JP7701299B2 - Wireless control system and wireless control method - Google Patents

Description

The present invention relates to a wireless control system.

In order to detect and monitor wireless events, there is a technology for detecting events based on classification of channel state information, such as that disclosed in Patent Document 1.

Patent Document 1 describes a configuration of an apparatus for detecting events. The apparatus described in Patent Document 1 includes a processor and a storage device that confirms instructions that, when executed by the processor, cause the processor to train a classifier for classifying channel state information (CSI) and detecting events based on the classification of the CSI obtained during the monitoring phase. Training the classifier includes obtaining, for each known event to be detected, training CSI of a wireless multipath channel between a wireless transmitter and a wireless receiver in the venue, the training CSI being derived from one or more probing signals transmitted from the transmitter to the receiver via the wireless multipath channel, during a period during which the known event occurs in the venue, and training the classifier based on the known sound events and the training CSI associated with each event.

International Publication No. 2017/100706

The device for detecting events described in Patent Document 1 has a classifier for detecting events based on classification of channel state information (CSI) of radio waves emitted by a wireless communication system, but does not take into consideration the mobile stations included in the wireless communication system or the control method when the mobile stations are controlled by a wireless control system.

The present invention was made in consideration of the above problems, and aims to provide a wireless control system that can be controlled to return to a steady state when it detects an unsteady state in the area in which the wireless control system is operating.

A representative example of the invention disclosed in the present application is as follows: That is, a wireless control system includes a control server, a wireless monitoring sensor, and a wireless base station, the control server transmits a control signal to a wireless mobile station via the wireless base station, the wireless monitoring sensor monitors a state of a wireless signal through which the control signal is transmitted, and notifies the control server when a predetermined event indicating an abnormality due to interference between the wireless mobile station and a monitoring target is detected in a delay profile indicating a delay state of the wireless signal, the control server estimates a position and a state of the monitoring target from the notification received from the wireless monitoring sensor, calculates a positional relationship between the wireless mobile station and the monitoring target, and when there is a possibility that the wireless mobile station and the monitoring target interfere with each other, changes a movement plan of the wireless mobile station to avoid interference between the wireless mobile station and the monitoring target, and transmits a control signal according to the changed movement plan to the wireless mobile station.

According to one aspect of the present invention, the safety and efficiency of a wireless control system can be improved. Problems, configurations, and advantages other than those described above will become clear from the description of the following embodiment.

FIG. 1 is a diagram showing a wireless communication environment according to a first embodiment of the present invention. 1 is a diagram showing a configuration of a wireless control system according to a first embodiment. 1 is a diagram showing a configuration of a wireless monitoring sensor according to a first embodiment; 4 is a flowchart of a process executed by a control server according to the first embodiment. 4 is a flowchart of a process executed by a wireless monitoring sensor according to the first embodiment. FIG. 2 is a diagram showing a channel state information table according to the first embodiment; 4 is a flowchart of a process executed by a wireless mobile station according to the first embodiment. FIG. 11 is a diagram showing a wireless communication environment according to the second embodiment (top view of a logistics warehouse). FIG. 11 is a diagram showing a wireless communication environment according to the second embodiment (a side view of a logistics warehouse). FIG. 11 is a diagram showing the configuration of an AGV control system according to a second embodiment. 10 is a flowchart of a process executed by a control server according to the second embodiment. 13 is a flowchart of a process executed by a higher-level server according to the second embodiment. FIG. 11 is a diagram showing the operating environment (state A) of the AGV according to the second embodiment. A figure showing the operating environment (state B) of the AGV according to the second embodiment. FIG. 11 is a diagram showing a wireless communication environment according to a third embodiment. 13 is a flowchart of a process executed by a control server according to the third embodiment. FIG. 4 is a diagram showing an example of channel state information according to the first embodiment; FIG. 4 is a diagram showing an example of channel state information according to the first embodiment;

In the following embodiments, when necessary for convenience, the description will be divided into multiple sections or embodiments. In the following embodiments, when the number of elements (including the number, numerical value, amount, range, etc.) is mentioned, it is not limited to that specific number, and may be more or less than the specific number, unless otherwise specified or clearly limited to a specific number in principle. Note that in the following embodiments, the components (including processing steps, etc.) are not necessarily essential, except when otherwise specified or clearly considered essential in principle.

