JP7018363B2 - Emergency stop device, emergency stop wireless system - Google Patents

Description

The present invention relates to a technique for instructing an autonomously traveling transport vehicle to make an emergency stop.

At mining sites, there is a strong demand for autonomous vehicles to be driven due to soaring labor costs and improved safety. In response to this request, there is a technology for autonomously driving a transport vehicle that transports earth and sand and minerals at a mine site according to instructions from a control server, regardless of manned operation.

Further, at a mine site, if the transport vehicle is stopped, the transport efficiency is lowered and the productivity of the mine is lowered. Therefore, there is a demand to stop the transport vehicle only when necessary. On the other hand, there are cases where a worker or a manned vehicle enters the autonomous traveling area, and in an emergency, the worker or the manned vehicle is required to stop the autonomous traveling transport vehicle by remote control.

Patent Document 1 discloses a technique for transmitting an emergency stop signal to all transport vehicles traveling in a mine site when an emergency stop input device is operated for a transport vehicle traveling in the mine site. Has been done.

JP-A-2017-72946

In order to stop an autonomously traveling transport vehicle in an emergency, it is necessary to provide stable communication opportunities at predetermined intervals to all of the hundreds of transmitting terminals that transmit emergency stop signals. Further, it is also a necessary requirement that the transport vehicle traveling at a speed of about 50 km / h stably receives the emergency stop signal transmitted from the transmission terminal. Furthermore, it is important not only to stop one autonomously traveling transport vehicle, but also to stop all transport vehicles that are patrolling the same route without any difference. However, Patent Document 1 does not particularly consider the communication method for stopping such a transport vehicle.

In order to provide communication opportunities to all hundreds of transmitting terminals, LBT (Listen Before Talk) access methods such as the conventional wireless communication protocol CSMA-CA (Carrier Sense Multiple Access / Collision Avoidance) method. Then it is difficult. On the other hand, there is a split communication method in which a connection opportunity is constantly given in units called bursts or slots according to the number of users, and TDMA (Time Division Multiple Access) communication is known as such a split communication method. There is.

However, in TDMA communication, for example, if the number of transmitters that transmit the emergency stop signal is 256, the communication interval becomes very long. Alternatively, when a predetermined time (for example, 1 second) is divided into 256 and the division time is set to 1 slot, the communication time becomes very short and the amount of information that can be transmitted in 1 slot is reduced. Alternatively, if the communication speed is increased, the communication quality may deteriorate accordingly. In addition to this, the mine site is usually a wide area of about 10 km × 10 km or more, and it is necessary to provide a long guard time to avoid interference. Along with this, there is also a problem that the amount of information that can be transmitted at one time is further reduced.

The retransmission method for achieving a highly reliable communication connection requires transmission of a response signal on the receiving side for transmission, and it takes a certain amount of time for the response on the receiving side and the retransmission on the transmitting side, resulting in a delay. Since it is generated, the transmission efficiency is lowered.

The present invention has been made in view of the above problems, and in an emergency, a transport vehicle moving at high speed can be communicated with a minimum response delay while avoiding an unnecessary stop operation of the transport vehicle traveling autonomously. The purpose is to provide a technology that makes it possible to maintain stability and stop remotely.

In order to solve the above problems, a typical emergency stop device is connected to a wireless device, an operation button, the operation button, and the wireless device, and the work site is in accordance with the operation of the operation button. An emergency stop device comprising a controller that controls the radio device to transmit an emergency stop signal for stopping a vehicle traveling inside, wherein the controller is defined according to a time division multiplexing method. Of each slot in which the unit time is divided into a plurality of units, the baseband processor that controls the radio device so as to output an emergency stop signal in the first slot assigned to the own machine and the operation button are operated. When it is detected, the baseband processor is controlled so as to transmit an emergency stop signal in the first slot assigned to the own machine, and an emergency caused by the operation is also performed in a slot other than the first slot. It is characterized by having an application processor that controls the radio output so that the stop signal continues to be transmitted in the work site.

In an emergency, it is possible to stably instruct the transport vehicle to stop.
Issues, configurations and effects other than those described above will be clarified by the following description of the embodiments.

It is a figure which shows the schematic structure of the emergency stop radio system. It is a figure which shows the radio frame and the slot of the emergency stop radio system. It is a figure which shows the structure of the portable transmission terminal. It is a figure which shows the communication protocol stack of the whole emergency stop radio. It is a figure which shows an example of the data format of a wireless communication layer and a secure communication layer. It is a figure which shows the slot and transmission timing of a portable transmission terminal 1-1 to 1-11 in a normal state. It is a figure which shows an example of the slot and transmission timing of the portable transmission terminal 1-1 to 1-11 in an emergency in 1st Embodiment. It is a flowchart which shows the operation example of the portable transmission terminal 1 in 1st Embodiment. It is a figure which shows an example of the slot and transmission timing of the portable transmission terminal 1-1 to 1-11 in an emergency in the 2nd Embodiment. It is a flowchart which shows the operation example of the portable transmission terminal 1 in 2nd Embodiment. It is a figure which shows an example of the slot and transmission timing in an emergency in 3rd Embodiment. It is a flowchart which shows the operation example in 3rd Embodiment.

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

Hereinafter, embodiments will be described in detail with reference to the drawings. In all the drawings for explaining the embodiment, the members having the same function are designated by the same or related reference numerals, and the repeated description thereof will be omitted. Further, in the following embodiments, the same or similar parts will not be repeated in principle unless it is particularly necessary.

(First Embodiment)
Hereinafter, the emergency stop radio system according to the first embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a diagram showing a schematic configuration of an emergency stop radio system according to the first embodiment. In FIG. 1, the emergency stop wireless system 1000 includes a portable transmission terminal 1-1 to 1-11 (second emergency stop device), an in-vehicle transmission terminal 2-1 (first emergency stop device), and an in-vehicle receiving terminal 3. -1 to 3-3, relay base station 4-1 and 4-2, general base station 5, transport vehicle (hereinafter referred to as "dump truck") that transports cargo such as earth and sand and ore, 10-1 to 10-3, It is composed of a service car 20 which is a manned vehicle and a control center 30. An operation management system 31 and an emergency stop input device 32 are installed in the control center 30. The number of each device shown here is not particularly limited. For example, the in-vehicle receiving terminal and the transport vehicle may be configured in a single unit or a plurality of units, and the in-vehicle transmitting terminal and the service car may be configured in a single unit or a plurality of units. ..

Further, although not shown, an autonomous traveling system for the dump trucks 10-1 to 10-3 to autonomously travel and a wireless system necessary for the autonomous traveling system are provided at the work site in the mine.

Since the configurations of the portable transmission terminals 1-1 to 1-11 are all the same, in the following, the portable transmission terminals 1-1 to 1-11 are collectively referred to as the portable transmission terminal 1 without distinction. .. The in-vehicle receiving terminals 3-1 to 3-3 and the relay base stations 4-1 to 4-2 are also collectively referred to as an in-vehicle receiving terminal 3 and a relay base station 4, respectively. Further, since the configurations of the dump trucks 10-1 to 10-3 are all the same, the generic term is described as the dump truck 10.

