Radio communication system in operation management system and radio communication method

Abstract

To provide a radio communication system capable of performing a satisfactory communication by suppressing an increase of arithmetic cost and suppressing an increase of repeaters even in a region where the communication is made locally unstable.SOLUTION: A radio communication system comprises a plurality of mobiles. Each of mobiles 1a-1n includes: a transmission / reception section 19 which transmits / receives information among the plurality of mobiles 1a-1n; an environment map storage section 2; a distance measurement sensor 3 which measures distances between surrounding objects of the mobiles 1a-1n and the mobiles 1a-1n; a positional attitude estimation section 4 which estimates positional attitude information of the own mobile in the plurality of mobiles 1a-1n from environment map information; another mobile estimation section 5 which estimates positional attitude information of the other mobiles 1a-1n in the plurality of mobiles 1a-1n; and a communication network determination section 6 which determines radio communication network forms of the plurality of mobiles 1a-1n based on the environment map information, the own positional attitude information and the other mobile information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a wireless communication system and a wireless communication method in a traffic control system. [Background technology]

[0002] BACKGROUND ART In a wireless communication route control method in a traffic management system for a mobile object, there is a technique for suppressing communication interruptions caused by a change in a line according to fluctuations in radio wave propagation quality between wireless nodes.

[0003] For example, Patent Document 1 describes a technology for suppressing communication interruptions between a plurality of wireless nodes including a first node and a plurality of second nodes. In the technology described in Patent Document 1, one of a plurality of links linked up in a mesh pattern is selected as a link corresponding to a parent node that is included in a path of a tree topology with the first node as the apex and that is located in the upstream direction from the second node toward the first node.

[0004] Furthermore, Patent Document 2 describes a wireless communication system that ensures line of sight for wireless communication between a mobile communication device mounted on a mobile body and a fixed communication device.

[0005] According to the technology described in Patent Document 2, when the LOS determination unit determines that visibility is not ensured, the driving condition determination unit determines the driving conditions of the moving object to ensure visibility. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2023-33553 [Patent Document 2] Patent Publication No. 2021-158473 Summary of the Invention [Problem to be solved by the invention]

[0007] The technology described in Patent Document 1 requires complex optimization calculations for a network constructed by multiple wireless nodes, which may increase calculation costs.

[0008] Furthermore, when the technology described in Patent Document 2 is applied to a mobile object moving through a complex passageway, such as a factory, wireless communication may be blocked by walls or other obstacles, resulting in localized unstable communication. In this case, it is possible to install repeaters at multiple access points. However, it is necessary to consider the appropriate installation locations and number of repeaters to be installed. If the number of repeaters is large, the master PC may become overloaded, making it difficult to perform rapid processing.

[0009] The object of the present invention is to provide a wireless communication system and a wireless communication method in an operation control system that suppresses an increase in computational costs and suppresses an increase in repeaters, even in areas where communication is locally unstable due to obstacles, etc., thereby enabling good communication between mobile bodies. [Means for solving the problem]

[0010] In order to achieve the above object, the present invention is configured as follows.

[0011] A wireless communication system having a plurality of mobile bodies, each of the plurality of mobile bodies comprising at least a transceiver unit for transmitting and receiving information between the plurality of mobile bodies, an environmental map memory unit for storing environmental map information, a ranging sensor for measuring the distance between the mobile body and objects around the mobile body, a position and attitude estimation unit for estimating position and attitude information of the mobile body itself from the environmental map information, an other mobile body estimation unit for estimating other mobile body information which is position and attitude of other mobile bodies other than the mobile body itself among the plurality of mobile bodies, and a communication network determination unit for determining the shape of a wireless communication network for the plurality of mobile bodies based on the environmental map information, the position and attitude information of the mobile body itself, and the other mobile body information.

[0012] Also, there is provided a wireless communication method having a plurality of moving bodies and transmitting and receiving information at least among the plurality of moving bodies, wherein each of the plurality of moving bodies stores environmental map information, measures the distance between the moving body and objects around the moving body, estimates position and posture information of the moving body itself from the environmental map information, estimates other moving body information which is the position and posture of other moving bodies among the plurality of moving bodies other than the moving body itself, and determines the wireless communication network shape of the plurality of moving bodies based on the environmental map information, the position and posture information of the moving body itself and the other moving body information. [Effects of the Invention]

[0013] It is possible to provide a wireless communication system and a wireless communication method in an operation control system that suppresses increases in computational costs and suppresses an increase in repeaters, even in areas where communication is locally unstable due to obstacles, etc., thereby enabling good communication between mobile bodies. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 2 is a functional block diagram of a plurality of moving objects according to the first embodiment. [Figure 2] 2 is an explanatory diagram of a distance measuring sensor mounted on a moving body in the first embodiment. FIG. [Figure 3] 2 is an explanatory diagram of a distance measuring sensor mounted on a moving body in the first embodiment. FIG. [Figure 4] FIG. 1 is a schematic explanatory diagram of an autonomous distributed network. [Figure 5] FIG. 1 is an explanatory diagram of autonomous decentralized network communication route determination. [Figure 6] FIG. 10 is a functional block diagram of a plurality of moving objects according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. [Example]