In addition, each of the configurations, functions, processing units, processing means, etc. in the following embodiments may be realized in part or in whole as, for example, an integrated circuit or other hardware. Furthermore, each of the configurations, functions, processing units, processing means, etc. described below may be realized as a program executed on a computer. In other words, they may be realized as software. Information such as programs, tables, files, etc. that realize each of the configurations, functions, processing units, processing means, etc. can be stored in storage devices such as memory, hard disks, SSDs (Solid State Drives), IC cards, SD cards, DVDs, and other storage media.

The following describes in detail the embodiments of the present invention with reference to the drawings. In all the drawings used to explain the embodiments, the same or related reference numerals are used for components having the same functions, and repeated explanations are omitted. In addition, in the following embodiments, explanations of the same or similar parts will not be repeated as a general rule unless particularly necessary.

First Embodiment
[System configuration]
The wireless control system 200 of the first embodiment is composed of a control server 201, a wireless monitoring sensor 103, and a wireless base station 101. The wireless base station 101 wirelessly communicates with a wireless mobile station 102. Hereinafter, the wireless control system 200 according to the first embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram showing a wireless communication environment according to the first embodiment. The wireless communication environment 100 may be, for example, an indoor environment such as a factory, or an outdoor environment such as a construction site. The wireless communication environment 100 includes a wireless base station 101, a wireless mobile station 102, a wireless monitoring sensor 103, and a monitored object 104. The monitored object 104 is a physical object that does not have a communication function and exists within the communication range of the wireless communication system, and may be, for example, a movable object such as a forklift or a human being. In addition, the monitored object 104 may or may not have a wireless communication function, and may be, for example, a wireless mobile station 102 or an object not under the management of the wireless control system 200. The wireless base station 101 transmits and receives wireless radio waves 105 between the wireless mobile station 102 and the wireless mobile station 102 to send control commands such as movement instructions to the wireless mobile station 102. In addition to the radio waves that propagate to the wireless mobile station 102 as direct waves, the wireless radio waves 105 also propagate as multipath waves 106, 107, and 108 and reach the wireless monitoring sensor 103. At this time, the multipath waves 106 are affected by the monitored object 104 and are repeatedly reflected to reach the wireless monitoring sensor 103. The state (e.g., delay time, strength) of the multipath waves 106, 107, and 108 changes depending on the position of the monitored object 104. The wireless monitoring sensor 103 receives these multipath waves and analyzes channel state information. The channel state information analyzed by the wireless monitoring sensor 103 is, for example, a delay profile represented by the received signal strength and the propagation delay time. An example will be described in which the wireless radio waves 105 transmitted by the wireless base station 101 are the same radio waves as the radio radio waves addressed to the wireless mobile station 102 and the radio radio waves 106, 107, and 108 received by the wireless monitoring sensor 103, but these may be different radio waves (e.g., different frequencies).

Next, the configuration of the wireless control system 200 will be described with reference to FIG. 2. The wireless control system 200 is composed of a control server 201, a wireless monitoring sensor 103, and a wireless base station 101. The control server 201, the wireless monitoring sensor 103, and the wireless base station 101 are connected via a network (e.g., Ethernet). The wireless base station 101 communicates with the wireless mobile station 102 wirelessly. The processing executed by the wireless control system 200 will be described later with reference to other figures.

