WO2021106302A1 - 通信システム、通信方法、及び無線基地局 - Google Patents
通信システム、通信方法、及び無線基地局 Download PDFInfo
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- WO2021106302A1 WO2021106302A1 PCT/JP2020/033389 JP2020033389W WO2021106302A1 WO 2021106302 A1 WO2021106302 A1 WO 2021106302A1 JP 2020033389 W JP2020033389 W JP 2020033389W WO 2021106302 A1 WO2021106302 A1 WO 2021106302A1
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- communication
- base station
- transmission rate
- information
- traveling
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- 230000006854 communication Effects 0.000 title claims abstract description 564
- 238000004891 communication Methods 0.000 title claims abstract description 562
- 238000000034 method Methods 0.000 title claims description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 496
- 238000003860 storage Methods 0.000 claims description 25
- 230000003287 optical effect Effects 0.000 description 15
- 238000012986 modification Methods 0.000 description 10
- 230000004048 modification Effects 0.000 description 10
- 230000004044 response Effects 0.000 description 9
- 230000008859 change Effects 0.000 description 5
- 230000006866 deterioration Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 230000004931 aggregating effect Effects 0.000 description 2
- 230000002776 aggregation Effects 0.000 description 2
- 238000004220 aggregation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/04—Wireless resource allocation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W28/00—Network traffic management; Network resource management
- H04W28/16—Central resource management; Negotiation of resources or communication parameters, e.g. negotiating bandwidth or QoS [Quality of Service]
- H04W28/18—Negotiating wireless communication parameters
- H04W28/22—Negotiating communication rate
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0002—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission rate
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0015—Systems modifying transmission characteristics according to link quality, e.g. power backoff characterised by the adaptation strategy
- H04L1/0016—Systems modifying transmission characteristics according to link quality, e.g. power backoff characterised by the adaptation strategy involving special memory structures, e.g. look-up tables
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/02—Arrangements for optimising operational condition
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/50—Allocation or scheduling criteria for wireless resources
- H04W72/51—Allocation or scheduling criteria for wireless resources based on terminal or device properties
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/18—Service support devices; Network management devices
- H04W88/181—Transcoding devices; Rate adaptation devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/10—Small scale networks; Flat hierarchical networks
- H04W84/12—WLAN [Wireless Local Area Networks]
Definitions
- the present invention mainly relates to wireless communication between a wireless communication device and a wireless base station. More specifically, the present invention relates to determining a transmission rate according to the position of a moving wireless communication device.
- Patent Document 1 discloses this type of wireless communication device.
- the base transmission rate is set based on the signal quality such as the received radio wave strength with the communication device of the communication destination before data transmission (normal wireless communication) is performed, and the storage unit. It is configured to be stored in and used when transmitting data.
- Patent Document 1 when the communication device of the communication destination of the wireless communication device moves, the received radio wave intensity changes with the movement of the communication device, so that the base transmission rate is re-established every time the communication device moves. Settings are required, and transmission delays occur frequently.
- the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a communication system capable of quickly and appropriately instructing a transmission rate used for wireless communication with a moving traveling vehicle. ..
- this communication system includes a traveling carriage that travels in a predetermined traveling region in the building, a radio base station, and a controller that communicates with the traveling carriage via the radio base station.
- the traveling trolley includes a trolley wireless communication unit and a trolley control unit.
- the trolley wireless communication unit performs wireless communication with the wireless base station.
- the bogie control unit can transmit travel position information indicating a travel position of the own vehicle in the travel region to the radio base station via the bogie radio communication unit.
- the radio base station includes a first radio base station communication unit and a second radio base station communication unit.
- the first radio base station communication unit performs wireless communication with the traveling carriage.
- the second radio base station communication unit communicates with the controller.
- the controller includes a controller communication unit, a controller storage unit, and a controller control unit.
- the controller communication unit communicates with the radio base station.
- the controller storage unit is recommended when each position information indicating a plurality of positions where the traveling carriage can travel in the traveling area and when the traveling carriage and the radio base station at each position perform wireless communication.
- a transmission rate table showing a correspondence relationship with at least one transmission rate to be performed is stored.
- the controller control unit acquires at least one transmission rate from the transmission rate table based on the position information corresponding to the traveling position information of the traveling carriage received via the radio base station. Transmission rate information is generated from the transmission rate.
- the controller control unit transmits the generated transmission rate information and transmission information for transmission to the traveling carriage to the radio base station via the controller communication unit.
- the radio base station When the radio base station receives the transmission rate information and the transmission information by communication between the second radio base station communication unit and the controller communication unit, the radio base station transmits the transmission information to the first radio base station communication unit. Is transmitted to the traveling carriage at the transmission rate obtained from the transmission rate information.
- the above communication system can have the following configuration. That is, the radio base station transmits the transmission information and the transmission rate information to the traveling carriage via the first radio base station communication unit.
- the trolley wireless communication unit performs wireless communication with the wireless base station at the transmission rate obtained from the transmission rate information received from the wireless base station.
- the traveling carriage can perform wireless communication at an appropriate transmission rate according to the traveling position.
- the above communication system can have the following configuration. That is, the trolley wireless communication unit performs wireless communication with the wireless base station at the same transmission rate as the transmission rate used by the wireless base station during communication with the wireless base station.
- the traveling carriage can perform wireless communication at an appropriate transmission rate according to the traveling position.
- the above communication system preferably has the following configuration. That is, the controller control unit of the controller includes a communication quality acquisition unit and a transmission rate table update unit.
- the communication quality acquisition unit acquires the communication quality when the wireless base station and the traveling carriage perform wireless communication at the transmission rate recommended corresponding to the position of the traveling carriage as communication quality information. ..
- the transmission rate table update unit updates the transmission rate table stored in the controller storage unit based on the communication quality information acquired by the communication quality acquisition unit.
- the wireless base station can stably transmit the transmission information to the traveling carriage even if the situation regarding wireless communication changes.
- the radio base station includes a radio base station control unit that acquires the transmission rate from the transmission rate information received from the controller via the second radio base station communication unit.
- the first radio base station communication unit transmits the transmission at the transmission rate selected from the plurality of transmission rates. Information is transmitted to the traveling carriage.
- the above communication system preferably has the following configuration. That is, the controller can communicate with a plurality of the radio base stations via the controller communication unit. When it becomes necessary to switch the wireless base station which is the wireless communication partner of the traveling carriage depending on the traveling position of the traveling carriage, the controller control unit uses the controller communication unit to perform the wireless communication of the traveling carriage. The transmission rate information and the transmission information corresponding to the position where the traveling carriage travels are transmitted to the radio base station which is the switching destination of the communication partner.
- the switching destination wireless base station immediately performs good wireless communication with the traveling trolley using the transmission rate recommended by the controller. You can start.
- the transmission rate table is a plurality of transmission rate tables used for the wireless communication in which the traveling carriage previously performs wireless communication with the wireless base station at a plurality of different transmission rates at each said position. It is preferable that at least one transmission rate capable of communicating with a quality equal to or higher than a predetermined value among the transmission rates of the above and the position information for each position are associated with each other.