The dump truck 10 is an autonomous traveling vehicle that travels unmanned based on the management of the autonomous traveling system without the driver getting on board. Not limited to this, the embodiment of the present embodiment may be applied to a manned dump truck. The dump truck 10 runs unmanned on a preset running path in the mine site, and runs along the running path between the excavator and the dump truck, which are loading earth and sand and ore at the quarry. It goes back and forth and carries the cargo. At the mine site, in addition to the dump truck 10 that transports cargo such as earth and sand and ore, manned vehicles such as excavators and dozers that perform excavation and loading work at the quarry and manned dump trucks also travel.

The portable transmission terminal 1 is a portable device that can be carried by a worker in a mine site at all times, and is an emergency stop device that instructs an emergency stop in an emergency. The in-vehicle transmission terminal 2 is an in-vehicle device mounted on a vehicle such as a service car 20 that patrols the mine site, and is an emergency stop device in which the driver or passenger of the service car 20 instructs an emergency stop in an emergency. be. Here, "emergency" refers to a general situation in which the dump truck 10 needs to be stopped, for example, a situation in which the dump trucks 10 may contact and interfere with each other, or a worker and the dump truck 10 come into contact with each other. Such as situations that may interfere.

The in-vehicle receiving terminals 3-1, 3-2, and 3-3 are wireless receiving devices mounted on the dump trucks 10-1, 10-2, and 10-3, respectively. The in-vehicle receiving terminals 3-1, 3-2, and 3-3 are vehicles of dump trucks 10-1, 10-2, and 10-3 transmitted from the portable transmitting terminal 1 or the in-vehicle transmitting terminal 2. The emergency stop signal for stopping is received directly from the terminal of the transmission source. Further, the in-vehicle receiving terminal 3 indirectly receives an emergency stop signal relayed via the relay base station 4 or the control base station 5. When the in-vehicle receiving terminals 3-1, 3-2, and 3-3 receive the emergency stop signal directly or indirectly, the dump trucks 10-1, 10-2, and 10-3 stop traveling.

It is desirable that the antenna of the in-vehicle receiving terminal 3 mounted on the dump truck 10 is installed in a place where radio waves are clearly visible, for example, in front of the upper surface of the driver's cab in the dump truck 10.

The portable transmitting terminal 1 and the in-vehicle transmitting terminal 2 can transmit an emergency stop signal from a traveling path, a loading place, a dumping yard, a parking apron, etc. in the site, and the in-vehicle receiving terminal 3 can transmit an emergency stop signal. It is possible to directly or indirectly receive the emergency stop signal transmitted from the portable transmission terminal 1 and the vehicle-mounted transmission terminal 2.

Each relay base station 4 and control base station 5 are installed at positions where wireless communication is possible in a travel path, a loading yard, a lumber yard, a parking lot, etc. where manned vehicles such as a dump truck 10 and a service car 20 travel. Has been done. Each relay base station 4 and the control base station 5 are connected by a wireless line in order to communicate with each other in the relay base stations 4-1 and 4-2 and the control base station 5, and the portable transmission terminal 1 and the control base station 5 are connected to each other. It is possible to relay the emergency stop signal transmitted from the in-vehicle transmission terminal 2 and instruct all the dump trucks 10 in the mine site to make an emergency stop. As a result, when an emergency stop signal is emitted from either the portable transmission terminal 1 or the vehicle-mounted transmission terminal 2, all dump trucks other than the dump truck 10 that needs to be stopped are also stopped.

The emergency stop input device 32 installed in the control center 30 and the control base station 5 are connected by a wired line 33. The emergency stop input device 32 is a device that instructs an emergency stop according to the operation of the operator. The operator in the control center 30 can instruct all the dump trucks 10 to make an emergency stop via the control base station 5 by using the emergency stop input device 32. Although the emergency stop input device 32 has been described as being connected to the central base station 5, it may be configured to be connected to the relay base station 4.

FIG. 2 is a diagram illustrating a radio frame and a slot used in the emergency stop radio system 1000. The radio frame divided at a predetermined interval (for example, 1 second interval) according to the time division multiplexing method is first divided into two by a downlink (DL) and an uplink (UL). Further, the uplink (UL) is composed of slots that are divided by the same number as or more than the total number of the portable transmission terminal 1 and the vehicle-mounted transmission terminal 2. In the example of FIG. 2, it is assumed that the uplink (UL) is divided into 256 and has 256 slots.

It is assumed that each portable transmission terminal 1 and each vehicle-mounted transmission terminal 2 are assigned a predetermined slot, and communication opportunities are given at predetermined intervals. Further, an interval called a guard time is provided between the slots in order to prevent interference due to a difference in propagation delay time between the portable transmission terminal 1 and the vehicle-mounted transmission terminal 2.

In FIG. 2, the TDD (Time Division Duplex) method for communicating the uplink and the downlink at the same frequency has been described as an example, but of course, the FDD method (Freaction Duplex) for communicating the downlink and the uplink at different frequencies has been described. ) But it doesn't matter.

FIG. 3 is a diagram showing a configuration example of the portable transmission terminal 1. The portable transmission terminal 1 has an antenna 101, a wireless device 102, a controller 108, a power supply device 105, a display device 106, and an emergency stop button 107. Further, in the present embodiment, the controller 108 includes the application processor 104 and the baseband processor 103, but the wireless device 102 may have the function of the baseband processor 103.

The power supply device 105 is composed of a battery 810, a voltage converter 811 and the like. The power supply device 105 has a function of converting the power supplied from the battery 810 into a voltage required by the voltage converter 811 and then supplying the power to each part in the portable transmission terminal 1.

The display device 106 is composed of an LED, a liquid crystal display device, or the like, and is connected to the power supply device 105 and the application processor 104. The display device 106 has a function for notifying the operator of the normality of the power supply and the result of determining the out-of-service area of the wireless area.

The emergency stop button 107 is connected to the application processor 104 of the controller 108, and includes an operation button for the operator to instruct an emergency stop. In the present embodiment, the emergency stop button 107 is a push button that detects an instruction from the operator by a push operation. Further, it is desirable that the emergency stop button 107 is provided with a mechanism that locks when pressed and continues to be pressed unless the button is released.

The application processor 104 of the controller 108 is a microcomputer connected to the display device 106, the emergency stop button 107, and the baseband processor 103, and has a CPU 801 which is an arithmetic processing unit and a storage device 802 such as a main memory and a flash memory. is doing. In the present embodiment, the program stored in the storage device 802 is calculated and executed by the CPU 801 to realize the functions described below, but a part or all of the program is composed of an integrated circuit or the like. May be good.

The baseband processor 103 of the controller 108 is composed of an integrated circuit or the like, and is a unit that communicates with other devices according to a time division multiplexing method. The baseband processor 103 outputs a signal in the slot (first slot) assigned to the own machine among the slots divided into a plurality of predetermined unit times (for example, 1 second). The baseband processor 103 controls the radio device 102 so as to transmit a signal in the slot assigned to the own machine according to the control from the application processor 104.