Next, the configuration of the wireless monitoring sensor 103 will be described with reference to FIG. 3. The wireless monitoring sensor 103 is composed of a wireless receiver 301, a channel state information analyzer 302, a pattern learning unit 303, a pattern detection unit 304, and a notification unit 305. The processing performed by the wireless monitoring sensor 103 will be described later with reference to other figures. The wireless receiver 301 converts the wireless radio waves captured by an antenna (not shown) into a baseband signal. The channel state information analyzer 302 creates a delay profile with the frequency and delay time on the horizontal axis and the received radio wave strength on the vertical axis by delay spread analysis of the wireless radio waves received by the wireless receiver 301. For example, as shown in FIG. 15A and FIG. 15B, the delay profile differs when the person being monitored 104 is walking and when he or she has fallen. A delay profile is created that is mapped to a two-dimensional space with the delay time and the received radio wave strength as axes. The pattern learning unit 303 learns the relationship between the created delay profile and the state of the monitoring target 104 in the wireless communication environment, and creates an inference model capable of estimating the state of the monitoring target 104 from the delay profile. The state of the monitoring target 104 input to the pattern learning unit 303 may be a camera image taken inside the wireless communication environment 100, the state of the monitoring target 104 input by an administrator, or position information of the monitoring target 104 acquired from another system (for example, in the second embodiment, the position information of the mobile rack 801 acquired from a warehouse management system). The pattern detection unit 304 uses the inference model created by the pattern learning unit 303 to estimate the state of the monitoring target 104 from the delay profile, which is the analysis result of the channel state information analysis unit 302. The inference model may be a machine learning model or a multidimensional numerical model derived by regression analysis. The notification unit 305 detects a predetermined event from the state of the monitoring target 104 estimated by the pattern detection unit 304, and notifies the control server 201.

Note that some of the functions of the wireless monitoring sensor 103 may be executed by the control server 201. For example, the functions of the channel state information analysis unit 302, the pattern learning unit 303, and the pattern detection unit 304 may be executed by the control server 201. Also, using edge computing technology, some of the functions of the wireless monitoring sensor 103 may be executed by an edge computer (not shown) that is distributed and located near the wireless monitoring sensor 103. For example, the functions of the pattern learning unit 303 and the pattern detection unit 304 may be executed by the edge computer.

Next, referring to FIG. 4, the process executed by the control server 201 shown in FIG. 2 will be described. In a steady state, the control server 201 transmits a steady-state control signal to the mobile station (401). Next, the control server 201 receives state information from the wireless mobile station 102 (402). Then, the control server 201 waits for a notification from the wireless monitoring sensor 103 (403). If the control server 201 does not receive a notification from the wireless monitoring sensor 103, it returns to step 401 and repeats communication of the steady-state control signal. If the control server 201 receives a notification from the wireless monitoring sensor 103, it estimates the position and state of the monitoring target 104 from the information on the channel state included in the received notification (404). Next, the control server 201 calculates the position information of the monitoring target 104 such that the channel state information included in this notification changes (405). Then, the control server 201 transmits an emergency control signal including the calculated position information to the mobile station (406). The control server 201 then determines whether the notification from the wireless monitoring sensor 103 has stopped (407), and while the notification from the wireless monitoring sensor 103 continues, calculates the position information of the monitored object 104 (405) and continues to transmit the emergency control signal (406). On the other hand, if the notification has stopped (Yes in 407), the control server 201 returns to step S401 and repeats the communication of the control signal during normal operation.

Emergency control signals include, for example, a movement control signal that causes the wireless mobile station 102 to leave a prohibited area, and a movement control signal that causes the wireless mobile station 102 to approach a monitoring target 104 where an abnormality has occurred in order to check for the abnormality.