- the transmission rate information and the transmission information are described in a communication frame transmitted by the controller communication unit to the radio base station.
- both the transmission rate information and the transmission information are described in the data body portion in the communication frame.
- this communication method is used by a communication system including a traveling carriage traveling in a predetermined traveling area in a building, a radio base station, and a controller communicating with the traveling carriage via the radio base station.
- This communication method includes a traveling position information notification step, a transmission rate instruction step, and a communication step.
- the traveling position information notification step the traveling carriage transmits traveling position information indicating the traveling position of the own vehicle in the traveling area to the radio base station.
- the transmission rate instruction step the controller and the traveling trolley at the traveling position of the traveling trolley indicated by the traveling position information based on the traveling position information of the traveling trolley received via the wireless base station. Transmission rate information indicating at least one transmission rate recommended for wireless communication with the radio base station is transmitted to the radio base station.
- the radio base station performs wireless communication with the traveling carriage at the transmission rate obtained from the transmission rate information received from the controller.
- a radio base station having the following configuration. That is, this radio base station includes a first radio base station communication unit, a second radio base station communication unit, and a radio base station control unit.
- the first radio base station communication unit performs wireless communication with a moving wireless communication device.
- the second radio base station communication unit communicates with other communication devices.
- the radio base station control unit analyzes a communication frame received from the other communication device via the second radio base station communication unit, and acquires a transmission rate from the transmission rate information included in the communication frame.
- the first wireless base station communication unit performs wireless communication with the wireless communication device at the transmission rate acquired from the communication frame by the wireless base station control unit.
- the schematic diagram which shows the structure of the communication system which concerns on one Embodiment of this invention The image diagram which shows the structure of the communication system.
- FIG. 1 is a schematic view showing a configuration of a communication system 100 according to an embodiment of the present invention.
- FIG. 2 is an image diagram showing the configuration of the communication system 100.
- the communication system 100 shown in FIG. 1 is used, for example, in a semiconductor manufacturing factory having a plurality of processing devices (not shown), an automated warehouse having a plurality of stacker racks (not shown), and the like.
- the communication system 100 mainly includes a plurality of traveling carriages 1 (only one is shown in FIG. 1), a plurality of wireless base stations 2, a communication management unit (controller) 3, and a wired LAN 4. And are configured with.
- the traveling carriage 1 is a transport device that travels in a traveling region composed of a track 5.
- the track 5 is laid in a building such as a semiconductor manufacturing factory or an automated warehouse.
- the traveling carriage 1 can be used, for example, to transport an object to be transported such as a FOUP (Front Opening Unify Pod) between processing devices, stacker racks, and the like.
- FOUP Front Opening Unify Pod
- Examples of the traveling carriage 1 include, but are not limited to, OHT (Overhead Hoist Transport) of a ceiling traveling vehicle, OHS (OverHead Shuttle), and RGV (Rail Guided Vehicle) of an automated guided vehicle.
- OHT Overhead Hoist Transport
- OHS OverHead Shuttle
- RGV Rail Guided Vehicle
- the track 5 is provided, for example, suspended from the ceiling.
- the present invention is not limited to this, and the communication system 100 of the present embodiment may be applied to a trackless traveling vehicle such as an automatic guided vehicle AGV (Automated Guided Vehicle).
- AGV Automatic Guided Vehicle
- the traveling path and traveling area of the traveling carriage are substantially determined by an guiding tape such as a magnetic tape attached to the floor surface, a guide portion made of a bar code or the like, or the like.
- the traveling carriage 1 includes a carriage wireless communication unit 11 and a carriage control unit 12.
- a known computer is built in the traveling carriage 1.
- This computer includes a CPU, HDD, ROM, RAM, and the like.
- the HDD, ROM, and RAM form a trolley storage unit that stores various information related to wireless communication.
- a program or the like for realizing wireless communication is stored in the non-volatile memory of the trolley storage unit composed of HDD and ROM.
- the trolley wireless communication unit 11 performs wireless communication with the wireless base station 2 in accordance with a predetermined wireless communication standard.
- a wireless communication standard for example, IEEE802.11, 802.11, ARIB STD-108 and the like can be used, but the wireless communication standard is not limited thereto.
- Wireless communication can be realized by a wireless LAN that conforms to the wireless communication standards and the like exemplified above.
- the trolley wireless communication unit 11 performs wireless communication with one wireless base station 2 corresponding to the traveling position of the traveling trolley 1 among the plurality of wireless base stations 2.
- the wireless communication coverage areas of the plurality of wireless base stations 2 are different from each other. Therefore, the wireless base station 2 of the other party with which the trolley wireless communication unit 11 performs wireless communication may change according to the traveling position of the traveling trolley 1.
- the trolley control unit 12 creates transmission information on the trolley side and controls wireless communication in the trolley wireless communication unit 11.
- the dolly side transmission information is information for transmission to the communication management unit 3.
- the trolley side transmission information includes traveling position information and the like indicating the traveling position of the traveling trolley 1.
- the traveling position information may include the trolley state such as the target position, speed, acceleration / deceleration, and operating state of the traveling trolley 1.
- the bogie position information may include environmental information in the vicinity of the traveling bogie 1.
- the trolley control unit 12 instructs the trolley wireless communication unit 11 of the transmission rate used for wireless communication. Details of this transmission rate instruction will be described later.
- the carriage control unit 12 acquires traveling position information indicating the traveling position of the own vehicle in the traveling area via a position sensor (not shown) attached to the traveling carriage 1.
- the acquisition of the traveling position information is performed as follows, for example.
- the position sensor attached to the traveling carriage 1 is composed of, for example, an optical receiver.
- a plurality of optical transmitters are provided along the track 5 on which the traveling carriage 1 travels.
- the coordinates of each optical transmitter in the traveling area are stored in advance by the trolley storage unit in a state of being associated with the identification information of each optical transmitter.
- Each optical transmitter transmits an optical signal including identification information for identifying its own device.
- the position sensor optical receiver
- the carriage control unit 12 of the traveling carriage 1 acquires the traveling position information of the own vehicle by specifying the optical transmitter based on the received optical signal.
- a plurality of indicators are provided along the track 5 on which the traveling carriage 1 travels, and the carriage control unit 12 of the traveling carriage 1 has information read by an index reader (not shown).
- the traveling position information of the own vehicle may be acquired by specifying the index based on the above.
- reference marks are provided at predetermined intervals along the track 5 on which the traveling carriage 1 travels, and the carriage control unit 12 of the traveling carriage 1 counts the wheel encoder output to reference the reference marks (ID tags).
- the traveling position information of the own vehicle may be acquired by calculating the distance from the mark.
- the trolley control unit 12 describes the traveling position information of the own vehicle acquired as described above in the trolley side transmission information, and transmits the trolley control unit 12 to the radio base station 2 via the trolley wireless communication unit 11. As a result, the position of the traveling carriage 1 can be notified to the communication management unit 3 described later.
