle 2. It is set for each of the eight classes A of class A (−4) to class A (+4). For the first reference reception strength Ls1, the reference reception strength information D14 and D15 of the first reference reception strength Ls1 for the class A (+1) and class A (-1) close to the installation position of the communication relay device 18 is the largest value. Similarly, the second reference reception strength Ls2 is the reference reception strength information D24 or D25 of the second reference reception strength Ls2 for the class A (+1) or class A (-1) close to the installation position of the communication relay device 18. Is the largest value. The reference reception intensity information D11 to D18 of the first reference reception intensity Ls1 and the reference reception intensity information D21 to D28 of the second reference reception intensity Ls2 are stored in storage means H4 (see FIG. 5) such as a memory provided in the operation control device 17. Has been.

  For example, when the reception capability evaluation unit H3 receives the travel position information Pp and the reception intensity information Pr from the article transport vehicle 2 located in the first area 5a, the class A (−4) to class A (−4) to which the travel position information Pp belongs. Class A (+4) is selected, and the first reference reception strength Ls1 and second reference reception strength Ls2 for the selected class A are compared with the reception strength indicated by the reception strength information Pr. It is determined whether the state is the initial state of decline or the final state of decline.

The operation control device 17 includes a monitor 21 (see FIG. 5) as a display means capable of displaying the received intensity information Pr, and receives intensity corresponding to a specific traveling position set for fixed point measurement of the article transport vehicle 2. The change history of the information Pr is configured to be displayed on the monitor 21. The data constituting the change history includes, for example, reception intensity information Pr for travel positions belonging to class A (+1) or A (−1) of each area 5 as a specific travel position. It is extracted from the database stored in the storage means H4 corresponding to each unit.

  By specifying the machine whose history is to be displayed among the plurality of article transport vehicles 2 with the setting key outside the figure, as shown in FIG. 10, it is designated by a graph with the vertical axis as the reception intensity and the horizontal axis as the time axis. The change history of the reception strength of the wireless communication device 3 mounted on the selected machine is displayed. The scale of the time axis of the graph can be selected from the past 1 year, the past 6 months, and the past 1 month using the setting key. Thereby, it is possible to confirm both a rough tendency and a detailed change in the change history of the received intensity information Pr. FIG. 10 illustrates a graph on which a change history of the reception intensity of the first wireless communication device 3 in the past year is displayed.

  Note that on the vertical axis of the graph, “attention level” is displayed at a position indicating the first reference reception strength Ls1, and “exchange level” is displayed at a position indicating the second reference reception strength Ls2, and the wireless communication device of the corresponding unit Thus, it is possible to visually check the deterioration of the reception capability due to the aging degradation of No. 3. Further, when the reception intensity of any of the wireless communication devices 3 of the plurality of article transport vehicles 2 falls below the “caution level” or falls below the “exchange level”, a warning to that effect is displayed on the monitor 21. .

  Communication between the operation control device 17, the wireless communication device 3, and the travel control device 20 will be described based on the communication flowchart of FIG. 11. In FIG. 11, communication with one article transport vehicle 2 relayed by a certain communication relay device 18 is illustrated, but the same communication is performed with respect to the other communication relay device 18 and the article transport vehicle 2.

  The operation control device 17 performs communication for collecting received intensity information for each traveling position shown in FIG. The set timing may be a fixed cycle timing, or may be when the article transport vehicle 2 is located in a specific area or a specific position for measuring the reception intensity set for each of the areas 5.

  As shown in FIG. 11 (a), in the communication for collecting the received intensity information by traveling position, the traveling position information request Rp for requesting the traveling position information Pp and the received intensity information request Rr for requesting the received intensity information Pr are synchronized. Then send. These requests may be made sequentially to the plurality of communication relay devices 18a to 18h, or may be sent simultaneously. The communication relay device 18 adds its own area identification information ID to these request information and transmits it by a radio signal.