[0016] Example 1 A first embodiment of the present invention will be described. 1 is a functional block diagram of a mobile unit 1a among a plurality of mobile units 1a to 1n in the traffic management system according to the embodiment 1. Note that a repeater 18 (shown in FIG. 4) exists between the server 15 and the mobile units 1a to 1n, but is omitted in FIG. 1.

[0017] The moving body 1a includes an environmental map memory unit 2, a ranging sensor 3, a position and attitude control unit 4, an other moving body estimation unit 5, a local route planning unit 16, a driving control unit 17, a communication network determination unit 6, and a transmission / reception unit 19.

[0018] The moving bodies 1b to 1n have the same configuration as the moving body 1a, so illustration and description of the internal configuration will be omitted.

[0019] The transmitting / receiving unit 19 has a function of a repeater that transmits and receives information to and from the server 15 and transmits and receives information between the mobile units 1a to 1n.

[0020] The environmental map storage unit 2 stores an environmental map that is used as a reference when grasping the positions of the mobile units 1a to 1n themselves and the surrounding conditions in an internal area such as a factory where multiple mobile units 1a to 1n are used. The environmental map information 11 is transmitted from the server 15 to the mobile units 1a to 1n.

[0021] The distance measurement sensor 3 is a sensor that measures the distance to objects located around the moving body 1a, and a 2D laser scanner, a 3D laser scanner, a 3D camera, a stereo camera, etc. can be applied as long as it is capable of measuring the distance around the moving body 1a.

[0022] 2 and 3, the distance measurement sensor 3 measures the distance between the moving body 1a and an object present within a distance measurement range 7 around the moving body 1a. In the example shown, the sensor is installed on the top of the body of the moving body 1a, but it can also be installed in other locations. Furthermore, multiple distance measurement sensors 3 can be installed on the moving body 1a.

[0023] For example, when a 180° sensor is applied, distance measuring sensors may be installed in front of, behind, or on the left and right of the moving body 1a.

[0024] Furthermore, the distance measurement sensor 3 does not have to be able to measure distances in all directions of the moving body 1a. If the measurement range of one distance measurement sensor 3 is less than 360° of the moving body 1a, multiple distance measurement sensors 3 may be installed on the moving body 1a to measure distances redundantly.

[0025] The position and orientation estimation unit 4 estimates the position and orientation of the moving body 1 a from the environmental map stored in the environmental map storage unit 2 and the position information of objects around the moving body 1 a measured by the distance measurement sensor 3 .

[0026] The other moving body estimation unit 5 estimates the position and attitude of any of the moving bodies 1b to 1n other than the moving body 1a based on the global route information transmitted from the server 15.

[0027] The local route planning unit 16 plans local routes for the mobile units 1a to 1n based on the position information of objects in the vicinity of the mobile unit 1a measured by the distance measurement sensor 3 and the global route information transmitted from the server 15.

[0028] The driving control unit 17 controls the driving of the moving body 1a based on the environmental map stored in the environmental map memory unit 2, the position information of objects around the moving body 1a measured by the distance sensor 3, and the local route planned by the local route planning unit 16.

[0029] The communication network determination unit 6 determines the shape of a wireless communication network between the mobile unit 1a and the other mobile units 1b-1n according to the environmental map, the position and posture of the mobile unit 1a, the positions and postures of the other mobile units, the global route plan, and the local route plan. In this case, the communication network determination unit 6 constructs a communication network shape that can reach a relay (access point) 18 (described later) and includes the relay 18 in the multiple mobile units 1a-1n. The server 15 transmits the position information of the relay 18 to the communication network determination unit 6 as server position information 13. The reachable range of the wireless communication data transmitted from the relay 18 can be used as the server position information 13.

[0030] The communication network determination unit 6 of each of the moving bodies 1a to 1n determines whether the moving body is physically close to other moving bodies and whether radio waves will be blocked based on its own position and posture information, environmental map information, the position of the repeater 18 (preset), and the predicted position information of other moving bodies, and then selects a communication route that will make it easier to establish direct communication.

[0031] That is, when the mobile unit 1a cannot directly communicate with the relay 18, the communication network determination unit 6 selects one of the other mobile units 1b to 1n and attempts to communicate with it.