Next, referring to FIG. 5, the process executed by the wireless monitoring sensor 103 shown in FIG. 2 will be described. The wireless monitoring sensor 103 waits to receive wireless radio waves. When wireless radio waves are received (501), the channel state information of the received wireless radio waves is analyzed (502). Then, the state of the monitored object 104 is estimated from the channel state information using the learned inference model (503). The estimation result is written to the monitored object state information 602, the monitored object position information 603, and the emergency state flag 604 in the channel state information table 600 (see FIG. 6). The emergency state flag 604 is recorded as 1 when a predetermined event occurs as a state to be notified to the control server 201. Then, if the emergency state flag 604 is 1, an event to be notified to the control server 201 has occurred (Yes in 504), so the control server 201 is notified of an abnormal state (505). On the other hand, if the emergency state flag 604 is 1, no event has occurred that should be notified to the control server 201, so the process returns to step 501 and waits for reception of radio waves. Note that all of the estimated states of the monitoring target 104 may be transmitted to the control server 201 without determining in step 504 that an event has occurred based on the emergency state flag 604.

FIG. 6 is a diagram showing a channel state information table 600 in which the results of estimating the state of the monitoring target 104 from the channel state information (delay profile) are written. The channel state information table 600 includes a delay profile ID 601, monitoring target state information 602, monitoring target location information 603, and emergency state flag 604, and these pieces of information are recorded in association with each other. During learning, the inference model learns using the delay profile ID 601, monitoring target state information 602, monitoring target location information 603, and emergency state flag 604 as teacher data. During inference, the inference model uses the delay profile as input and outputs the monitoring target state information 602, monitoring target location information 603, and emergency state flag 604 as inference results. The wireless monitoring sensor 103 records multiple pieces of channel state information (delay profiles) in association with the delay profile ID 601. The physical state of the monitoring target 104 in the channel state is recorded in monitoring target state information 602, and information on the location where the monitoring target 104 is located in the channel state is recorded in monitoring target position information 603. Then, an emergency state flag 604 is recorded to determine whether the recorded state information is a normal state or an abnormal state for the wireless control system 200. The emergency state flag 604 as teacher data may be set manually by the user of the wireless control system 200 or automatically by the wireless control system 200. For example, a state with a certain or lower occurrence probability may be determined to be an emergency state, or channel state information when the system is stopped may be determined to be an emergency state in association with the operating state of the wireless control system 200, and the wireless control system 200 may automatically set the emergency state flag 604.

Next, referring to FIG. 7, the process executed by the wireless mobile station 102 shown in FIG. 2 will be described. The wireless mobile station 102 waits for a movement instruction from the control server 201 (701), and determines whether a movement instruction has been received from the control server 201 (702). If the wireless mobile station 102 receives a movement instruction from the control server 201 (Yes in 702), it moves according to the movement instruction (703). Then, if the wireless mobile station 102 continues to receive the movement instruction, it continues to move according to the movement instruction. Also, if the movement instruction stops, the wireless mobile station 102 waits for a movement instruction in step 701.

By using the configuration and processing described above, the wireless control system 200 of the first embodiment can receive a notification from the wireless monitoring system and transmit a movement instruction to the wireless mobile station 102, thereby optimizing the positional relationship between the monitored object 104 and the wireless mobile station 102. As a result, the safety and efficiency of the wireless control system 200 can be improved.

Second Embodiment
The second embodiment relates to a process for realizing a specific function in the configuration shown in the first embodiment. The second embodiment will be described below with reference to Figs. 8A to 12B.

Figures 8A and 8B are diagrams showing a wireless communication environment according to the second embodiment, showing the environment inside a logistics warehouse 800 where an automatic transport device called an AGV (Automatic Guided Vehicle) is in operation. Figure 8A is a top view of the logistics warehouse 800, and Figure 8B is a side view of the logistics warehouse 800. In addition, an AGV control system 900 that operates the AGVs is in operation inside the logistics warehouse, and the AGV control system communicates wirelessly with the AGVs.

As shown in FIG. 8A, a mobile shelf 801, a shelf installation area 802, an AGV 803, a wireless base station 101, a wireless monitoring sensor 103, and a picking area 806 are arranged in a logistics warehouse 800. The mobile shelf 801 contains luggage to be delivered and is placed in a predetermined shelf installation area 802. The AGV 803 moves a specified mobile shelf 801 to the picking area 806 according to a delivery instruction. When a worker working in the picking area 806 removes luggage from the mobile shelf 801, the mobile shelf 801 after picking is returned to a specified position in the shelf installation area 802 by the AGV 803. The above is a series of operations related to picking. The AGV 803 has a wireless communication terminal and transmits and receives movement instruction information to and from the AGV control system 900 via the wireless base station 101 by wireless communication. The wireless monitoring sensor 103 receives radio waves in the logistics warehouse, analyzes channel state information, and classifies the analysis results.

