JPH0653891A - Radio type equipment for controlling operation of mobile vehicle - Google Patents

Abstract

PURPOSE:To easily install this radio type mobile vehicle operation controlling equipment by transmitting a signal on the side of the mobile vehicle to a repeater station, transmitting the signal to the ground side by relaying it through the repeater station and transmitting the signal transmitted from the ground side to the mobile vehicle side while relaying the repeater station in the set order of repeater. stations. CONSTITUTION:A controller 4 on a mobile vehicle A transmits dta including self identification(ID) information by specifying a repeater station U determined based upon a position on a guide line detected by a current position detecting means M. In the case of communication with a base station B, the repeater station U specifies and transmits a destination to be transmitted which is set up only when the repeater station U itself is specified as the receiving destination of receiving data. In the case of transmission to the mobile vehicle A, the received data are transmitted to a destination to be transmitted which is specified by a management controller 5. The controller 5 determines the repeating order of the repeater station U for transmitting transmission data based upon repeater station identifiction information written in the received data. Namely data to the base station B are sent to the mobile vehicle A reversely to the relay order of the repeater station U.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention wirelessly communicates a data signal between a ground-side control means equipped with a wireless communication device and a moving vehicle-side control means equipped with a wireless communication device. The present invention relates to a wireless mobile vehicle operation control facility configured as described above.

[0002]

2. Description of the Related Art In a wireless mobile vehicle operation control facility, there is a limit to the size of a communication area in which one antenna can communicate. In addition, if an object that absorbs or reflects radio waves is in the communication area, there may be a place where communication is impossible even if the electric field strength is sufficient. Therefore, conventionally, as shown in FIG. 8, a plurality of communication devices 1 connected to a ground-side management means 5 by wires are dispersedly arranged in a traveling range of a moving vehicle so that a communication-disabled portion does not occur. (For example, Japanese Patent Application No. 2-2263 previously proposed by the applicant)
62). In the figure, A is a moving vehicle, 4 is a control controller as a control means on the moving vehicle side, 6 is a communication device on the moving vehicle side, and communication devices 1 and 6 on the ground side and the moving vehicle side are modems. 2 and antenna 3.

[0003]

However, in the above-mentioned conventional wireless mobile vehicle operation control facility, it is necessary to lay a cable as described above, and when installing, moving or expanding the facility, this cable laying is required. The work was hard. The present invention has been made in view of the above circumstances, and an object thereof is to provide a wireless mobile vehicle operation control facility that can be easily installed.

[0004]

The wireless mobile vehicle operation control equipment of the present invention comprises a ground-side management means equipped with a wireless communication device and a mobile vehicle control means equipped with a wireless communication device. Is configured to wirelessly communicate a data signal between the mobile vehicle and each of the wireless communication relay stations. The relay station uses the preset transmission destination in the case of communication to the ground side only when the reception data designates itself as the destination, and in the case of communication to the moving vehicle side. The mobile vehicle is configured to relay the data signal by designating the transmission destination specified by the received data, and the moving vehicle is provided with a current position detecting means for detecting the current position within the traveling range. The control means on the side based on the detection information of the current position detection means. Is configured to determine one of the plurality of relay stations as a transmission destination, specify the transmission destination, and execute data communication including its own identification information, and the ground side management means. Is configured to perform data communication including identification information of the moving vehicle and relay order information by the relay station. A second characteristic configuration is that each of the relay stations, in the case of communication to the ground side, transmits a data signal obtained by adding relay station identification information for identifying itself to the received data, and the ground side management means, The relay order information is determined based on the relay station identification information.

[0005]

According to the first characteristic configuration, the data signal containing the identification information of itself transmitted from the control means on the moving vehicle side is transmitted to one wireless relay station corresponding to the position of the moving vehicle, Further, the data is relayed by a relay station designated in advance and transmitted to the management means on the ground side. The data signal transmitted from the ground side management means is wirelessly relayed to the relay station in the relay order set by the ground side management means and transmitted to the moving vehicle side. According to the second characteristic configuration, the transmission data to the mobile vehicle side is transmitted by relaying the relay stations in the relay order determined by the relay station identification information in the reception data received by the ground side.