- the correspondence between the identification information of the optical transmitter and the coordinates of the optical transmitter may be stored not on the traveling carriage 1 but on the communication management unit 3 side.
- the trolley control unit 12 transmits the received identification information of the optical transmitter as traveling position information to the communication management unit 3 via the radio base station 2.
- the wireless base station 2 is a so-called access point, is connected to the communication management unit 3 via a wired LAN 4 using a LAN cable, and performs wired communication with the communication management unit 3.
- the wired LAN 4 is provided with an appropriate number of switching hubs 40.
- the wireless base station 2 performs wired communication with the communication management unit 3 and forms a wireless network centered on itself.
- the wireless base station 2 can perform wireless communication with the traveling carriage 1 existing in the area where wireless communication is possible centered on itself.
- a plurality of wireless base stations 2 are provided along the track 5 so that the entire traveling area in which the traveling vehicle 1 travels is covered by the wireless communication available area of the wireless base station 2. ing.
- each of the wireless base stations 2 of the present embodiment information about which position exists in the traveling area of the traveling vehicle 1 included in the wireless communication available area for wireless communication with the traveling vehicle 1 is preset. ing. In particular, in a portion where a part of the radio-communicable area of the two radio base stations 2 is superimposed, the radio base station 2 having jurisdiction over each position of the traveling area included in the superimposed portion is predetermined.
- the correspondence relationship between each position of the traveling carriage 1 and the wireless base station 2 that performs wireless communication with the traveling carriage 1 is determined in advance. Therefore, at each position, the traveling carriage 1 may obtain in some form in advance which transmission rate it is preferable to perform wireless communication with the wireless base station 2, and perform wireless communication according to the obtained results. It will be possible.
- the radio base station 2 includes a first AP communication unit 21, a second AP communication unit 22, and an AP control unit 23.
- AP is an abbreviation for a radio base station.
- the wireless base station 2 has a known computer built-in.
- This computer includes a CPU, HDD, ROM, RAM, and the like.
- the HDD, ROM, and RAM constitute an AP storage unit (not shown) that stores various information related to wireless communication.
- a program or the like for realizing wireless communication is stored in the non-volatile memory of the AP storage unit including the HDD and ROM.
- the computer can be operated as the first AP communication unit 21, the second AP communication unit 22, and the AP control unit 23.
- the first AP communication unit 21 performs wireless communication with the trolley wireless communication unit 11 of the traveling trolley 1 in accordance with the above-mentioned wireless communication standard. Therefore, the traveling carriage 1 corresponds to a wireless communication device.
- the first AP communication unit 21 transmits the later-described management-side transmission information (transmission information) received from the communication management unit 3 by the second AP communication unit 22 to the traveling carriage 1 using an appropriate transmission rate.
- the second AP communication unit 22 performs wired communication with the communication management unit 3 via the wired LAN 4.
- the communication management unit 3 corresponds to a communication device (another communication device) different from that of the traveling carriage 1.
- the second AP communication unit 22 transmits the trolley side transmission information received from the traveling trolley 1 by the first AP communication unit 21 to the communication management unit 3.
- the AP control unit 23 controls the communication performed by the first AP communication unit 21 and the second AP communication unit 22.
- the AP control unit 23 instructs the first AP communication unit 21 of the transmission rate used in wireless communication. Details of this transmission rate instruction will be described later.
- the communication management unit 3 is a computer used to manage each of the plurality of traveling carriages 1.
- the communication management unit 3 assigns each of the plurality of transportation tasks given by the upper layer transportation management unit 6 and the like shown in FIG. 1 or FIG. 2 to any of the plurality of traveling carriages 1 that are managed, and each travels.
- the travel route of the dolly 1 is determined.
- the transport management unit 6 comprehensively controls the transport system to which the communication system 100 is applied.
- the transport management unit 6 is composed of one or a plurality of computers, and performs various controls associated with transport management.
- the communication management unit 3 includes a CTRL communication unit 31, a CTRL storage unit 32, and a CTRL control unit 33.
- CTRL is an abbreviation for a controller.
- the communication management unit 3 is configured as, for example, a known computer having a CPU, ROM, RAM, HDD, etc. (not shown). Various programs, management-related data, and the like are stored in the ROM, RAM, and HDD. By the cooperation of the hardware and software, the computer can be operated as the CTRL communication unit 31, the CTRL storage unit 32, and the CTRL control unit 33.
- the CTRL communication unit 31 is connected to the second AP communication unit 22 of the wireless base station 2 via the wired LAN 4, and performs wired communication with the second AP communication unit 22.
- the CTRL communication unit 31 transmits the management side transmission information by wire communication with the second AP communication unit 22 included in the radio base station 2.
- the first AP communication unit 21 transfers the management side transmission information to the target traveling vehicle 1 by wireless communication. That is, the communication management unit 3 communicates with the traveling carriage 1 via the radio base station 2.
- the CTRL storage unit 32 is composed of an HDD, a ROM, and the like, and is a program for realizing wireless communication and a transmission for instructing a transmission rate used for wireless communication between the traveling carriage 1 and the wireless base station 2. Store the rate table, etc.
- the transmission rate table includes a large number of positions (P1, P2, ..., Pn) included in the traveling area in which the traveling carriage 1 travels, and each position (P1, P2, ... ⁇ , Pn) shows the correspondence between a plurality of transmission rates recommended when the traveling carriage 1 is present and communication quality information at each transmission rate.
- P1, P2, ..., Pn positions included in the transmission rate table are all recommended from the viewpoint of performing high-quality wireless communication.
- the transmission rate table may show, for example, only the correspondence between the position and the transmission rate.
- a table showing the correspondence between each transmission rate and the communication quality information may be stored separately.
- the transmission rate table does not have to show the correspondence between the transmission rate and each position included in the traveling area in which the traveling carriage 1 travels.
- each route range (of a predetermined length) included in the traveling area It may show the correspondence between the transmission rate (corresponding to a line segment) or the correspondence between the area of a predetermined length (corresponding to a surface of a predetermined area) included in the traveling area and the transmission rate.
- the transmission rate table is created in advance based on the data obtained in advance. Specifically, for example, when the communication system 100 is commissioned, a survey is conducted at each position of the traveling vehicle 1 regarding a transmission rate capable of performing high-quality wireless communication with the radio base station 2 having jurisdiction over the position. (Survey work).
- the traveling carriage 1 moves in order to a large number of positions P1, P2, ..., Pn in the traveling area.
- the traveling carriage 1 is stopped at each position, and a test wireless communication is performed with the radio base station 2 having jurisdiction over the position by using a plurality of different transmission rates.
- the radio base station 2 can normally receive the data from the traveling carriage 1, the radio base station 2 transmits the response data to the traveling carriage 1 at the same transmission rate as the transmission rate used for the transmission by the traveling carriage 1.
- the traveling trolley 1 and / or the radio base station 2 totals the number of transmissions and the number of times that the traveling trolley 1 can be received within a predetermined time with respect to the current position of the traveling trolley 1. As a result, communication quality information corresponding to each of the different transmission rates can be acquired.