Further, in the present embodiment, when the emergency stop button 107 is operated and the application processor 104 detects this, the application processor 104 can operate the emergency stop button 107 even in a slot other than the slot assigned to the own machine. The baseband processor 103 is controlled so that the resulting emergency stop signal continues to be transmitted. According to this control, the baseband processor 103 controls the radio device 102 so as to transmit an emergency stop signal even in a slot other than the slot assigned to the own machine. A specific example of this operation will be described later.

Further, in addition to the above, the application processor 104 determines whether the power supply device 105 is operating normally, and whether or not the application processor 104 is located in the radio area formed by each relay base station 4 and the control base station 5. It is also judged to be out of service.

Based on the control by the baseband processor 103, the wireless device 102 performs processing such as modulation, frequency conversion, filtering, and amplification on the data output from the baseband processor 103 to generate a wireless signal. The wireless device 102 sends the generated wireless signal to the antenna 101.

Here, after explaining the communication protocol stack used in the emergency stop wireless system 1000, the configuration of FIG. 3 will be described again. FIG. 4 is a diagram illustrating a communication protocol stack of a portable transmitting terminal 1, an in-vehicle transmitting terminal 2, an in-vehicle receiving terminal 3, a relay base station 4, and a controlling base station 5.

The portable transmitting terminal 1, the in-vehicle transmitting terminal 2, the in-vehicle receiving terminal 3, the relay base station 4, and the centralized base station 5 mutually exchange data composed of a protocol stack of a wireless communication layer, a secure communication layer, and an application layer. Send and receive.

The wireless communication layer is a layer that controls a wireless communication function based on a communication profile defined for the purpose of communication connection and communication maintenance as wireless communication. The secure communication layer is a layer that controls the secure communication function based on the defined communication profile for the purpose of functional safety as secure communication. The application layer is a layer that controls the user interface with the operator.

When the portable transmitting terminal 1, the in-vehicle transmitting terminal 2, the in-vehicle receiving terminal 3, the relay base station 4, and the controlling base station 5 communicate with each other, the communication connection and the communication connection and the communication are made based on the communication profile of each layer. Communication is maintained. For example, when the portable transmission terminal 1 and the relay base station 4 communicate with each other, the wireless communication layer 121 of the portable transmission terminal 1 and the wireless communication layer 421 of the relay base station 4 are connected by using a format that can be mutually recognized. I do. Similarly, the secure communication layer 122 of the portable transmission terminal 1 and the secure communication layer 422 of the relay base station 4 also make a communication connection using a format that can be mutually recognized. The same applies to the application layer 123 of the portable transmission terminal 1 and the application layer 423 of the relay base station 4, and communication connection is performed using a format that can be mutually recognized. The target data to be transmitted and received is encapsulated every time it straddles each layer, and the encapsulation is released.

The application processor 104 of the controller 108 shown in FIG. 3 implements the functions provided by the application layer 123 and the secure communication layer 122 of FIG. As a function of the application layer 123, the application processor 104 generates transmission data instructing an emergency stop when the emergency stop button 107 is pressed, and generates transmission data for an acknowledgment when the emergency stop button 107 is not pressed. .. The application processor 104 passes the generated transmission data to the lower layer secure communication layer 122.

As a function of the safety communication layer 122, the application processor 104 imparts control information described later to the transmission data for the acknowledgment or the transmission data for the emergency stop instruction passed from the application layer 123. Based on this control information, transmission processing based on the communication profile for the purpose of functional safety is performed. This transmission process is, for example, a process of taking safety measures against any one of data corruption, repetition, out-of-order, missing, delayed, inserted, spoofed, misplaced destination, or all threats.

FIG. 5 is a diagram showing an example of data formats of a secure communication layer and a wireless communication layer. The transmission data for instructing an emergency stop or the transmission data for an acknowledgment generated in the application layer 123 is DATA1223 in the secure communication layer. The transmission data sent as DATA1223 is given a serial number 1221, an ID1222, and a safety code 1224 as a safety measure for the purpose of functional safety. The serial number 1221 is a serial number (sequence number) managed by the portable transmission terminal 1 or the vehicle-mounted transmission terminal 2 on the transmitting side in the own machine. The ID 1222 is an identification signal for uniquely identifying the portable transmission terminal 1 and the vehicle-mounted transmission terminal 2 on the transmission side. The safety code 1224 is a code for taking safety measures against the above-mentioned threats such as data corruption, repetition, random order, omission, delay, insertion, spoofing, and misaddress. The application processor 104 adds these control information, generates the safety communication transmission data 113, and outputs the safety communication transmission data 113 to the baseband processor 103. The data format of the secure communication layer in FIG. 5 is merely an example, and is not limited thereto.

In order to provide such a function, it is desirable to use a microcomputer suitable for functional safety as the application processor 104, and it is desirable that the microcomputer meets safety standards such as SIL (Safety Integrity Level).

The baseband processor 103 of the controller 108 shown in FIG. 3 has the function of the wireless communication layer 121 shown in FIG. In the wireless communication layer 121, the baseband processor 103 performs processing on the secure communication transmission data 113 generated in the secure communication layer 122 based on a communication profile for the purpose of wireless communication connection and communication maintenance.

As shown in FIG. 5, in the wireless communication layer 121, the secure communication transmission data 113 becomes PAYLOAD1213, and UW (Unique Word), CTRL (Control) for the purpose of connecting and maintaining communication, and CRC (Cyclic) for detecting data errors. Redundancy Code) is added and wireless communication transmission data 111 is generated. The data format of the wireless communication layer in FIG. 5 is merely an example, and is not limited thereto.

The wireless communication transmission data 111 generated by the wireless communication layer 121 is transmitted to the wireless device 102 after timing adjustment so as to be transmitted in a predetermined predetermined slot. The wireless device 102 performs processing such as modulation, frequency conversion, filtering, and amplification on the wireless communication transmission data 111 to generate a wireless signal, and sends the generated wireless signal to the antenna 101.

The antenna 101 radiates the radio signal generated by the wireless device 102 toward the portable transmitting terminal 1, the vehicle-mounted transmitting terminal 2, the vehicle-mounted receiving terminal 3, the relay base station 4, and the central base station 5. Further, the antenna 101 receives a radio signal transmitted from the portable transmission terminal 1, the vehicle-mounted transmission terminal 2, the vehicle-mounted reception terminal 3, the relay base station 4, and the control base station 5, and the wireless device 102 receives the radio signal. To send.

The wireless device 102 performs processing such as amplification, filtering, frequency conversion, and demodulation on the wireless signal sent from the antenna 101 to generate baseband reception data 112. The data format of the baseband reception data 112 is the same as that of the wireless communication transmission data 111 of FIG.

The baseband processor 103 of the controller 108, as a function of the wireless communication layer 121, receives data based on a communication profile for the purpose of wireless communication connection and communication maintenance based on the baseband reception data 112 generated by the wireless device 102. Processing is performed to generate secure communication reception data 114. The data format of the secure communication reception data 114 is the same as that of the secure communication transmission data 113 of FIG. Further, the reception processing based on the communication profile for the purpose of wireless communication connection and communication maintenance is, for example, synchronization detection, synchronization maintenance, error detection, and the like. After doing these, the baseband processor 103 extracts the PAYLOAD1213 in the baseband reception data 112, that is, the secure communication reception data 114. The baseband processor 103 outputs the generated secure communication reception data 114 to the application processor 104.