[0006]

According to the first characteristic configuration, since each transmission data is transmitted by relaying each relay station wirelessly, it is necessary to lay a wire for connecting each relay station and the ground side management means. Therefore, it is possible to provide a wireless mobile vehicle operation control facility that can be easily installed. Moreover, since the data signal transmitted from the control means on the moving vehicle side is designated and transmitted to one wireless relay station corresponding to the position of the moving vehicle, the transmission configuration can be simplified and no interference occurs. Thus, it is possible to provide a wireless mobile vehicle operation control facility capable of efficiently relaying and transmitting a data signal. In other words, when the control means on the moving vehicle side transmits without specifying the transmission destination of the data signal, each of the plurality of relay stations that has received the data signal transmits the data signal on the ground side in the preset relay order. Since the configuration is such that a data signal is transmitted to the management means, interference is likely to occur, and signal processing is complicated to avoid interference, and the configuration is complicated.
According to the first characteristic configuration, it is possible to efficiently transmit without such a disadvantage. According to the second characteristic configuration, the transmission order data transmitted to the ground side includes the relay order information of each relay station that relayed this data. Therefore, the ground side management means stores the data in the reverse order of the relay order. Since the relay order of each relay station may be determined so as to be transmitted, the relay order of each relay station can be easily determined. Therefore, it is possible to provide a wireless mobile vehicle operation control facility capable of more efficient transmission.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 2 shows an embodiment in which a wireless mobile vehicle operation control facility is installed. As shown in FIG. 2, a guide line L for guiding a moving vehicle is laid on the ground side along the traveling route of the moving vehicle A, and, for example, a load transfer operation or the like is performed on a side portion of the traveling route. A work station ST is installed for this purpose. Although not described in detail, the guide line L is laid using a light reflection tape having a predetermined width, a magnetic tape having magnetism, or the like. Therefore, on the moving vehicle side, a steering control sensor for detecting whether or not the vehicle is traveling along the guide line L as appropriate is provided, and the steering control is performed based on the information of the steering control sensor. Will be done. Further, one base station B, two mobile vehicles A, and six relay stations U are provided, and communication devices provided in each are connected by a wireless communication line to move to the base station B. Car A
It is configured to perform communication between them. In addition, in the figure, in order to distinguish each moving vehicle A
1 to 6 are added to the symbol U to distinguish each relay station U. Further, the six relay stations U are distributed and arranged on the ceiling of the traveling range of the moving vehicle A as shown in FIG. Then, as shown in FIG. 1 or 2, the moving vehicle A detects an indicator m such as a code mark or an ID card installed on the road surface to indicate the check points L1 to L7 on the guide line L. A checkpoint detecting sensor 7, a wireless communication device 6 for a moving vehicle, and a control controller 4 as control means on the moving vehicle side are provided.
Is provided with a management controller 5 as ground-side management means and a wireless communication device 1 for the ground side. The relay station U is provided with a wireless communication device for relay and a signal processing device. Controller (not shown) is provided.
The wireless communication device 6 for mobile vehicles, the wireless communication device 1 for ground, and the wireless communication device for relay are respectively
A modem 2 and an antenna 3 are provided. Therefore, in this wireless mobile vehicle operation control facility, the communication between the control controller 4 as the control means on the mobile vehicle side and the management controller 5 as the management means on the ground side is performed by a plurality of relay stations. It is configured to wirelessly relay U.

Next, referring to FIG. 2, the guide line L of the moving vehicle A is shown.
The current position detecting means M for detecting the above current position will be described. Controller 4 provided for mobile vehicle A
In advance, the map information of the traveling route including the station ST position, the positions of the check points L1 to L7 on the guide line L, and the like is stored in advance, and the control controller 4 uses the detection information of the check point detection sensor 7 to detect the present information. Is configured to detect between which checkpoints the position of the moving vehicle is located. That is, if the checkpoint detection sensor 7 detects L4 after detecting L5, it is determined that the current position of the moving vehicle A is between L2-L3-L4, and L5 is detected after detecting L4. Then, it is determined that the current position of the moving vehicle A is between L5 and L6. Therefore, the control controller 4 and the checkpoint detecting sensor 7 function as the current position detecting means M.