When the article position information request Rp is received by the wireless communication device 3, the article transport vehicle 2 is operated by the wireless communication device 3 with the machine position identification information N and the traveling position information Pp detected by the traveling position detection means H 1. It is configured to transmit to the control device 17 via the communication relay device 18 to be communicated. On the other hand, when the wireless communication device 3 of the article transport vehicle 2 receives the reception strength information request Rr, the wireless communication device 3 receives the reception strength information Pr indicating the reception strength of the wireless signal received from the communication relay device 18 to be communicated, as the unit identification information. N is attached, and is configured to transmit to the operation control device 17 via the communication relay device 18 to be communicated. The communication relay device 18 adds its own area identification information ID to the traveling position information Pp with the machine identification information N and the received intensity information Pr, and transmits it to the operation control device 17.

The operation control device 17 periodically performs relay reception intensity information collection communication shown in FIG. When the communication timing notified by the external timer is reached, the operation control device 17 requests relay reception strength information Pr_ap indicating the reception strength of the radio signal of the radio communication device 3 of the article transport vehicle 2 received by the communication relay device 18. A reception strength information request Rr_ap is transmitted. This request may be made sequentially to the plurality of communication relay devices 18a to 18h or may be sent all at once. When receiving the relay reception strength information request Rr_ap , the communication relay device 18 adds the relay reception strength information Pr_ap with its own area identification information ID and transmits it to the operation control device 17. Thereby, the operation control apparatus 17 can monitor the reception state of each of several communication relay apparatus 18a-18h based on the received relay reception intensity | strength information Pr_ap .

  As shown in FIG. 11C, the operation control device 17 starts communication target switching position evaluation communication when receiving the communicable state start information Plog output from the communication relay device 18.

  The communication relay device 18 is configured to spontaneously output the communicable state start information Plog when communicable with the wireless communication device 3 of the article transport vehicle 2. That is, when the article transport vehicle 2 crosses the boundary of the adjacent area 5 due to traveling, the wireless communication device 3 of the article transport vehicle 2 selects the communication relay device 18 having higher reception strength as described above. The communication relay device 18 to be communicated is switched. At this time, the wireless communication device 3 of the article transport vehicle 2 transmits a communication start request Rlog with the machine identification information N to the communication relay device 18 to be newly set as a communication target. When the communication relay device 18 receives the communication start request Rlog, the communication relay device 18 adds the area identification information ID to the communicable state start information Plog with the unit identification information N and communicates to the requesting wireless communication device 3 and the operation control device 17. The possible state start information Plog is transmitted.

  When the operation control device 17 receives the communicable state start information Plog, the travel position information request Rp is sent to the communication relay device 18 corresponding to the area identification information ID added thereto, that is, the transmission source communication relay device 18. Sent. The subsequent communication is the same as the communication based on the travel position information request Rp described in the travel position-specific reception intensity information collection communication. Thereby, the operation control apparatus 17 can acquire the travel position information Pp of the article transport vehicle 2 when the wireless communication device 3 of the article transport vehicle 2 switches the communication target. Thereby, the operation control device 17 can evaluate the traveling position X1 (see FIG. 8B) of the article transport vehicle 2 when the wireless communication device 3 switches the communication relay device 18 to be communicated.

  When the travel control device 17 acquires the travel position information Pp and the received intensity information Pr by the received position-specific received intensity information collection communication shown in FIG. An evaluation process is executed to evaluate the reception strength. Hereinafter, the reception intensity evaluation process executed by the operation control device 17 will be described based on the flowchart of FIG.

As shown in FIG. 12, the operation control device 17 first, in step # 1, class A (see FIG. 9) to which the travel position indicated by the travel position information Pp acquired by the travel position-specific received intensity information collection communication belongs. select. Next, at step # 2, it reads the first reference reception strength Ls1 and the second reference reception strength Ls2 for Class A selected from the storage means H 4. In steps # 3 and # 4, the determination reference ground value such as the second reference reception intensity Ls2 or the first reference reception intensity Ls1 is the reception intensity indicated by the reception intensity information Pr acquired by the reception position-specific reception intensity information collection communication. Whether the reception capability of the wireless communication device 3 is in the terminal state of decline, the initial state of decline, or the normal state is determined depending on whether it is below.

  If the reception intensity is less than or equal to the second reference reception intensity Ls2, it is determined as Yes in step # 3, and it is determined that the reception capability of the wireless communication device 3 of the article transport vehicle 2 is in a terminal state of decline. As a result, the process proceeds to step # 7, and the lower end state process is executed. If the reception capability is in the terminal state of decline, the occurrence of a communication failure in wireless communication is predicted with a very high probability. Therefore, the transportation work by the article transport vehicle 2 equipped with the wireless communication device 3 in the terminal state of decline is performed. Emergency stop command information for stopping the article transport vehicle 2 at a retreat location or the like is transmitted so as not to continue.