The application processor 104 of the controller 108 performs reception processing based on a communication profile for the purpose of functional safety as safe communication based on the safe communication reception data 114 generated by the baseband processor 103. The application processor 104 then generates DATA 1223 from the secure communication received data 114. The DATA 1223 generated here is the received data, and like the above-mentioned transmission data, it is data for instructing an emergency stop or data for an acknowledgment.

Although the description has been given above by taking the portable transmission terminal 1 as an example, the same applies to the vehicle-mounted transmission terminal 2.

Next, a characteristic embodiment of the present embodiment will be described. Normally, the portable transmission terminal 1 and the vehicle-mounted transmission terminal 2 transmit the confirmation response signal in a predetermined slot. This is to determine whether or not the user is in the wireless area formed by the relay base station 4 or the control base station 5, and the portable transmission terminal 1 or the vehicle-mounted transmission terminal 2 is normal without any failure. It is performed for life and death monitoring to determine whether it is operating. In this way, the confirmation response signal is a confirmation signal for indicating to the outside that the own machine can communicate, and when the emergency stop button 107 is not operated, the slot of the own machine is used. Continue to be sent.

FIG. 6 is a diagram showing slots and transmission timings in the portable transmission terminals 1-1 to 1-11 in a normal state. As shown in FIG. 6, slots assigned in advance to the portable transmission terminals 1-1 to 1-11, that is, the portable transmission terminal 1-1 for slot S1 and the portable transmission terminal 1- for slot S2. 2. If it is slot S3, the portable transmission terminal 1-3 is assigned.

Further, in the normal state, the portable transmission terminal 1 transmits an acknowledgment signal from the corresponding slot assigned in advance. For example, the portable transmission terminal 1-1 uses the slot S1, the portable transmission terminal 1-2 uses the slot S2, and the portable transmission terminal 1-3 uses the slot S3 to transmit an acknowledgment signal.

FIG. 7 is a diagram showing slots and transmission timings in the portable transmission terminals 1-1 to 1-11 in an emergency. In an emergency, that is, when the emergency stop button 107 is pressed on the portable transmission terminal 1 or the vehicle-mounted transmission terminal 2, the portable transmission terminal 1 or the vehicle-mounted transmission terminal 2 receives a confirmation response signal in the corresponding slot assigned in advance. Instead of transmitting, an emergency stop signal indicating an emergency stop, or both an acknowledgment signal and an emergency stop signal are transmitted.

In the present embodiment, the portable transmission terminal 1 or the vehicle-mounted transmission terminal 2 that has transmitted the emergency stop signal is assigned not only to the corresponding slot but also to another portable transmission terminal 1 or the vehicle-mounted transmission terminal 2 that follows. The emergency stop signal is continuously transmitted even in the slot. The other portable transmission terminal 1 or the vehicle-mounted transmission terminal 2 that has detected that the emergency stop signal has been input does not transmit either the confirmation response signal or the emergency stop signal in the assigned slot.

This will be described in detail with reference to FIG. 7. In a certain wireless frame, the portable transmission terminal 1-1 transmits an acknowledgment signal in the pre-allocated slot S1, and the portable transmission terminals 1-2, 1-3, 1-4, and 1-5 are also transmitted. An acknowledgment signal is transmitted in the slots S2, S3, S4, and S5 assigned in advance, respectively.

Here, when the emergency stop button 107 is pressed on the portable transmission terminal 1-6, the portable transmission terminal 1-6 instead of transmitting the confirmation response signal in the pre-allocated slot S6, the emergency stop signal, Alternatively, an acknowledgment signal and an emergency stop signal are transmitted.

In the portable transmission terminal 1-6, following the slot S6 assigned to the own device, the slot S7 assigned to the portable transmission terminal 1-7, the slot S8 assigned to the portable transmission terminal 1-8, and the like. The emergency stop signal is continuously transmitted by using the slot S9 or the like assigned to the portable transmission terminal 1-9.

Such dense continuous transmission in continuous slots has a great effect on the moving fading environment of a dump truck moving at high speed.

Here, the portable transmission terminals 1-7, 1-8, 1-9, 1-11 are located in the vicinity of the portable transmission terminal 1-6, and can receive the emergency stop signal of the portable transmission terminal 1-6. It is assumed that the portable transmission terminal 1-10 is far from the portable transmission terminal 1-6, or cannot receive the emergency stop signal due to a shield or the like.

The portable transmission terminals 1-7, 1-8, 1-9, 1-11 located in the vicinity of the portable transmission terminal 1-6 receive the emergency stop signal of the portable transmission terminal 1-6 in the slot S6. Then, in the corresponding slots S7, S8, S9, and S11 assigned to the own machine, neither the confirmation response signal nor the emergency stop signal is transmitted. This has the effect of preventing radio wave interference caused when a plurality of portable transmission terminals 1 or vehicle-mounted transmission terminals 2 transmit at the same timing in a wireless area in a mine site.

On the other hand, the portable transmission terminal 1-10 located far away from the portable transmission terminal 1-6 or unable to receive the emergency stop signal of the portable transmission terminal 1-6 due to a shield or the like is assigned the corresponding slot. In S10, the confirmation response signal is transmitted. Alternatively, when the emergency stop button 107 of the portable transmission terminal 1-10 is pressed, the portable transmission terminal 1-10 transmits an emergency stop signal or an acknowledgment signal and an emergency stop signal in the assigned corresponding slot S10. do.

This means that the portable transmission terminals 1-6 and 1-10 will be transmitted at the same timing in the wireless area in the mine site, but it is located in a place where the emergency stop signal of the portable transmission terminal 1-6 cannot be received. It is very unlikely that the transmission signal of the portable transmission terminal 1-10 will cause interference.

In the present embodiment, as described above, in the normal state, the transmission data for the confirmation response is stored and transmitted in one slot of the own machine. Then, in an emergency, the transmission data for the acknowledgment is switched to the transmission data for the emergency stop instruction, and the transmission data for the emergency stop instruction is stored in one slot and transmitted. After that, the data for the emergency stop instruction continues to be transmitted using other slots as well.

Next, the operation of the portable transmission terminal 1 will be described in detail using the flowchart of FIG. It is assumed that the flowchart of FIG. 8 is performed in a predetermined time (for example, 1 second) unit.

The antenna 101 of the portable transmission terminal 1 receives a wireless signal (S001), and the baseband processor 103 performs reception processing necessary for wireless communication at the wireless communication layer 121 (S002). Then, the application processor 104 performs reception processing necessary for functional safety at the secure communication layer 122 (S003).

The application processor 104 determines at the application layer 123 whether the received data, which is the output from the safety communication layer 122 and after the safety is confirmed, is a signal instructing an emergency stop (S004). If it is not a signal instructing an emergency stop (S004: No), the application processor 104 determines whether the emergency stop button 107 is pressed in the application layer 123 (S005).