Next, a communication method between the moving vehicle A and the base station B will be described with reference to FIG. In this wireless mobile vehicle operation control facility, first, the mobile vehicle side requests the base station B to transmit information in the form of a work request or the like to start communication, and the base station B requests the work request. It is configured to issue a work instruction to the moving vehicle based on the. The control controller 4 of the moving vehicle A transmits data including its own identification information, and designates the relay station determined based on the position on the guide line L detected by the current position detection means M, It is configured to send. That is, the controller 4 for control is
If it is between L2, relay station U1, if it is between L2-L3-L4, relay station U2, if it is between L4-L5, relay station U3.
, Between the L5-L6, the relay station U4, L3-L6-
If it is between L7, the relay station U5 is designated, and if it is between L1 and L7, the relay station U6 is designated and transmitted. Further, each relay station U, in the case of communication to the base station B, is configured to specify and set a preset transmission destination only when the reception data designates itself as the transmission destination. Has been done. That is, in the case of communication to the base station B, each relay station U is preset to transmit in the directions shown below. Relay station U1 → Base station B1 Relay station U2 → Relay station U1 Relay station U3 → Relay station U2 Relay station U4 → Relay station U5 Relay station U5 → Relay station U6 Relay station U6 → Base station B1 At this time, each relay station U Is configured to transmit a data signal obtained by adding relay station identification information for identifying itself to the received data. Further, each relay station U is configured to transmit the reception data to the destination designated by the management controller 5 when transmitting to the moving vehicle A.

The management controller 5 is configured to determine the relay order of the relay station transmitting the transmission data, based on the relay station identification information described in the reception data. That is, the data is transmitted to the moving vehicle A in the reverse order of the relay order of the relay station to which the data transmitted to the base station is relayed. Therefore, as shown in FIG.
Is between L4 and L5, the transmission data transmitted from the mobile vehicle A1 to the base station B is transmitted along the route of the mobile vehicle A1 → relay station U3 → relay station U2 → relay station U1 → base station B, The transmission data transmitted from A2 to the base station B is transmitted along the route of the moving vehicle A2 → relay station U5 → relay station U6 → base station B. Then, the transmission data transmitted from the base station B to the mobile vehicles A1 and A2 is transmitted in the reverse direction of the transmission route of the data.

Next, the format of the data signal used in the wireless mobile vehicle operation control facility will be described. As shown in FIG. 3, the data signal is assigned a start-of-header SOH, a header H, a start-of-text STX, data D, and an end-of-text ETX from the beginning. The start of header SOH is for detecting the beginning of the header H, and the end of text ETX is for detecting the end of the data D. Furthermore, in the header H,
The following destination address H1, command H2, final destination address H3, source address H4, and communication path data H5 are assigned. The address H1 of the next transmission destination indicates, so to speak, the address of the other party to be received next, and is rewritten every time the data signal is transferred. The data H5 of the communication route indicates a route through which data is communicated or a route for communication, and when transmitting from a moving vehicle to a base station, the address of the communicated station is written in the communication order, When transmitting to a moving vehicle, the address of the base station of the transmission source, the address of the relay station U for transfer, and the address of the destination moving vehicle are written in the communication order.

For example, in the data signal transmitted from the moving vehicle A1 to the base station B, the content of the data signal transmitted from the moving vehicle A1 moves to the next destination address H1 as shown in FIG. The address of the relay station U3 corresponding to the position of the car is written, and the address of the base station B is written in the final destination H3. The address H4 of the sender is written with the address of the moving vehicle A1 as the sender, and the data H5 of the communication path is written with the address of the moving vehicle A1 as the address of the transmitting station. The data signal transmitted from the mobile vehicle A1 is received by the relay stations U2 to U4 within the reception range, the content of the header is analyzed, and the address H1 of the transmission destination is compared with the address of each station. Then, it is transferred by the relay station U3 having an address that matches the destination address H1. The other relay stations U2 and U4 ignore the signal. At the time of transfer, the address U2 of the relay station to be received next is determined based on the final transmission destination B written in H3 as shown in the above equation 1, and as shown in FIG. The address H1 is rewritten to the address of the relay station U2, and its own address U3 is added to the data H5 of the communication path. The data signal thus transmitted from the moving vehicle A1 is sent to the base station B via U3, U2 and U1. Note that FIG. 6 shows the data signal received by the base station B at this time, and the data D of FIGS. 4 to 6 includes the current position of the moving vehicle, the work result, the moving state, or the stopped state. Information is written.

Then, the management controller 5 of the base station B which has received this data, based on this received data,
As shown in FIG. 7, data D is data instructing a work command for work vehicle A1, and H5 is data obtained by reversing the communication order by adding its own address B1 to H5 of the received data.
1 is the relay station U to be transmitted next determined based on this H5
1 is set, H3 is set to the address of the mobile vehicle A1 which is the final destination, and H4 is set to its own address B as the transmission source to transmit this data signal. The data signal transmitted from the base station B is transmitted to the relay station U within the reception range as described above.
1, the content of the header received by U6 is analyzed, and the relay station U1 having an address that matches the destination address H1
Transferred by. The transfer destinations are determined in the transfer order based on H6 of the received data, and the relay stations H1, U2, U
Then, it is transmitted to the moving vehicle A1 via 3.