- communication quality information a well-known packet error rate, timeout occurrence rate, transmission success rate, number of retransmissions, and the like can be mentioned.
- the format indicating the communication quality and the calculation (acquisition) method thereof are not particularly limited.
- the communication management unit 3 By performing wired communication with the wireless base station 2, the communication management unit 3 has a plurality of transmission rates used in the wireless communication performed by the traveling carriage 1 and / or the wireless base station 2 per position. Acquire communication quality information corresponding to each. The communication management unit 3 acquires this communication quality information for each of a large number of positions P1, P2, ..., Pn.
- the communication management unit 3 can acquire the position information of the traveling trolley 1 from the trolley side transmission information received from the traveling trolley 1 via the wireless base station 2.
- the communication management unit 3 may directly acquire the communication quality information aggregated by the traveling vehicle 1 and / or the wireless base station 2, or the communication management unit 3 itself determines the success or failure of the wireless communication via the wireless base station 2. May acquire communication quality information by aggregating.
- the communication management unit 3 communicates with respect to one position on which the traveling carriage 1 travels, which is equal to or higher than a preset communication quality threshold among a plurality of transmission rates used for wireless communication performed at that position. Take out one or more transmission rates that can achieve the quality and arrange them in order of good communication quality. If there is only one transmission rate that satisfies the above conditions, only one transmission rate is described in the table for the position of the traveling carriage 1 at that time.
- the communication management unit 3 creates a transmission rate table by associating at least one transmission rate created as described above with the position information of the traveling carriage 1.
- the transmission rate table is not limited to being created as described above.
- the transmission rate is not based on a survey using an actual machine, but is based on, for example, the operation history data of another semiconductor manufacturing factory or automated warehouse in which the position where the traveling carriage 1 travels and the wireless base station 2 have the same arrangement relationship.
- a table may be created.
- a transmission rate table may be created by a model in which the positional relationship between each position of the traveling carriage 1 and the radio base station, the presence / absence and type of obstacles between them, and the transmission rate of the corresponding communication are machine-learned. Further, the transmission rate table may be created by a management device provided separately from the communication management unit 3.
- the transmission rate table is stored in a memory in which the contents can be rewritten in the CTRL storage unit 32. Therefore, the contents of the transmission rate table can be updated as appropriate.
- the CTRL control unit 33 includes a transmission information generation unit 34, a communication quality acquisition unit 35, and a transmission rate table update unit 36.
- the transmission information generation unit 34 generates management-side transmission information.
- the management-side transmission information is information transmitted from the communication management unit 3 to the traveling carriage 1 via the radio base station 2.
- the management-side transmission information includes inquiry information for inquiring about the state of the traveling carriage 1, transport task information for instructing the traveling carriage 1 to perform the transport task, and the like.
- the management-side transmission information is described in a communication frame transmitted from the communication management unit 3 to the radio base station 2.
- the communication frame in which the management side transmission information is described may be referred to as a management side transmission frame.
- transmission rate information for wireless communication between the radio base station 2 and the traveling carriage 1 is described together with the management side transmission information.
- the transmission rate information consists of one or a plurality of transmission rates recommended according to the position of the traveling carriage 1 obtained by referring to the transmission rate table.
- the transmission rate information is described by the transmission information generation unit 34.
- An example of the management side transmission frame is shown in FIG.
- the communication quality acquisition unit 35 acquires communication quality information for each transmission rate used for wireless communication performed between the traveling carriage 1 and the wireless base station 2.
- This communication quality information includes, for example, at least one of the above-mentioned number of transmissions, the number of times the information can be received within a predetermined time after transmission, the timeout occurrence rate, the packet error rate, the transmission success rate, the number of retransmissions, and the like.
- the communication quality information can be acquired by wired communication between the CTRL communication unit 31 and the wireless base station 2.
- the acquisition of the communication quality information is obtained, for example, by the communication quality acquisition unit 35 totaling by the traveling trolley 1 and / or the wireless base station 2 via the wired communication between the CTRL communication unit 31 and the wireless base station 2.
- This can be achieved by acquiring the communication quality information as it is.
- the communication quality information is the trolley side transmission information of the response information to the management side transmission information within a predetermined time after the management side transmission information is transmitted via the CTRL communication unit 31 on the communication quality acquisition unit 35 side. It can also be obtained by aggregating related data such as the number of times the information was received. It is preferable to acquire this communication quality information together with the corresponding transmission rate, the position information of the position of the traveling carriage 1 on which the wireless communication using the transmission rate is performed, and the like.
- the CTRL control unit 33 stores the communication quality information acquired by the communication quality acquisition unit 35 in the CTRL storage unit 32.
- the communication quality information includes the transmission rate used in the acquisition of the communication quality information and the position information of the position where the wireless communication using this transmission rate is performed (that is, the traveling position information of the traveling vehicle 1 that performed the wireless communication).
- the information that identifies the wireless base station 2 of the wireless communication partner of the traveling vehicle 1 is stored in the CTRL storage unit 32.
- the transmission rate table update unit 36 can update the contents of the transmission rate table stored in the CTRL storage unit 32. For example, when a plurality of transmission rates are described in the transmission rate table corresponding to the location information, the order of recommending the transmission rate may change as a result of newly acquiring the communication quality information by the communication quality acquisition unit 35. Conceivable. In this case, the transmission rate table update unit 36 updates the transmission rate table so as to reflect the new communication quality information.
- the communication management unit 3 transmits the management-side transmission information generated by the transmission information generation unit 34 to the radio base station 2 via the CTRL communication unit 31, for example, every 100 msec. At this time, the communication management unit 3 transmits to the radio base station 2 transmission rate information indicating at what transmission rate the radio base station 2 should communicate with the traveling carriage 1 together with the management side transmission information. This transmission rate information is created by the communication management unit 3 using the transmission rate table.
- the wireless base station 2 determines the transmission rate for wireless communication with the traveling carriage 1 based on the received transmission rate information.
- the wireless base station 2 performs wireless communication with the traveling carriage 1 using this transmission rate, and transmits the management side transmission information and the transmission rate information to the traveling carriage 1.
- the traveling trolley 1 After receiving the management side transmission information from the radio base station 2, the traveling trolley 1 generates the trolley side transmission information as a response to the management side transmission information.
- the bogie-side transmission information includes the traveling position information of the own vehicle obtained by the position sensor. Further, the traveling carriage 1 determines the transmission rate when communicating with the radio base station 2 based on the received transmission rate information. The traveling trolley 1 performs wireless communication with the wireless base station 2 using this transmission rate, and transmits the trolley side transmission information to the wireless base station 2.
- the radio base station 2 transmits the trolley side transmission information received from the traveling trolley 1 to the communication management unit 3 by wire communication.
- the communication method used for instructing the transmission rate used by the traveling carriage 1 and the wireless base station 2 that perform wireless communication will be described in detail with reference to FIGS. 1 to 5. To do.