Even if the reception intensity is not less than or equal to the second reference reception intensity Ls2, if it is less than or equal to the first reference reception intensity Ls1, it is determined Yes in step # 4, and the reception capability of the wireless communication device 3 of the article transport vehicle 2 is It is determined that the state is the initial state of decline. As a result, the process proceeds to step # 6, and the lowered initial state process is executed. When the reception capability is in the initial state, there is no possibility of occurrence of a communication failure in wireless communication, but there is a risk of occurrence of a communication failure when the wireless communication device 3 further deteriorates over time. Therefore, wirelessly decrease initial processing in step # 6, along with stored in the storage unit H 4 travel position indicating the reception intensity information Pr is running position information Pp is in association with Class A belongs, has become reduced initial state The article transport vehicle 2 equipped with the communication device 3 is selected as a caution transport cart, and the execution frequency of the reception strength evaluation process executed with respect to the reception strength of the wireless communication device 3 of the article transport vehicle 2 is determined. In order to make it higher than the article conveyance vehicle 2 in the normal state, the setting timing for performing the communication for collecting the received intensity information for each traveling position is changed.

If the reception strength is not less than or equal to the first reference reception strength Ls1, it is determined No in step # 4, and the reception capability of the wireless communication device 3 of the article transport vehicle 2 is determined to be in a normal state. As a result, the process proceeds to step # 5 and normal state processing is executed. Step # in the normal state for 5 terminates the Save and reception strength evaluation process the received strength information Pr travel position information Pp is traveling position in association with Class A belongs shown in the storage means H 4.

  When the travel control device 17 obtains the travel position information Pp by the communication target switching position evaluation communication shown in FIG. 11C, the operation control device 17 executes the communication target switching position evaluation process in the program format constituting the communication target switching position evaluation means H5. Thus, the switching position of the communication relay device 18 to be communicated is evaluated.

  When the operation control device 17 receives the communicable state start information Plog, the travel position information that requests the travel position information Pp from the article transport vehicle 2 indicated by the machine identification information N added to the communicable state start information Plog. The travel position indicated by the travel position information Pp that is configured to transmit the request Rp and is transmitted from the article transport vehicle 2 based on the travel position information request Rp is compared with a preset communication target switching position. The communication object switching position evaluation means H5 for determining whether or not it is appropriate is provided in a program format.

  In other words, as described above, the wireless communication device 3 is in a state capable of communicating with the communication relay device 18 selected as a communication target. In this state, the destination information is transmitted via the communication relay device 18. The received intensity information Pr and the travel position information Pp are communicated. When the article transport vehicle 2 provided with the communicator moves to the adjacent area 5 along with the travel movement, the communication relay device 18 to be communicated is more connected. Switch to one with strong reception strength. And the communication relay apparatus 18 will be in the state which can be newly communicated when the state which can communicate with either of the radio | wireless communication apparatuses 3 of the some goods conveyance vehicle 2 is newly started. An area identification information ID for identifying itself is added to the communicable state start information Plog to which the machine identification information N for identifying the wireless communication device 3 is added, and the information is transmitted to the operation control device 17. When the operation control device 17 receives the communicable state start information Plog, the operation control device 17 performs communication target switching position evaluation communication, acquires the travel position information Pp, and executes the communication target switching position evaluation process.

  Hereinafter, the communication target switching position evaluation process executed by the operation control device 17 will be described based on the flowchart of FIG.

As shown in FIG. 13, first, in step # 1, the operation control device 17 is preset as an appropriate communication switching position for the area 5 indicated by the area identification information ID added to the communicable state start information Plog. proper communication target switching position are read from the storage means H 4.

  In addition, when there are a plurality of areas 5 adjacent to the area 5, there are a plurality of appropriate communication target switching positions because they are set for boundaries with the adjacent areas 5. Therefore, a plurality of appropriate communication target switching positions are stored in correspondence with adjacent area identification information IDs, so that they can be selected as communication targets from the communication history etc. until the current communicable state start information Plog is transmitted. By referring to the area identification information ID of the communication relay device 18 before switching that has been performed, one appropriate communication target switching position can be specified from the area identification information ID of the communication relay device 18 before and after switching.