When it is determined that the emergency stop button 107 is not pressed (S005: No), the application processor 104 generates transmission data for an acknowledgment at the application layer 123 (S006), and functions at the safety communication layer 122. It is output after performing the necessary transmission processing for safety (S007). The baseband processor 103 inputs this, performs transmission processing necessary for wireless communication in the wireless communication layer 121, and outputs it to the wireless device 102 (S008). The wireless device 102 inputs this, performs processing such as modulation, frequency conversion, filtering, and amplification, and outputs a confirmation response signal from the antenna 101 (S009).

On the other hand, when it is determined in S005 that the emergency stop button 107 is pressed (S005: Yes), the application processor 104 generates transmission data for instructing the emergency stop in the application layer 123 (S010), and the safety communication layer. At 122, necessary transmission processing is performed for functional safety (S011). After that, the baseband processor 103 performs transmission processing necessary for wireless communication (S012), the wireless device 102 performs processing such as modulation, and outputs an emergency stop signal via the antenna 101 (S013).

By looping to S005 after the end of S013, the emergency stop signal is continuously transmitted using a slot different from the slot of the own machine while the emergency stop button 107 is pressed. (Loop from S013 to S005). If the emergency stop button 107 is released (S005: No), the application processor 104 controls the radio output so as to stop the emergency stop signal, and controls to output the acknowledgment signal (S006 to). S009).

Further, in S004, when the received signal is a signal instructing an emergency stop (S004: Yes), the application processor 104 controls the output so as to stop the radio signal (S015). As a result, neither the acknowledgment signal nor the emergency stop signal is transmitted.

In the present embodiment, when the emergency stop signal is transmitted, the emergency stop signal is densely continuously transmitted using continuous slots. In addition to this implementation, the effect on the mobile fading environment is reduced, but when transmitting in other slots, it may be implemented such that every other slot or every two is transmitted. That is, it may be an implementation in which an emergency stop signal, an acknowledgment signal, and an emergency stop signal are transmitted using another slot.

Further, when transmitting the emergency stop signal, the output of the radio wave may be higher than the output strength of the confirmation response signal, and the signal may be transmitted to a farther distance.

(Second Embodiment)
Hereinafter, the emergency stop wireless system 1000 according to the second embodiment will be described with reference to the drawings. The schematic configuration of the emergency stop wireless system 1000 according to the second embodiment (FIG. 1), the wireless frame (FIG. 2), the configuration of the portable transmission terminal 1 (FIG. 3), the communication protocol stack (FIG. 4), and the wireless communication layer. Since the data format of the secure communication layer (FIG. 5) is the same as that of the first embodiment, the description thereof will be omitted.

The features of the second embodiment will be described in detail below. In normal times, as described with reference to FIG. 6, are the portable transmission terminal 1 and the vehicle-mounted transmission terminal 2 located in the radio area formed by the relay base station 4 and the control base station 5? A confirmation signal for determining whether or not the portable transmission terminal 1 and the in-vehicle transmission terminal 2 are operating normally without failure is transmitted in a predetermined slot (Fig.). 6).

FIG. 9 is a diagram showing slots and transmission timings of the portable transmission terminals 1-1 to 1-11 in an emergency according to the second embodiment. In an emergency, that is, when the emergency stop button 107 of the portable transmission terminal 1 or the vehicle-mounted transmission terminal 2 is pressed, the portable transmission terminal 1 or the vehicle-mounted transmission terminal 2 receives a confirmation response signal in the corresponding slot assigned in advance. Instead of transmitting, an emergency stop signal indicating an emergency stop, or both an acknowledgment signal and an emergency stop signal are transmitted.

In the second embodiment, the portable transmission terminal 1 or the vehicle-mounted transmission terminal 2 that has transmitted the emergency stop signal transmits the emergency stop signal only in the corresponding slot. Then, the other portable transmission terminal 1 or the vehicle-mounted transmission terminal 2 that has received the emergency stop signal transmits (relays) the emergency stop signal caused by this emergency stop signal in its own slot assigned. The second embodiment is characterized by this point.

This will be described in detail with reference to FIG. In a certain wireless frame, the portable transmission terminal 1-1 transmits an acknowledgment signal in the pre-allocated slot S1, and the portable transmission terminals 1-2, 1-3, 1-4, and 1-5 also transmit, respectively. An acknowledgment signal is transmitted in the slots S2, S3, S4, and S5 assigned in advance.

Here, when the emergency stop button 107 of the portable transmission terminal 1-6 is pressed, the portable transmission terminal 1-6 instead of transmitting the confirmation response signal in the pre-allocated slot S6, the emergency stop signal, Alternatively, an acknowledgment signal and an emergency stop signal are transmitted.

Here, it is assumed that the portable transmission terminals 1-7, 1-8, and 1-9 are located in the vicinity of the portable transmission terminal 1-6 and can receive the emergency stop signal of the portable transmission terminal 1-6. Further, it is assumed that the portable transmission terminal 1-10 is far from the portable transmission terminal 1-6, or cannot receive the emergency stop signal due to a shield or the like. It is also assumed that the portable transmission terminal 1-11 cannot directly receive the emergency stop signal from the portable transmission terminal 1-6.

When the portable transmission terminals 1-7, 1-8, and 1-9 located in the vicinity of the portable transmission terminal 1-6 receive the emergency stop signal of the portable transmission terminal 1-6, the assigned corresponding slot S7 , S8, S9 transmit an emergency stop signal, or an acknowledgment signal and an emergency stop signal. As a result, the emergency stop signal is continuously transmitted in the field, so that there is an effect of site diversity as in the first embodiment.

On the other hand, the portable transmission terminal 1-10 located far away from the portable transmission terminal 1-6 or unable to receive the emergency stop signal of the portable transmission terminal 1-6 due to a shield or the like is assigned the corresponding slot. An acknowledgment signal is transmitted in S10. Alternatively, when the emergency stop button 107 of the portable transmission terminal 1-10 is pressed, the portable transmission terminal 1-10 transmits an emergency stop signal, an acknowledgment signal, and an emergency stop signal.

The portable transmission terminal 1-11 is assigned even if the emergency stop signal of the portable transmission terminal 1-6 cannot be directly received, for example, when the emergency stop signal transmitted by the portable transmission terminal 1-9 is received. An emergency stop signal, an acknowledgment signal, and an emergency stop signal are transmitted in the corresponding slot S11.

Next, the operation of the portable transmission terminal 1 in the second embodiment will be described with reference to the flowchart of FIG. It is assumed that the flowchart of FIG. 10 is performed in a predetermined time (for example, 1 second) unit.

Steps S101 to S104 are the same as those of S001 to S004 of the first embodiment (see FIG. 8). In the second embodiment, when the emergency stop signal is received in S104 (S104: Yes), the application processor 104 performs a process of generating an emergency stop signal (S110). Then, as in the operation of S011 and S012 of the first embodiment, appropriate processing is performed in the safety communication layer and the wireless communication layer (S111, S112), and an emergency stop signal is output from the antenna 101 (S113). ..