- the communication management unit 3 determines at least one transmission rate used by the traveling carriage 1 and the wireless base station 2 at each traveling position, and travels in a form described in the management side transmission frame. It is instructed to the dolly 1 and the radio base station 2.
- the transmission rate determined by the communication management unit 3 according to the traveling position of the traveling carriage 1 is set to the radio base station 2 and the traveling carriage. The case of instructing 1 will be described.
- the communication management unit 3 repeatedly transmits the management side transmission information to the traveling trolley 1 at predetermined time intervals, and the traveling trolley 1 transmits the trolley side transmission information to the communication management unit 3. Since the trolley side transmission information is transmitted by the traveling trolley 1 in the form of a response to the management side transmission information, the trolley side transmission information may be referred to as response information in the following.
- Mutual communication is performed via the radio base station 2.
- the traveling trolley 1 When the traveling trolley 1 receives the management side transmission information while traveling at the position Pa shown in FIG. 1, it creates the trolley side transmission information which is a response to the management side transmission information.
- the position information of the position Pa is included as the traveling position information of the own vehicle.
- the position information can be, for example, identification information of an optical transmitter provided at the position Pa, coordinate information based on the identification information, or the like.
- the traveling trolley 1 wirelessly transmits the trolley side transmission information to the radio base station 2 (traveling position information notification process). As described above, the trolley side transmission information is transmitted as a response to the management side transmission information, but the transmission of the trolley side transmission information by wireless communication is obtained based on the transmission rate information received by the traveling trolley 1 together with the management side transmission information. It is done at the specified transmission rate.
- the CTRL control unit 33 waits for the trolley side transmission information, which is the response, to be received from the traveling trolley 1 via the radio base station 2.
- the trolley side transmission information is transmitted from the traveling trolley 1 to the first AP communication unit 21 of the radio base station 2.
- the trolley-side transmission information received by the radio base station 2 is transmitted to the communication management unit 3 by wired communication between the second AP communication unit 22 and the CTRL communication unit 31.
- the CTRL control unit 33 When the CTRL communication unit 31 receives the trolley side transmission information, the CTRL control unit 33 reads the traveling position information of the traveling trolley 1 from the trolley side transmission information. The CTRL control unit 33 acquires a transmission rate (for example, a portion surrounded by a thick line in FIG. 3) corresponding to the position Pa shown in the traveling position information from the transmission rate table stored in the CTRL storage unit 32. In the example of FIG. 3, three transmission rates (DBPS values) are described in the transmission rate table corresponding to the position Pa. This DBPS value is the number of bits per symbol, and is an abbreviation for Data Bit Per Symbol.
- the transmission rate corresponding to each MCS value (MCS index value) is defined. Therefore, the transmission rate can be expressed in the form of an MCS value instead of the DBPS value.
- the transmission rate can also be expressed in other known formats.
- the transmission information generation unit 34 creates management-side transmission information and describes the management-side transmission information in one communication frame. Further, the transmission information generation unit 34 generates transmission rate information TRa composed of the three transmission rates acquired as described above from the transmission rate table, and the transmission rate information TRa is described with management-side transmission information. Describe in the communication frame. As a result, the management side transmission frame is generated. As shown in FIG. 4, the management side transmission frame conforms to a known L2 frame. As shown by the portion surrounded by the thick line in FIG. 4, in the management side transmission frame, the transmission rate information TRa is described at the beginning of the data body (payload) of the L2 frame. The transmission rate information TRa is represented by a DBPS value (or MCS value) corresponding to each transmission rate.
- DBPS value or MCS value
- the transmission rate information TRa corresponding to the position Pa is composed of DBPS values (208, 104, 52) of the three transmission rates.
- the three DBPS values are written at the beginning of the data body of the L2 frame in order from the one with the best communication quality, in other words, the most recommended one.
- the management side transmission information (for example, the above-mentioned inquiry information) is described after the 19th byte of the payload. As described above, in the present embodiment, the management-side transmission information and the transmission rate instructed to the radio base station 2 are described in the same L2 frame data body.
- the CTRL control unit 33 transmits the transmission rate information and the management side transmission information to the second AP communication unit 22 of the radio base station 2a having jurisdiction over the position Pa via the CTRL communication unit 31 by the transmission information generation unit 34. (Transmission rate instruction process).
- the AP control unit 23 of the radio base station 2a is the first of the transmission rate information (for example, a plurality of DBPS values) described therein from the communication frame received from the communication management unit 3 via the second AP communication unit 22.
- the transmission rate of is read out and instructed to the first AP communication unit 21.
- the first AP communication unit 21 wirelessly transmits the management-side transmission information received via the second AP communication unit 22 to the corresponding traveling carriage 1 (communication process).
- this communication process is realized by transmitting the management side transmission frame (including the transmission rate information in addition to the management side information) to the traveling carriage 1 as it is.
- the transmission rate at this time follows the transmission rate (DBPS value: 208) instructed by the AP control unit 23.
- the AP control unit 23 acquires communication quality information of wireless communication at the transmission rate (DBPS value: 208). As described above, this communication quality information is whether or not the response information (trolley side transmission information) to the management side transmission information can be received within a predetermined time after the management side transmission information is wirelessly transmitted to the traveling trolley 1. It can be obtained by judging whether or not. The AP control unit 23 monitors the communication quality based on the aggregation result.
- the communication quality information is, for example, the result of how many times the communication quality information is retransmitted within a predetermined number of times (for example, 5 times) in the wireless communication performed between the wireless base station 2a and the traveling carriage 1 at a specific transmission rate. May include. More specifically, for example, at each of the DBPS values (208, 104, 52) of the three transmission rates, wireless communication is performed between the radio base station 2a and the traveling carriage 1, and the DBPS is performed for 5 times.
- the communication quality information includes the result that the value 208 is retransmitted three times, the DBPS value 104 is retransmitted twice, and the DBPS value 52 is retransmitted once, and the communication management unit 3 (communication quality). Notify the acquisition unit 35) via the radio base station 2a.
- the communication quality may be lower than the predetermined threshold value for some reason.
- the deterioration of the communication quality can be determined by, for example, whether or not the number of retransmissions falls within the specified number of times, but is not limited to this.
- the AP control unit 23 instructs the first AP communication unit 21 of the second DBPS value (104) of the transmission rate information received immediately before.
- the first AP communication unit 21 performs wireless communication at a transmission rate (DBPS value: 104) according to an instruction from the AP control unit 23.
- the AP control unit 23 outputs the above instruction for changing the transmission rate to the first AP communication unit 21, collects the communication quality information corresponding to the transmission rate (DBPS value: 208), and collects the communication quality information corresponding to the transmission rate (DBPS value: 208), and the communication management unit at an appropriate timing. Notify 3.
- the communication quality information for each of the transmission rates at which wireless communication has been performed may be notified to the communication management unit 3 at an appropriate timing.
- the traveling carriage 1 described above receives the management-side transmission information transmitted from the radio base station 2a via the carriage radio communication unit 11.
- the traveling carriage 1 is traveling from the position Pa toward the position Pb, but has not yet reached the position Pb at the time of receiving the management side transmission information.