[0032] When the communication network determination unit 6 of the mobile unit 1a selects one of the other mobile units 1b to 1n, it uses its own position and attitude information, environmental map information, the position of the repeater 18, and the estimated position information of the other mobile units 1b to 1n. The communication network determination unit 6 then determines whether the other mobile unit is physically close to the mobile unit 1a and whether radio waves are blocked, and selects another mobile unit on a communication route with which direct communication can be easily established.

[0033] FIG. 4 is a schematic explanatory diagram of an autonomous decentralized network according to the present invention.

[0034] The server 15 is capable of communicating with the mobile units 1a to 1n via a repeater 18.

[0035] Each of the mobile units 1a to 1n has a transmitting / receiving unit 19, and can communicate with the server 15 via a repeater 18, and the transmitting / receiving units 19 can also communicate with each other. With this configuration, the server 15 and each of the mobile units 1a to 1n can transmit and receive information about their travel routes to and from each other.

[0036] 5 is an explanatory diagram of communication route determination in an autonomous decentralized network, but for convenience of illustration, an example in which moving objects 1a to 1d are traveling will be used for explanation.

[0037] 5, server 15 transmits travel route information to moving bodies 1a to 1d via repeater 18. Then, moving bodies 1a to 1d travel along passage 8 while avoiding obstacles 9a and 9b in a work area within a facility such as a factory, and transport goods, etc.

[0038] It is possible for repeater 18 to transmit travel route information to moving body 1a via obstacle 9a. However, moving bodies 1b, 1c, and 1d are far from repeater 18, and obstacles 9a and 9b act as obstacles, making it difficult for them to receive travel route information from repeater 18.

[0039] The moving body 1a and the moving body 1b are close to each other, and the distance that radio waves pass through the obstacle 9b is also short, so that they can transmit and receive travel route information.

[0040] Furthermore, the distance between the moving body 1a and the moving bodies 1c and 1d is great, and the distance that radio waves must pass through the obstacle 9b is also long, making it difficult to transmit and receive travel route information.

[0041] Furthermore, the distance between the moving body 1b and the moving body 1c is short and there are no obstacles between them, so transmission and reception are possible.

[0042] The mobile units 1a to 1n and 1a to 1d configured as shown in FIG. 1 can construct an optimum communication network as shown in FIG. 5 without disposing a plurality of separate relays.

[0043] Furthermore, according to the first embodiment of the present invention, each of the mobile units 1a to 1n can construct a communication network, so that a master PC or the like does not need to perform complex optimization calculations for the communication network, thereby reducing calculation costs.

[0044] Furthermore, according to embodiment 1 of the present invention, even if a small number of repeaters serving as access points are already installed in the work area of ​​existing equipment, the present invention is applicable and an optimal communication network can be constructed.

[0045] As described above, in the first embodiment of the present invention, each of the multiple moving bodies 1a to 1n is given the function of a repeater, and an environmental map is used to determine its own position and posture in the working area and the positions of other moving bodies, thereby constructing an optimal communication network.

[0046] Therefore, it is possible to provide a wireless communication system and a wireless communication method in an operation control system that suppresses increases in computational costs and suppresses an increase in the number of repeaters even in areas where communication is locally unstable due to obstacles, etc., and enables good communication between mobile bodies.

[0047] Example 2 Next, a second embodiment of the present invention will be described.

[0048] Fig. 6 is a functional block diagram of a mobile unit 1a among the multiple mobile units 1a to 1n in Example 2. As in Example 1, a repeater 18 exists between the server 15 and the mobile units 1a to 1n, but is omitted in Fig. 6.

[0049] The difference between the first embodiment shown in FIG. 1 and the second embodiment shown in FIG.

[0050] In the first embodiment, the other moving body estimation unit 5 estimates the position and attitude of any of the moving bodies 1b to 1n other than the moving body 1a based on the global route information transmitted from the server 12.

[0051] In the second embodiment, the other moving object estimation unit 5 is supplied with the global route information transmitted from the server 12, the environmental map stored in the environmental map storage unit 2, and the distance information measured by the distance measurement sensor 3.

[0052] The other moving body estimation unit 5 in the second embodiment estimates the position and posture of any of the moving bodies 1b to 1n other than the moving body 1a based on the environmental map information and the distance information measured by the distance measurement sensor 3.

[0053] Further, the other moving body estimation unit 5 uses the environmental map information, the distance information measured by the distance measurement sensor 3, and the global route information to estimate the future positions of the other moving bodies 1b to 1n, including the positions several seconds ahead.

[0054] Future positions of the other moving bodies 1b to 1n, including positions several seconds ahead, can also be transmitted from the server 15 to the moving body 1a.

[0055] According to the second embodiment of the present invention, it is possible to obtain the same effects as the first embodiment, and also to estimate the future positions of other moving bodies 1b to 1n, including their positions several seconds ahead, and to establish an appropriate communication network for the future.