On the other hand, when the confirmation response signal is received (S104: No), the processes of S105 to S109 are performed, but since these are the same as those of S005 to S009 of the first embodiment, the description thereof is omitted (see FIG. 8). ..

In the second embodiment, the implementation example in which the emergency stop signal output from one portable transmission terminal 1 (portable transmission terminal 1-6 in the example of FIG. 9) is also output from another portable transmission terminal 1. explained. In this way, since the emergency stop signal is also propagated to the other portable transmission terminal 1 and output, the transmission range of the emergency stop signal is set as compared with the first embodiment in which the same portable transmission terminal 1 is continuously transmitted. Can be expanded.

Although the portable transmission terminal 1 has been mainly described in both the first and second embodiments, the embodiments of the first and second embodiments are also applied to the in-vehicle transmission terminal 2.

Further, as shown in FIG. 4, the relay base station 4 operates in the same communication protocol stack as the portable transmission terminal 1, and the only difference in configuration is that there is no emergency stop button 107. As shown in FIG. 4, the central base station 5 operates with the same communication protocol stack as the portable transmission terminal 1, and the emergency stop input device 32 installed in the control center 30 is wired instead of the emergency stop button 107. It is configured to be connected by the line 33. The embodiments of the first and second embodiments can be applied to the relay base station 4 and the control base station 5.

Further, in the second embodiment, the portable transmission terminal 1 or the vehicle-mounted transmission terminal 2 that has received the emergency stop signal may replace the ID 1222 shown in FIG. 5 with that of its own device and transmit the ID 1222. You may send it without changing it. Alternatively, it may be implemented by adding the ID of the own machine to ID1222 at the time of relaying. When the ID is added, it becomes possible to later track which portable transmission terminal 1 or vehicle-mounted transmission terminal 2 has pressed the emergency stop button 107 and which route the ID was propagated. When replacing or adding ID1222, the safety code 1224 and CRC1214 are updated as necessary.

(Third Embodiment)
The power supply source of the portable transmission terminal 1 is a battery 810 provided in the own machine, and it is desired to implement it so as to minimize power consumption in order to prolong the usage time in one charge. On the other hand, since the in-vehicle transmission terminal 2 can obtain electric power from the vehicle, stable communication can be performed by setting the radio wave output intensity to be stronger without worrying about the power consumption, so that the transport vehicle can be used. It can be stopped stably. Further, even if the radio wave output intensity is the same, the in-vehicle transmission terminal 2 is generally superior in antenna characteristics to the portable transmission terminal 1 and can perform stable communication, so that the transport vehicle can be stabilized. Can be stopped.

In the third embodiment, an implementation example in which the transport vehicle can be stably stopped by combining the first embodiment and the second embodiment will be described. The schematic configuration of the emergency stop wireless system 1000 according to the third embodiment (FIG. 1), the wireless frame (FIG. 2), the configuration of the portable transmission terminal 1 (FIG. 3), the communication protocol stack (FIG. 4), and wireless communication. Since the data formats of the layer and the secure communication layer (FIG. 5) and the transmission timing in the normal state (FIG. 6) are the same as those of the first embodiment, the description thereof will be omitted.

The features of the third embodiment will be described in detail below. FIG. 11 is a diagram illustrating the transmission timing in an emergency according to the third embodiment. In an emergency, that is, when the emergency stop button 107 of the portable transmission terminal 1 or the vehicle-mounted transmission terminal 2 is pressed, the portable transmission terminal 1 or the vehicle-mounted transmission terminal 2 receives a confirmation response signal in the corresponding slot assigned in advance. Instead of transmitting, an emergency stop signal indicating an emergency stop, or an acknowledgment signal and an emergency stop signal are transmitted.

In the third embodiment, when the portable transmission terminal 1 receives the emergency stop signal, the emergency stop signal is transmitted in place of the acknowledgment signal in its own slot assigned by the operation described in the second embodiment. .. On the other hand, when the vehicle-mounted transmission terminal 2 receives the emergency stop signal, it continues to transmit the emergency stop signal by using the other slot by the operation described in the first embodiment. While the vehicle-mounted transmission terminal 2 continues to transmit the emergency stop signal, the other portable transmission terminal 1 or the vehicle-mounted transmission terminal 2 that receives the emergency stop signal receives the emergency stop signal or the confirmation response signal in order to avoid radio wave interference. Both stop without transmitting.

This will be specifically described with reference to FIG. In a certain wireless frame, the portable transmission terminal 1-1 transmits an acknowledgment signal in the pre-allocated slot S1, and the portable transmission terminals 1-2, 1-3, 1-4, and 1-5 also transmit the confirmation response signal. An acknowledgment signal is transmitted in the slots S2, S3, S4, and S5 assigned in advance, respectively.

Here, when the emergency stop button 107 of the portable transmission terminal 1-6 is pressed, the portable transmission terminal 1-6 instead of transmitting the confirmation response signal in the pre-allocated slot S6, the emergency stop signal, Alternatively, an acknowledgment signal and an emergency stop signal are transmitted.

The portable transmission terminals 1-7 and 1-8 and the in-vehicle transmission terminal 2-1 are located in the vicinity of the portable transmission terminal 1-6 and can receive the emergency stop signal of the portable transmission terminal 1-6. And.

When the portable transmission terminals 1-7 and 1-8 located in the vicinity of the portable transmission terminal 1-6 receive the emergency stop signal of the portable transmission terminal 1-6, they are assigned as in the second embodiment. An emergency stop signal, an acknowledgment signal, and an emergency stop signal are transmitted in the corresponding slots S7 and S8.

On the other hand, the in-vehicle transmission terminal 2-1 that has received the emergency stop signal of the portable transmission terminal 1-6 receives the emergency stop signal of the own machine by using the other slots after the slot S9 assigned in advance. Continue to send.

Even if the portable transmission terminals 1-10 and 1-11 can receive the emergency stop signal transmitted from the portable transmission terminal 1-6 in the slot S6, the ID of the vehicle-mounted transmission terminal 2 is subsequently assigned. When an emergency stop signal is received, the wave is stopped to avoid radio wave interference. In the example of FIG. 11, the portable transmission terminals 1-10 and 1-11 are the slots 9 after the slot 6, and the emergency stop signal from the vehicle-mounted transmission terminal 2-1 (the ID of the vehicle-mounted transmission terminal 2 is assigned). In order to receive the emergency stop signal), the emergency stop signal, or the confirmation response signal and the emergency stop signal are not transmitted.

FIG. 12 is a flowchart showing an operation example of the third embodiment. Here, the operation of the portable transmission terminal 1 will be described, but the vehicle-mounted transmission terminal 2-1 also has the same operation. It is assumed that the flowchart of FIG. 12 is carried out in a predetermined time (for example, 1 second) unit as in the first and second embodiments.

In the third embodiment, the type determination information for determining whether the source terminal of the signal is a portable type or an in-vehicle type when the signal is received is stored in advance in the storage device 802 of the application processor 104. It is assumed that it is remembered in. For example, in the third embodiment, the IDs assigned to the portable transmission terminals 1-1 to 1-11 and the vehicle-mounted transmission terminal 2-1 respectively, and information indicating the type of the portable transmission terminal or the vehicle-mounted transmission terminal 2-1. The table associated with is stored in the storage device 802 in advance as the type determination information. Further, it is assumed that the own machine type information for specifying whether the own machine is a portable type or an in-vehicle type is also stored in the storage device 802.