- the trolley control unit 12 of the traveling trolley 1 receives the management side transmission information via the trolley wireless communication unit 11, the trolley side transmission information is generated.
- the bogie-side transmission information includes its own current traveling position information (position Pa) and the like.
- the trolley control unit 12 instructs the trolley radio communication unit 11 of the transmission rate when transmitting the trolley side transmission information to the radio base station 2a.
- the radio base station 2a transmits the management-side transmission information to the traveling carriage 1 at the first transmission rate (DBPS value: 208).
- the carriage control unit 12 reads out the first DBPS value (208) from the received transmission rate information (for example, a plurality of DBPS values), and instructs the carriage wireless communication unit 11 to use this DBPS value as a transmission rate.
- the trolley wireless communication unit 11 transmits the trolley side transmission information to the first AP communication unit 21 of the radio base station 2a using the transmission rate (DBPS value: 208) instructed by the trolley control unit 12.
- the trolley control unit 12 obtains the communication quality information of the wireless communication at the transmission rate (DBPS value: 208) as described above to improve the communication quality. Monitor.
- the communication quality may be lower than the predetermined threshold value for some reason.
- the trolley control unit 12 instructs the trolley wireless communication unit 11 of the second DBPS value (104) of the transmission rate information received immediately before.
- the dolly wireless communication unit 11 performs wireless communication at a transmission rate (DBPS value: 104) according to an instruction from the dolly control unit 12.
- the transmission rate information described in the management-side transmission frame substantially indicates the transmission rate not only to the radio base station 2a but also to the traveling carriage 1. It is used in.
- the trolley control unit 12 outputs an instruction to change the transmission rate to the trolley wireless communication unit 11, and also outputs communication quality information corresponding to the transmission rate (DBPS value: 208) to the communication management unit 3 at an appropriate timing. Notice.
- the radio base station 2a transmits the trolley side transmission information received via the first AP communication unit 21 to the CTRL communication unit 31 of the communication management unit 3 via the second AP communication unit 22.
- the traveling carriage 1 has reached the position Pb at the time when the management side transmission information is received from the radio base station 2a.
- the position Pb is described as the current traveling position information of the vehicle in the vehicle-side transmission information created by the vehicle control unit 12.
- This trolley-side transmission information is transmitted to the CTRL control unit 33 of the communication management unit 3 via the radio base station 2a.
- the CTRL control unit 33 of the communication management unit 3 When the CTRL control unit 33 of the communication management unit 3 receives the trolley side transmission information, it controls the position Pb based on the position Pb which is the new traveling position information of the traveling trolley 1 included in the trolley side transmission information. Acquire the radio base station 2 to be used. In the present embodiment, the radio base station 2b shown in FIG. 1 has jurisdiction over the position Pb. Therefore, the wireless base station 2b serves as a switching destination for the traveling carriage 1 to switch the wireless communication partner from the wireless base station 2a.
- the CTRL control unit 33 acquires one or a plurality of transmission rates corresponding to the position Pb based on the transmission rate table stored in the CTRL storage unit 32, and generates the transmission rate information TRb.
- the transmission information generation unit 34 newly generates the transmission information on the management side.
- the transmission rate information TRb acquired as described above is described in addition to the management side transmission information.
- the CTRL control unit 33 transmits the new management-side transmission information generated by the transmission information generation unit 34 to the radio base station 2b via the CTRL communication unit 31.
- the wireless communication with the traveling carriage 1 can be smoothly performed by referring to the transmission rate information received from the communication management unit 3. be able to. That is, the transmission rate can be appropriately determined even in the first stage of wireless communication. Therefore, since it is not necessary to try communication at various transmission rates, it is possible to avoid communication delay.
- the communication system 100 of the present embodiment includes a traveling carriage 1, a radio base station 2, and a communication management unit 3.
- the traveling carriage 1 travels in a predetermined traveling area in the building.
- the communication management unit 3 communicates with the traveling carriage 1 via the radio base station 2.
- the traveling carriage 1 includes a carriage wireless communication unit 11 and a carriage control unit 12.
- the trolley wireless communication unit 11 performs wireless communication with the wireless base station 2.
- the bogie control unit 12 can transmit the traveling position information indicating the traveling position of the own vehicle in the traveling region to the radio base station 2 via the bogie wireless communication unit 11.
- the radio base station 2 includes a first AP communication unit 21 and a second AP communication unit 22.
- the first AP communication unit 21 performs wireless communication with the traveling carriage 1.
- the second AP communication unit 22 communicates with the communication management unit 3.
- the communication management unit 3 includes a CTRL communication unit 31, a CTRL storage unit 32, and a CTRL control unit 33.
- the CTRL communication unit 31 communicates with the radio base station 2.
- the CTRL storage unit 32 is recommended when the traveling carriage 1 and the wireless base station 2 at each position perform wireless communication with each position information indicating a plurality of positions where the traveling carriage 1 can travel in the traveling area.
- a transmission rate table showing a correspondence relationship with at least one transmission rate is stored.
- the CTRL control unit 33 acquires at least one transmission rate information from the transmission rate table based on the position information corresponding to the travel position information of the traveling carriage 1 received via the radio base station 2, and the acquired transmission rate. Generate transmission rate information from.
- the CTRL control unit 33 transmits the generated transmission rate information and the management-side transmission information for transmission to the traveling carriage 1 to the radio base station 2 via the CTRL communication unit 31.
- the radio base station 2 receives the transmission rate information and the management side transmission information by communication between the second AP communication unit 22 and the CTRL communication unit 31, the management side transmission information is transmitted via the first AP communication unit 21.
- the transmission rate obtained from the rate information is transmitted to the traveling carriage 1.
- the radio base station 2 transmits the management side transmission information to the traveling carriage 1 together with the transmission rate information via the first AP communication unit 21.
- the trolley wireless communication unit 11 performs wireless communication with the wireless base station 2 at a transmission rate obtained from the transmission rate information received from the wireless base station 2.
- the traveling carriage 1 can perform wireless communication at an appropriate transmission rate according to the traveling position.
- the CTRL control unit 33 of the communication management unit 3 includes a communication quality acquisition unit 35 and a transmission rate table update unit 36.
- the communication quality acquisition unit 35 acquires the communication quality when the wireless base station 2 and the traveling carriage 1 perform wireless communication at the recommended transmission rate corresponding to the position of the traveling carriage 1 as communication quality information.
- the transmission rate table update unit 36 updates the transmission rate table stored in the CTRL storage unit 32 based on the communication quality information acquired by the communication quality acquisition unit 35.
- the transmission rate recommended by the communication management unit 3 for the wireless base station 2 can be flexibly changed according to changes in the wireless communication environment and the like.
- the wireless base station 2 can stably transmit the management-side transmission information to the traveling carriage 1 even if the situation regarding wireless communication changes.
- the radio base station 2 includes an AP control unit 23.
- the AP control unit 23 acquires a transmission rate from the transmission rate information received from the communication management unit 3 via the second AP communication unit 22.