[0056] (Other Examples) The wireless communication systems in the first and second embodiments described above include the server 15, but the present invention also includes an example in which the server 15 is not included. For example, another example of the present invention may be one in which the environment map storage unit 2 initially stores environment map information and global route information, and a plurality of mobile units 1a to 1n communicate with each other.

[0057] An example that does not include the server 15 is an example in which the server 15 in Examples 1 and 2 is omitted, and the global route information stored in the environmental map storage unit 2 is supplied to the other moving body estimation unit 5 and the local route planning unit 16.

[0058] In addition, in the wireless communication system in the first and second embodiments, it is possible to omit the travel control unit 17. Furthermore, as a simplified wireless communication system, the present invention is valid even if the local route planning unit 16 is omitted. [Explanation of symbols]

[0059] 1a-1n... Mobile object, 2... Environmental map memory unit, 3... Distance measurement sensor, 4... Position and orientation estimation unit, 5... Other moving object estimation unit, 6... Communication network determination unit, 7... Distance measurement range, 8... Passageway, 9a, 9b... Obstacle, 11... Environmental map information, 12... Global route information, 13... Server position information, 14... Driving unit, 15... Server, 16... Local route planning unit, 17... Travel control unit, 18... Repeater, 19... Transmitter / receiver unit

Claims

1. A wireless communication system having a plurality of mobile units, Each of the plurality of moving bodies a transmitting / receiving unit for transmitting and receiving information between at least the plurality of mobile objects; an environmental map storage unit that stores environmental map information; a distance measuring sensor for measuring a distance between the moving body and an object around the moving body; a position and orientation estimation unit that estimates position and orientation information of a moving object among the plurality of moving objects from the environmental map information; an other moving body estimation unit that estimates other moving body information that is a position and attitude of another moving body other than the moving body itself among the plurality of moving bodies; a communication network determination unit that determines a wireless communication network configuration for the plurality of mobile bodies based on the environmental map information, the position and attitude information of the mobile body itself, and the information on the other mobile bodies; A wireless communication system comprising:

2. 2. The wireless communication system according to claim 1, Equipped with a server, The wireless communication system is characterized in that the server transmits the location of the server and the global routes of each of the plurality of mobile units to the plurality of mobile units.

3. 3. The wireless communication system according to claim 2, A wireless communication system, characterized in that the other moving body estimation unit estimates the other moving body information based on the global route information transmitted by the server.

4. 3. The wireless communication system according to claim 2, A wireless communication system characterized in that the other moving body estimation unit estimates the other moving body information based on the distance measured by the ranging sensor and the environmental map information stored in the environmental map memory unit.

5. 5. The wireless communication system according to claim 4, A wireless communication system characterized in that the other moving object estimation unit estimates future information about the other moving objects based on the global route, the distance measured by the ranging sensor, and the environmental map information stored in the environmental map memory unit.

6. 3. The wireless communication system according to claim 2, each of the plurality of moving bodies includes a local route planning unit that plans local routes for the plurality of moving bodies based on the global route and the distances measured by the distance measuring sensor; The wireless communication system is characterized in that the communication network determination unit determines the wireless communication network shape based on the environmental map information, the own position and orientation information, the other mobile body information, and the local route.

7. 3. The wireless communication system according to claim 2, A wireless communication system characterized by comprising a relay that relays between the server and multiple mobile bodies, and the communication network determination unit determines the wireless communication network shape including the relay for multiple mobile bodies.

8. 8. The wireless communication system according to claim 7, The wireless communication system is characterized in that the server transmits the reachable range of the wireless communication data transmitted from the repeater to the plurality of mobile objects as the server's location information.

9. 2. The wireless communication system according to claim 1, The wireless communication system is characterized in that the distance measurement sensor is a 2D laser scanner, a 3D laser scanner, a 3D camera, or a stereo camera.

10. A wireless communication method having a plurality of mobile objects and transmitting and receiving information at least among the plurality of mobile objects, Each of the plurality of moving bodies Memorize environmental map information, measuring a distance between the moving body and an object around the moving body; estimating position and orientation information of one of the plurality of moving bodies from the environmental map information; estimating other moving body information, which is the position and orientation of the other moving bodies among the plurality of moving bodies; A wireless communication method characterized in that a wireless communication network configuration of a plurality of said mobile bodies is determined based on said environmental map information, said own position and orientation information, and said other mobile body information.

11. The wireless communication method according to claim 10, A wireless communication method, comprising: a server transmitting to a plurality of said mobile units the location of said server and a global route for each of said plurality of mobile units.

12. 12. The wireless communication method according to claim 11, A wireless communication method comprising estimating information about the other mobile units based on information about the global route transmitted by the server.

13. 12. The wireless communication method according to claim 11, A wireless communication method comprising estimating information about the other moving object based on the measured distance and the environmental map information.

Images