Next, in step # 2, the travel position X1 (see FIG. 8B) indicated by the travel position information Pp acquired in the communication target switching position evaluation communication and the appropriate communication read from the storage means H4 in step # 1. A distance G (see FIG. 8B) with the target switching position is calculated. In step # 3, it is determined whether or not the calculated distance G is within a range that is practically acceptable as an actual switching position. If it is not acceptable, it is determined No in step # 3 and the process proceeds to step # 4, and the switching position abnormality process is executed. In the switching position abnormality process, a warning is displayed on the monitor 21 that the position of the switching position in the vicinity of the boundary of the area 5 needs to be adjusted. If the distance G is allowable, it is determined Yes in step # 3, and the communication target switching position evaluation process ends normally.

  As described above, when the wireless device 3 of the article transport vehicle 2 switches the communication relay device 18 to be communicated, the operation control device 17 performs communication target switching position evaluation communication to acquire the travel position information Pp. Thus, the communication target switching position evaluation means H5 of the operation control device 17 evaluates whether the traveling position X1 of the article transport vehicle 2 when the wireless communication device 3 switches the communication relay device 18 to be communicated is appropriate. be able to.

[Another embodiment]
(1) In the above embodiment, the moving body provided with the transfer device 9 is exemplified, but the moving device may not be provided, and the shape and the like can be appropriately changed. Various article transport vehicles can be applied.

(2) In the above embodiment, the travel route 1 is set in a state extending over the eight areas 5a to 5h. However, how to set the travel route 1 such as the number of the covered areas is appropriately changed. Is possible.

(3) In the above-described embodiment, the moving body moves along a trackless traveling route. However, the moving body may move along a tracked traveling route.

(4) In the above embodiment, the case where a plurality of reference reception strengths are set stepwise has been exemplified, but only one reference reception strength may be set corresponding to the traveling position.

(5) In the above embodiment, the reference reception strength is set in advance corresponding to the traveling position of the mobile object. However, the reference reception strength is the reception strength information stored in the storage unit. The reception intensity indicated by the past reception intensity information corresponding to the traveling position of the moving body when the reception intensity information is newly received may be used.

(6) In the above embodiment, the wireless communication device transmits the received intensity information and the traveling control device of the moving body transmits the traveling position information based on the request from the operation control device. One or both may be transmitted periodically or when the moving body is located at a specific traveling position.

(7) In the above embodiment has exemplified the ones communication relay device that the communication regions are plurality et al in a state of overlapping each other, may be one single communication relay apparatus is provided. Moreover, when providing a some communication relay apparatus, you may provide in the state in which three or more communication areas overlap.

(8) In the above embodiment, the wireless communication device is configured to switch the communication target to a communication relay device that outputs a wireless signal having the strongest reception strength in a region where a plurality of communication regions overlap. Although illustrated, when the wireless communication device switches the communication relay device to be communicated, a wireless signal having hysteresis and a reception strength that is higher than the reception strength of the wireless signal of the currently connected communication relay device by a set amount May be selected as a new communication relay device to be communicated.

(9) As the travel position detection means, detection of each of marker detection means for detecting a marker including position information laid on the floor surface while reading the position information and travel distance detection means for detecting the travel distance of the moving body It may be configured to detect the current position based on the information. The specific configuration of the travel position detecting means can be appropriately configured.

(10) In the above-described embodiment, the operation control device is exemplified as having the communication target switching position evaluation means. However, the present invention is not limited to this, and for example, each of the plurality of communication relay devices includes the communication target switching position evaluation means. Or each of a plurality of mobile objects may be provided with a communication object switching position evaluation means.