- the first AP communication unit 21 wirelessly communicates with the traveling carriage 1 at a transmission rate selected in advance by the communication management unit 3 among the plurality of transmission rates. Communicate.
- the radio base station 2 can transmit the management-side transmission information to the traveling carriage 1 while properly using the recommended plurality of transmission rates depending on the case.
- the communication management unit 3 can communicate with a plurality of radio base stations 2 via the CTRL communication unit 31.
- the CTRL control unit 33 is the switching destination of the wireless communication partner of the traveling vehicle 1 via the CTRL communication unit 31.
- the transmission rate information corresponding to the position where the traveling vehicle 1 travels and the management side transmission information are transmitted to the radio base station 2.
- the switching destination wireless base station 2 uses the transmission rate recommended by the communication management unit 3 to communicate with the traveling vehicle 1. Good wireless communication can be started immediately.
- the transmission rate table is used for the wireless communication in which the traveling carriage 1 previously performs wireless communication with the wireless base station 2 at a plurality of different transmission rates at each position.
- the plurality of transmission rates at least one transmission rate capable of communicating with a quality equal to or higher than a predetermined value is created in association with the position information for each position.
- transmission rate information indicating the transmission rate and management-side transmission information are described in the communication frame transmitted by the CTRL communication unit 31 to the radio base station 2.
- both the transmission rate information and the management side transmission information are described in the data main body portion in the communication frame.
- the communication management unit 3 estimates the traveling position of the traveling carriage 1 at the time when the traveling carriage 1 or the radio base station 2 receives the management side transmission information. This estimation can be performed by using information such as the direction in which the traveling trolley 1 has traveled and the traveling speed after the timing of the detection, with reference to its own traveling position detected by the traveling trolley 1 most recently by the position sensor. it can.
- the trolley-side transmission information created by the traveling trolley 1 and transmitted to the communication management unit 3 includes the information necessary for the above estimation.
- the communication management unit 3 transmits transmission rate information corresponding to the traveling position of the traveling carriage 1 estimated as described above instead of the traveling position of the traveling carriage 1 obtained from the latest transmission information on the carriage side. It is transmitted to the radio base station 2 together with the information.
- the transmission rate information according to the actual traveling position of the traveling carriage 1 can be instructed to the traveling carriage 1.
- the radio base station 2 performs wireless communication with the traveling carriage 1 at, for example, the first transmission rate of the transmission rate information included in the management side transmission frame.
- the traveling carriage 1 Even if the traveling carriage 1 receives the management side transmission frame from the radio base station 2, it does not acquire the transmission rate from the management side transmission frame.
- the traveling carriage 1 acquires the transmission rate by reading the information included in the preamble when the radio base station 2 transmits the management side transmission information to the traveling carriage 1. That is, this transmission rate is the transmission rate actually used by the wireless base station 2 in wireless communication.
- the traveling carriage 1 performs wireless communication with the wireless base station 2 by using the same transmission rate as the transmission rate acquired from the actual communication, not the transmission rate obtained from the management side transmission frame.
- the traveling carriage 1 can perform wireless communication at the same transmission rate as the wireless base station 2 as in the above-described embodiment and the like.
- the description of the transmission rate information can be omitted in the communication frame transmitted from the radio base station 2 to the traveling carriage 1.
- the transmission rate information is composed of only one most recommended transmission rate, not a plurality of transmission rates.
- the communication management unit 3 transmits this transmission rate information to the radio base station 2 together with the management side transmission information.
- the first 6 bytes only one DBPS value
- the radio base station 2 transmits the management-side transmission information to the traveling carriage 1 according to the transmission rate.
- the communication quality acquisition unit 35 of the communication management unit 3 acquires communication quality information by performing various aggregation processes. For example, the communication quality acquisition unit 35 counts the number of times the communication management unit 3 has transmitted the management side transmission information and the number of times the communication management unit 3 has been able to receive the trolley side transmission information within a predetermined time after the transmission. To do. The communication quality acquisition unit 35 acquires communication quality information by calculating the ratio of the two count values.
- the communication quality acquisition unit 35 monitors the obtained communication quality information. When a deterioration in communication quality is detected, the transmission rate stored in the transmission rate table is used as the second recommended transmission rate information transmitted by the communication management unit 3 to the radio base station 2. Further, the communication management unit 3 updates the transmission rate table stored in the CTRL storage unit by the transmission rate table update unit 36 so as to reflect the deterioration of the communication quality detected for the transmission rate used so far.
- the processing performed by the traveling carriage 1 and the wireless base station 2 can be further simplified, and the configuration of the traveling carriage 1 and the wireless base station 2 can be configured. It can be simpler.
- the transmission rate information may be described at an arbitrary position, for example, at the end, instead of the beginning of the data body of the communication frame.
- the transmission rate information may be described in a part other than the data body of the communication frame.
- the management side transmission information and the transmission rate information may be transmitted in separate communication frames.
- the transmission rate table only one recommended transmission rate may be stored for each position of the traveling carriage 1.
- the transmission rate information is always composed of only one transmission rate.
- the orbit 5 is not limited to the same plane, and may be provided three-dimensionally in, for example, a three-dimensional space.
- the CTRL control unit 33 of the communication management unit 3 acquires one or more transmission rates having the best communication quality by comparing the communication quality information of each transmission rate. be able to.
- the transmission rate table update unit 36 simply obtains new communication quality information without rearranging the transmission rates in the transmission rate table. To reflect.
- the transmission information generation unit 34 transmits the transmission rate information based on one or a plurality of transmission rates recommended corresponding to the current position of the traveling carriage 1 to the traveling carriage 1 obtained by referring to the transmission rate table. Although it was described in the transmission information on the management side to be transmitted, transmission based on one or more transmission rates recommended according to the future position of the traveling carriage 1 obtained by referring to the transmission rate table.
- the rate information may be described in the management side transmission information transmitted to the traveling carriage 1.
- the future position of the traveling carriage 1 is calculated based on, for example, the current position of the traveling carriage 1 obtained by the position sensor, the speed of the traveling carriage 1, and the like, and the traveling carriage 1 exists after a predetermined time. It is the expected position.
- the acquisition of the traveling position information is not limited to the above, and may be performed by, for example, optically reading the marking information such as a barcode attached to the track 5, or may be performed by an indoor GNSS or the like. ..
- the transmission rate table may be stored in both the traveling carriage 1 and the communication management unit 3.
- the traveling carriage 1 performs wireless communication at the transmission rate read from the stored transmission rate table based on the position of the own vehicle.
- the traveling carriage 1 can always perform wireless communication at the transmission rate recommended at the position of the own vehicle without delay.
- the description of the transmission rate information may be omitted in the management side transmission frame.
- the wireless base station 2 and the traveling carriage 1 determine the transmission rate during wireless communication based on the transmission rate information described in the most recently received management-side transmission frame.
- Communication between the communication management unit 3 and the wireless base station 2 may be performed wirelessly.