Steps S201 to S204 are the same as those of S001 to S004 of the first embodiment (see FIG. 8). In the third embodiment, when the emergency stop signal is received in S204 (S204: Yes), the application processor 104 uses the ID 1222 in the received signal and the above-mentioned type determination information, so that the signal is in-vehicle type. It is determined whether or not the signal is transmitted from the transmission terminal 2 (S221). When the signal is from the in-vehicle transmission terminal 2 (S221: Yes), the application processor 104 stops the wave without transmitting either the emergency stop signal or the confirmation response signal in order to avoid radio wave interference (S215).

On the other hand, when the signal is not from the vehicle-mounted transmission terminal 2 (S221: No), the application processor 104 performs a process of generating an emergency stop signal (S210). Then, as in the operation of S011 and S012 of the first embodiment, appropriate processing is performed in the safety communication layer and the wireless communication layer (S211 and S212), and an emergency stop signal is output from the antenna 101 (S213). ..

The application processor 104 determines whether or not the own device is the in-vehicle transmission terminal 2 by using the above-mentioned own machine type information stored in the storage device 802 (S222). When the own machine is an in-vehicle transmission terminal 2 (S222: Yes), the operation after S205 is performed. This is the same operation as the loop processing from S013 to S005 of the first embodiment (FIG. 8). By this operation, if the own machine is an in-vehicle transmission terminal 2, the emergency stop signal is continuously transmitted using another slot.

The determination operation of S205 differs between the case where the process proceeds from S204 to S205 and the case where the process proceeds from S222 to S205. When the process proceeds from S204 to S205, S205 determines whether or not the emergency stop button 107 of the own machine is pressed (whether it is continuously pressed). On the other hand, when the process proceeds from S222 to S205, S205 determines whether the emergency stop button 107 of the terminal that is the transmission source of the emergency stop signal is continuously pressed instead of the own machine. This determination can be performed, for example, by determining whether the slot 6 in FIG. 11 has changed from the emergency stop signal to the confirmation response signal.

In S222, if the own device is not the in-vehicle transmission terminal 2 (S2211: No), the process ends. This is the same as the operation of ending after transmitting the emergency stop signal as in S113 (see FIG. 10) of the second embodiment. By ending in this way, when the own device is the portable transmission terminal 1, the operation is the same as that of the second embodiment, that is, the operation of transmitting the emergency stop signal using only the slot assigned to the own device. Become.

Since the transmission processing of the confirmation response signals of S206 to S209 is the same as that of S006 to S009 of the first embodiment, the description thereof will be omitted.

By creating a program for controlling the operation as shown in the flowchart of FIG. 12, the same program can be introduced into both the portable transmission terminal 1 and the vehicle-mounted transmission terminal 2. It should be noted that a program for the portable transmission terminal 1 and a program for the vehicle-mounted transmission terminal 2 may be individually created and introduced into the portable transmission terminal 1 and the vehicle-mounted transmission terminal 2, respectively.

By applying the aspect of the third embodiment, the transport vehicle can be stably stopped by continuously transmitting the emergency stop signal from the in-vehicle transmission terminal 2 using another slot. Can be stopped.

Further, when the in-vehicle transmission terminal 2 operates by the power supplied from the vehicle (for example, the service car 20), the radio wave strength of the in-vehicle transmission terminal 2 is set to be stronger so that the radio wave strength of the portable transmission terminal 1 can be increased. Even if it is set to be weak, the radio wave transmission range of the emergency stop signal can be secured. That is, the radio wave strength of the portable transmission terminal 1 can be adjusted to be weakened, and the consumption of the battery 810 of the portable transmission terminal 1 can be further suppressed.

Here, it is mentioned that the emergency stop signal is stopped and returned to normal. As a means for stopping the emergency stop signal, for example, the emergency stop input device 32 installed in the control center 30 shown in FIG. 1 is provided with a function of releasing (stopping) the emergency stop signal. The operator of the control center 30 performs a predetermined operation on the emergency stop input device 32 as soon as the safety is confirmed. The emergency stop input device 32 transmits a recovery signal for stopping the transmission of the emergency stop signal to the work site via the control base station 5. When the application processor 104 of the portable transmission terminal 1 receives the recovery signal, the application processor 104 stops the transmission of the emergency stop signal. In this way, the recovery signal is transmitted to all the portable transmission terminals 1 or the vehicle-mounted transmission terminal 2 via the control base station 5. This makes it possible to stop the emergency stop signal. Such an operation of restoring to normal business can be applied to any of the first to third embodiments.

In the first to third embodiments, the modulation method is not limited, and a frequency modulation method such as FSK (Frequency Shift Keying), a phase modulation method such as QPSK (Quad Phase Shift Keying), a spread spectrum modulation method, and a frequency hopping are used. It can be applied to all methods and OFDM (Oriental Frequency Development) modulation methods.

In the first to third embodiments, as shown in FIG. 5, a CRC that only detects data errors and does not correct data is adopted to verify the data. As a result, the circuit scale can be made smaller and the amount of signal processing can be suppressed as compared with the configuration in which error correction is performed. Further, each field size such as a serial number and an ID shown in FIG. 5 can be adjusted, for example, each can be made into a small size of several bytes. For example, if the number of terminals is 256 or less, the ID field can be 1 byte (= 256), and for the serial number, 2 bytes (= 65536) if it is permissible to cycle the numerical value in about half a day (43200 seconds). ) Is enough. The amount of information that can be transmitted at one time by reducing the size of the control code (header or footer) to be assigned and reducing the types of control codes to form a simple configuration as in the first to third embodiments. It is also possible to set a longer guard time.

Further, in the case of the present embodiment, the information (content) to be entered in the DATA 1223 shown in FIG. 5 may be at least information that can determine whether it is an emergency stop or an acknowledgment, so it is 1 bit to several bits (in terms of processing). Is about 1 byte), which meets the requirements. When transmitting and receiving such a small size DATA1223, if the control code has a large size, the transmission efficiency for the content data is reduced. In the present embodiment, by reducing the size of the control code, it is possible to alleviate the reduction in the transmission efficiency for the content data.

Although the first to third embodiments have been described by taking a dump truck at a mine site as an example, the embodiment is not limited to the dump truck at a mine, but is applied to construction machinery at a construction site and industrial machinery in each industrial field. It is possible.

As described in detail above, according to the present embodiment, while avoiding unnecessary stop operation of the autonomously traveling transport vehicle, in an emergency, the transport vehicle moving at high speed can be used for communication stability while minimizing the response delay. It can be maintained and stopped remotely.