H1 Traveling position detection means H3 Reception capability evaluation means H5 Communication target switching position evaluation means Pp Traveling position information Pr Reception intensity information Rp Traveling position information request Rr Reception intensity information request Rr_ap Relay reception intensity information request Z Communication area Ls Reference reception intensity 2 Movement Body 3 Wireless communication device 17 Operation control device 18 Communication relay device 20 Travel control device

Claims (9)

A moving object for conveying articles provided with a wireless communication device;
An operation control device for transmitting operation information to the mobile body and controlling the operation of the mobile body;
A communication area having different radio field strengths depending on the position is formed and configured to be wirelessly communicable with the wireless communication device of the mobile body, and a communication relay device that relays communication between the mobile body and the operation control device is provided,
The moving body controls the travel operation based on travel position detection means for detecting the travel position, the travel information received by the wireless communication device, and travel position information detected by the travel position detection means. A moving body control system configured to include a travel control device,
The travel control device is configured to transmit the travel position information to the operation control device via the wireless communication device,
The wireless communication device is configured to transmit reception strength information indicating a reception strength of a wireless signal received from the communication relay device to the operation control device,
The operation control device compares the reception intensity corresponding to the traveling position of the moving body acquired based on the traveling position information and the reception intensity information with a reference reception intensity for the traveling position, and the wireless A mobile control system configured to include reception capability evaluation means for determining whether or not the reception capability of a communication device is reduced. The operation control device synchronously transmits a travel position information request for requesting the travel position information and a reception intensity information request for requesting the reception intensity information,
When the travel control device receives the travel position information request at the wireless communication device, the travel control information is transmitted.
The mobile radio control system according to claim 1, wherein the wireless communication device transmits the reception intensity information when receiving the reception intensity information request.   The control system for a moving body according to claim 1 or 2, wherein the reference reception intensity is set in advance corresponding to a traveling position of the moving body.   The mobile body control system according to claim 3, wherein a plurality of the reference reception strengths are set stepwise. The operation control device comprises storage means for storing the received intensity information in association with the traveling position information,
3. The mobile body according to claim 1, wherein the reference reception intensity is a reception intensity indicated by the reception intensity information corresponding to a travel position of the mobile body among the reception intensity information stored in the storage unit. Control system.   The operation control device includes a display unit capable of displaying the received intensity information, and is configured to display a change history of the received intensity information corresponding to a specific traveling position of the moving body on the display unit. The mobile body control system according to any one of claims 1 to 5. A plurality of the moving bodies are provided,
A plurality of the communication relay devices are provided with their communication areas overlapping each other,
The wireless communication device included in each of the plurality of mobile bodies is configured to communicate one of the plurality of communication relay devices as a communication relay device to be communicated. The moving body control system according to the item. Based on the reception strength of the radio signal received by each of the plurality of wireless communication devices from the communication relay device, the communication relay device to be communicated with other communication in which the communication area overlaps with the communication relay device. It is configured to be switchable to a relay device,
Relay device identification information acquisition means for acquiring relay device identification information for identifying the communication relay device after the wireless communication device has switched the communication relay device to be communicated;
Switching position information acquisition means for acquiring the traveling position information indicating the traveling position of the mobile body provided with the wireless communication device when the wireless communication device switches the communication relay device to be communicated;
Communication target switching set in advance for the communication relay device in which the travel position indicated by the travel position information acquired by the switch position information acquisition unit is identified by the relay device identification information acquired by the relay device identification information acquisition unit. The mobile object control system according to claim 7, further comprising: a communication target switching position evaluation unit that determines whether or not the position is appropriate as compared with the position. The operation control device comprises the communication object switching position evaluation means,
Each of the plurality of communication relay devices serves as the relay device identification information acquisition means with the operation information, the reception intensity information, and the travel position information with any of the wireless communication devices of the plurality of mobile objects. When a communicable state is newly started, the communicable state start information is added with the mobile unit identification information for identifying the wireless communication device as the new communication target and the relay device identification information for identifying itself. And configured to transmit to the operation control device,
When the operation control device receives the communicable state start information as the switching position information acquisition unit, the travel position with respect to the mobile unit indicated by the mobile unit identification information added to the communicable state start information Configured to send a travel location information request to request information;
The travel position indicated by the travel position information transmitted from the mobile body based on the travel position information request acquired by the switch position information acquisition means by the communication target switch position evaluation means is the relay device identification information acquisition. 9. The communication relay device identified by the relay device identification information acquired by the means is configured to determine whether or not the communication relay device is appropriate as compared with a preset communication target switching position. Mobile body control system.

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