Incidentally, when the work request or the like is not transmitted from the moving vehicle side to the base station B, the base station B is configured to start the transmission as follows. When the current position of the moving vehicle A is known, the relay station U is relayed to the position in the preset relay order and transmitted to the moving vehicle A. When the current position of the moving vehicle A is unknown, it is transmitted to all the relay stations U in a preset relay order, and each relay station U relays the data signal and transmits to the moving vehicle A. Become.

[Other Embodiments] In the above embodiment, a guide line L for guiding a moving vehicle is laid with a light reflecting tape, a magnetic tape, or the like, and the moving vehicle A is run along the line L. Although it is configured to detect the check points L1 to L7 using a reflective tape or a magnetic tape to detect the current position of the moving vehicle, the guide line L and the check points L1 to L7 are not laid and the vehicle is moved. The vehicle A is provided with a moving direction detecting device such as a gyroscope and a moving distance detecting device for detecting the moving distance of the moving vehicle. The current position of the moving vehicle A is obtained from the detection information of these detecting devices, and according to a preset course. The moving vehicle A may be run. In the above-mentioned embodiment, the relay order of the data in the relay station U when the data is transmitted from the base station B to the moving vehicle A is the communication path data H5 of the signal received by the base station B.
The relay order may be determined based on the current position information of the moving vehicle A recorded in the data D of the received signal, which is obtained more. In the moving vehicle A, the base station B, and the relay station U in the above-mentioned embodiment, each communication device covers each area for communication, but a set of communication device including the modem 2 and the antenna 3 fails. However, in order that the remaining communication devices can continue the communication within the same communication area, the plurality of modems 2 may share the same communication area and the communication system may be duplicated. Although the mobile vehicle A in the above-described embodiment specifies and transmits the relay station U corresponding to the position of the mobile vehicle A, even if one of the relay stations U fails, the communication can be continued at the remaining relay stations. So, moving car A
If the command from the base station B is not received, it is determined that one of the relay stations U is out of order, and another relay station is designated as the destination of the data signal to be transmitted and the data signal is transmitted through the other route. You can For example, when the mobile vehicle A1 transmits at the position shown in FIG. 2, if the command from the base station B does not arrive even if the first destination transmits at U3, the relay stations U1 to U1 on the route at this time are transmitted. If any of U3 is out of order, the transmission destination may be changed to U4 and the transmission may be performed again. In addition, the specific configuration of each part necessary for carrying out the present invention, such as the specific configuration of the guide line L of the moving vehicle A, can be variously changed.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of the present invention.

FIG. 2 is a diagram of an embodiment of the present invention.

FIG. 3 is an explanatory diagram of a data signal.

FIG. 4 is an explanatory diagram of a data signal.

FIG. 5 is an explanatory diagram of data signals.

FIG. 6 is an explanatory diagram of a data signal.

FIG. 7 is an explanatory diagram of data signals.

FIG. 8 is a block diagram showing a conventional configuration.

[Explanation of symbols]

 1, 6 Wireless communication device 4 Control means on mobile side 5 Management means on ground A Mobile vehicle M Current position detection means U Relay station

Claims (2)

[Claims] 1. Between a ground side management means (5) equipped with a wireless communication device (1) and a mobile vehicle control means (4) equipped with a wireless communication device (6), A wireless mobile vehicle operation control facility configured to wirelessly communicate a data signal, wherein a plurality of wireless relay stations (U) are distributed and arranged in a traveling range of the mobile vehicle (A). Each relay station (U) only communicates with a preset transmission destination in the case of communication to the ground side and with a mobile vehicle only when the reception data designates itself as the destination. In the case of, the current position detecting means is configured to relay the data signal by designating the transmission destination designated by the received data, and detecting the current position of the moving vehicle (A) within the traveling range. (M) is provided, and the control means (4) on the moving vehicle side is provided with the current position detection means (M Wherein the plurality of relay stations, based on the detection information (U)
One of the destinations is determined as a transmission destination, the transmission destination is designated, and data communication is executed by including its own identification information. The ground side management means (5) is A wireless mobile vehicle operation control facility configured to perform data communication including identification information of the mobile vehicle (A) and relay order information by the relay station (U). 2. In the case of communication to the ground side, each relay station (U) transmits a data signal obtained by adding relay station identification information for identifying itself to received data, and the ground side management means. The wireless mobile vehicle operation control facility according to claim 1, wherein (5) is configured to determine the relay order information based on the relay station identification information.