The present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration. Further, each of the above configurations, functions, processing units, processing means and the like may be realized by hardware by designing a part or all of them by, for example, an integrated circuit. Further, each of the above configurations, functions, and the like may be realized by software by the processor interpreting and executing a program that realizes each function. Information such as programs, tables, and files that realize each function can be placed in a memory, a recording device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

1: Portable transmission terminal (second emergency stop device)
2: In-vehicle transmission terminal (first emergency stop device)
3: In-vehicle receiving terminal 4: Relay base station 5: Control base station 10: Dump truck 20: Service car 30: Control center 31: Operation management system 32: Emergency stop input device 102: Wireless device 103: Base band processor 104: Application processor 105: Power supply 106: Display 107: Emergency stop button 108: Controller 1000: Emergency stop wireless system

Claims (13)

An emergency stop signal that is connected to the wireless device, the operation button, the operation button, and the wireless device, and stops the vehicle traveling in the work site according to the operation of the operation button is transmitted. An emergency stop device having a controller that controls the radio device to transmit.
The controller
A baseband processor that controls the radio device so as to output an emergency stop signal in the first slot assigned to the own machine among the slots in which the specified unit time is divided into a plurality of slots according to the time division multiplexing method.
When it is detected that the operation button has been operated, the baseband processor is controlled so as to transmit an emergency stop signal in the first slot assigned to the own machine, and slots other than the first slot are transmitted. However, the application processor that controls the radio output so that the emergency stop signal caused by the operation continues to be transmitted in the work site,
An emergency stop device characterized by having. In the emergency stop device according to claim 1,
The controller
When it is detected that the operation button has been operated, the baseband processor is controlled so as to transmit the emergency stop signal even in slots other than the first slot assigned to the own machine, and other emergency slots are transmitted. An emergency stop device characterized in that when it detects that an emergency stop signal has been input from a stop device, it controls the radio output so that the wave stops. In the emergency stop device according to claim 1,
The controller
When it detects that an emergency stop signal has been input from another emergency stop device, it is characterized in that the baseband processor is controlled to transmit the emergency stop signal in the first slot assigned to the own machine. Emergency stop device. In the emergency stop device according to claim 1,
The controller
When the operation button is not operated, the baseband so as to transmit a confirmation signal for indicating to the outside that the own machine can communicate in the first slot assigned to the own machine. Control the processor,
When it is detected that the operation button has been operated, the radio device is controlled to switch from the transmission of the confirmation signal to the transmission of the emergency stop signal and transmit the emergency stop signal in the slot. An emergency stop device that features. In the emergency stop device according to claim 1,
The emergency stop device is configured as either a first emergency stop device mounted on a vehicle in the work site or a second emergency stop device that can be carried by a person in the work site.
The emergency stop signal includes an identification signal that identifies the source emergency stop device.
The controller
When it is detected that an emergency stop signal has been input from another emergency stop device, whether the emergency stop signal is a signal transmitted from the first emergency stop device or a signal transmitted from the second emergency stop device. Is determined based on the identification signal included in the emergency stop signal.
When it is determined that the signal is transmitted from the first emergency stop device, the output is controlled so that the wave stops.
When it is determined that the signal is transmitted from the second emergency stop device, the baseband processor is controlled to transmit the emergency stop signal in the first slot assigned to the own machine, and the own machine controls the signal. It is determined whether it is the first emergency stop device or the second emergency stop device, and if the own machine is the first emergency stop device, an emergency stop signal is given in a slot other than the first slot assigned to the own machine. An emergency stop device comprising controlling the baseband processor to transmit. An emergency stop for stopping an autonomous vehicle that is connected to a wireless device, an operation button, the operation button, and the wireless device and is traveling in the work site according to the operation of the operation button. A plurality of emergency stop devices having a controller for controlling the wireless device so as to transmit a signal, and a wireless receiving device mounted on the autonomous traveling vehicle, which is an emergency stop caused by the operation of the operation button. An emergency stop wireless system comprising a wireless receiving device that receives a signal and stops the traveling of the autonomous traveling vehicle.
The controller of the emergency stop device
A baseband processor that controls the wireless device so as to output a signal in the first slot assigned to the own machine among the slots in which the specified unit time is divided into a plurality of slots according to the time division multiplexing method.
When it is detected that the operation button has been operated, the baseband processor is controlled so as to transmit an emergency stop signal in the first slot assigned to the own machine, and slots other than the first slot are transmitted. However, the application processor that controls the radio output so that the emergency stop signal caused by the operation continues to be transmitted in the work site,
An emergency stop wireless system characterized by having. In the emergency stop wireless system according to claim 6.
The controller
When it is detected that the operation button has been operated, the baseband processor is controlled so as to transmit the emergency stop signal even in slots other than the first slot assigned to the own machine, and other emergency slots are transmitted. An emergency stop radio system characterized in that when it detects that an emergency stop signal has been input from a stop device, it controls the radio output so that the wave stops. In the emergency stop wireless system according to claim 6.
The controller
When it detects that an emergency stop signal has been input from another emergency stop device, it is characterized in that the baseband processor is controlled to transmit the emergency stop signal in the first slot assigned to the own machine. Emergency stop wireless system. In the emergency stop wireless system according to claim 6.
The controller
When the operation button is not operated, the baseband so as to transmit a confirmation signal for indicating to the outside that the own machine can communicate in the first slot assigned to the own machine. Control the processor,
When it is detected that the operation button has been operated, the wireless device is controlled to switch from the transmission of the confirmation signal to the transmission of the emergency stop signal and transmit the emergency stop signal in the slot. An emergency stop wireless system that features. In the emergency stop wireless system according to claim 6.
One of the plurality of emergency stop devices is a first emergency stop device mounted on a manned vehicle in the work site, and the other is a second emergency stop device that can be carried by a person in the work site. can be,
The emergency stop signal includes an identification signal that identifies the source emergency stop device.
The controller
When it is detected that an emergency stop signal has been input from another emergency stop device, whether the emergency stop signal is a signal transmitted from the first emergency stop device or a signal transmitted from the second emergency stop device. Is determined based on the identification signal included in the emergency stop signal.
When it is determined that the signal is transmitted from the first emergency stop device, the output is controlled so that the wave stops.
When it is determined that the signal is transmitted from the second emergency stop device, the baseband processor is controlled so as to transmit the emergency stop signal in the first slot assigned to the own machine, and the own machine controls the signal. It is determined whether the device is the first emergency stop device or the second emergency stop device, and if the own machine is the first emergency stop device, an emergency stop signal is sent even in a slot other than the first slot assigned to the own machine. An emergency stop radio system comprising controlling the baseband processor to transmit. In the emergency stop wireless system according to claim 6.
Further, an emergency stop wireless system comprising one or a plurality of base stations that receive the emergency stop signal transmitted from the emergency stop device and relay the emergency stop signal to the wireless receiving device. In the emergency stop wireless system according to claim 11.
Further, it has an emergency stop input device that is connected to any of the base stations and is operated to transmit an emergency stop signal to the autonomous traveling vehicle via the base station. system. In the emergency stop wireless system according to claim 12,
The emergency stop input device further transmits a recovery signal for stopping the transmission of the emergency stop signal in the work site via the base station.
An emergency stop wireless system, wherein the controller of the emergency stop device further controls output so as to stop transmission of the emergency stop signal when the recovery signal is received.

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