- Traveling trolley 11 trolley wireless communication unit 12
- trolley control unit 2 wireless base station 21
- 1st AP communication unit 22 2nd AP communication unit 23
- AP control unit 3 Communication management unit (controller) 31
- CTRL communication unit 32 CTRL storage unit 33
- CTRL control unit 34 Transmission information generation unit 35
- Communication quality acquisition unit 36 Transmission rate table update unit 4 Wired LAN 5 Orbit 6 Transport Management Department
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Abstract
Description
11 台車無線通信部
12 台車制御部
2 無線基地局
21 第1AP通信部
22 第2AP通信部
23 AP制御部
3 通信管理部(コントローラ)
31 CTRL通信部
32 CTRL記憶部
33 CTRL制御部
34 送信情報生成部
35 通信品質取得部
36 送信レートテーブル更新部
4 有線LAN
5 軌道
6 搬送管理部
Claims (11)
- 建屋内における所定の走行領域を走行する走行台車と、無線基地局と、前記無線基地局を介して前記走行台車と通信するコントローラと、を備える通信システムであって、
前記走行台車は、
前記無線基地局との間で無線通信を行う台車無線通信部と、
前記走行領域における自車の走行位置を示す走行位置情報を、前記台車無線通信部を介して前記無線基地局へ送信可能な台車制御部と、
を備え、
前記無線基地局は、
前記走行台車との間で無線通信を行う第1無線基地局通信部と、
前記コントローラとの間で通信を行う第2無線基地局通信部と、
を備え、
前記コントローラは、
前記無線基地局との間で通信を行うコントローラ通信部と、
前記走行領域において前記走行台車が走行可能な複数の位置を示すそれぞれの位置情報と、前記各位置にある前記走行台車と前記無線基地局とが無線通信を行う場合に推奨される少なくとも1つの送信レートと、の対応関係を示す送信レートテーブルを記憶するコントローラ記憶部と、
前記無線基地局を介して受信した前記走行台車の前記走行位置情報に対応する前記位置情報に基づいて、前記送信レートテーブルから少なくとも1つの前記送信レートを取得し、取得した前記送信レートから送信レート情報を生成し、生成した前記送信レート情報と、前記走行台車へ送信するための送信情報とを、前記コントローラ通信部を介して前記無線基地局へ送信するコントローラ制御部と、
を備え、
前記無線基地局は、前記第2無線基地局通信部と前記コントローラ通信部との通信により前記送信レート情報及び前記送信情報を受信した場合に、当該送信情報を、前記第1無線基地局通信部を介して、前記送信レート情報から得られた前記送信レートで前記走行台車へ送信することを特徴とする通信システム。 - 請求項1に記載の通信システムであって、
前記無線基地局は、前記第1無線基地局通信部を介して、前記送信情報及び前記送信レート情報を前記走行台車へ送信し、
前記台車無線通信部は、前記無線基地局から受信した前記送信レート情報から得られた前記送信レートで、前記無線基地局と無線通信を行うことを特徴とする通信システム。 - 請求項1に記載の通信システムであって、
前記台車無線通信部は、前記無線基地局との通信時に当該無線基地局が用いた送信レートと同じ送信レートで、前記無線基地局と無線通信を行うことを特徴とする通信システム。 - 請求項1から3までの何れか一項に記載の通信システムであって、
前記コントローラの前記コントローラ制御部は、
前記走行台車の前記位置に対応して推奨される前記送信レートによって前記無線基地局と走行台車とが無線通信を行った場合の通信品質を、通信品質情報として取得する通信品質取得部と、
前記通信品質取得部により取得された前記通信品質情報に基づいて、前記コントローラ記憶部に記憶された前記送信レートテーブルを更新する送信レートテーブル更新部と、
を備えることを特徴とする通信システム。 - 請求項1から4までの何れか一項に記載の通信システムであって、
前記無線基地局は、前記第2無線基地局通信部を介して前記コントローラから受信した前記送信レート情報から前記送信レートを取得する無線基地局制御部を備え、
前記第1無線基地局通信部は、前記無線基地局制御部により前記送信レート情報から取得された前記送信レートが複数ある場合、複数の前記送信レートのうち選択された前記送信レートで、前記送信情報を前記走行台車に送信することを特徴とする通信システム。 - 請求項1から5までの何れか一項に記載の通信システムであって、
前記コントローラは、前記コントローラ通信部を介して、複数の前記無線基地局との間で通信が可能であり、
前記走行台車の前記走行位置により、当該走行台車の無線通信相手である前記無線基地局を切り換える必要が生じた場合、前記コントローラ制御部は、前記コントローラ通信部を介して、前記走行台車の前記無線通信相手の切換先である前記無線基地局に、前記走行台車が走行する前記位置に対応する前記送信レート情報と、前記送信情報と、を送信することを特徴とする通信システム。 - 請求項1から6までの何れか一項に記載の通信システムであって、
前記送信レートテーブルは、予め前記走行台車が、各前記位置において、異なる複数の送信レートで前記無線基地局との間で無線通信を行い、当該無線通信に用いられた複数の前記送信レートのうち所定以上の品質で通信できた少なくとも1つの前記送信レートと、前記位置毎の前記位置情報と、を対応付けて作成されることを特徴とする通信システム。 - 請求項1から7までの何れか一項に記載の通信システムであって、
前記コントローラ通信部が前記無線基地局へ送信する通信フレームに、前記送信レート情報と、前記送信情報と、が記述されることを特徴とする通信システム。 - 請求項8に記載の通信システムであって、
前記送信レート情報及び前記送信情報は、何れも、前記通信フレームにおけるデータ本体部に記述されることを特徴とする通信システム。 - 建屋内における所定の走行領域を走行する走行台車と、無線基地局と、前記無線基地局を介して前記走行台車と通信するコントローラと、を備える通信システムにより用いられる通信方法であって、
前記走行台車が、前記走行領域における自車の走行位置を示す走行位置情報を前記無線基地局へ送信する走行位置情報通知工程と、
前記コントローラが、前記無線基地局を介して受信した前記走行台車の前記走行位置情報に基づいて、当該走行位置情報が示す前記走行台車の前記走行位置において当該走行台車と前記無線基地局とが無線通信を行う場合に推奨される少なくとも1つの送信レートを示す送信レート情報を、当該無線基地局へ送信する送信レート指示工程と、
前記無線基地局が、前記コントローラから受信した前記送信レート情報から得られた前記送信レートで前記走行台車との無線通信を行う通信工程と、
を含むことを特徴とする通信方法。 - 移動する無線通信装置との間で無線通信を行う第1無線基地局通信部と、
他の通信装置との間で通信を行う第2無線基地局通信部と、
前記第2無線基地局通信部を介して前記他の通信装置から受信した通信フレームを解析し、前記通信フレームに含まれる送信レート情報から送信レートを取得する無線基地局制御部と、
を備え、
前記第1無線基地局通信部は、前記無線基地局制御部により前記通信フレームから取得された前記送信レートで、前記無線通信装置との無線通信を行うことを特徴とする無線基地局。
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