In the logistics warehouse 800 shown in FIG. 8A, the wireless base station 101 is installed on the ceiling to expand the reach of the wireless radio waves, and the wireless monitoring sensor 103 is installed on the ceiling to expand the reception range of the wireless radio waves, but the wireless base station 101 and the wireless monitoring sensor 103 may be installed above the height of the mobile shelf 801. Also, the wireless base station 101 and the wireless monitoring sensor 103 may be installed below each aisle along which the AGV 803 travels.

As shown in FIG. 8B, when the logistics warehouse 800 is viewed from the side, the mobile shelves 801 are lifted and moved by the AGV 803. The wireless base station 101 and wireless monitoring sensor 103 are preferably installed on the ceiling, since there are few obstacles to radio wave propagation.

Next, the configuration of the AGV control system 900 will be described with reference to FIG. 9. The AGV control system 900 has a control server 901, a wireless monitoring sensor 103, a wireless base station 101, and a host server 905. The control server 901, the wireless monitoring sensor 103, the wireless base station 101, and the host server 905 are connected via a network. The wireless base station 101 communicates wirelessly with the AGVs 904. The control server 901 mainly processes channel state information, and the host server 905 mainly processes AGV operation management plans and movement control. Details of the processing content of the AGV control system 900 will be described with reference to the following figures.

In contrast to FIG. 1, in the second embodiment, the wireless mobile station 102 is mounted on an AGV 803, and the mobile shelf 801 is the monitored object 104.

Next, referring to FIG. 10, the process executed by the control server 901 shown in FIG. 9 will be described. The control server 901 waits for a notification from the wireless monitoring sensor 103 (1001), and determines whether a notification has been received from the wireless monitoring sensor 103 (1002). When the control server 901 receives a notification from the wireless monitoring sensor 103 (Yes in 1002), it estimates the position and state of the monitoring target 104 based on the channel state information included in the received notification (1003). Next, the control server 901 calculates the position information of the monitoring target 104 such that the channel state information receiving this notification changes (1004). Then, the control server 901 transmits an emergency notification including the calculated position information to the upper server 905 (1005).

Next, referring to FIG. 11, the process executed by the upper server 905 shown in FIG. 9 will be described. In a steady state, the upper server 905 transmits a steady-state control signal to the AGV (1101). Next, the upper server 905 receives position information from the AGV 904 (1102). Then, the upper server 905 waits for a notification from the control server 901 (1103). If the upper server 905 does not receive a notification from the control server 901, it returns to step 1101 and repeats the communication of the steady-state control signal. If the upper server 905 receives a notification from the control server 901, it compares the control plan of the AGV 904 with the contents of the emergency notification and changes the control plan (1104). Next, the upper server 905 transmits a control signal of the control plan changed based on this emergency notification to the AGV 904 (1105). The upper server 905 then determines whether the notification from the control server 901 has stopped (1106), and while the notification from the wireless monitoring sensor 103 continues, changes the control plan (1104) and continues sending emergency control signals (1105). On the other hand, if the notification has stopped (Yes in 1106), the upper server 905 returns to step S1101 and repeats communication of control signals during normal operation.

With reference to Figures 12A and 12B, an example of what kind of change occurs in the operating environment of the AGV by the processing described in Figures 10 and 11, that is, a state transition from state A (1200) to state B (1210) will be described. Figure 12A shows state A (1200) in which multiple mobile shelves 801 are accumulated near the picking area 806. In state A (1200), when the AGV 803 returns the mobile shelf 801 that has completed picking work in the picking area 806 to an empty shelf installation area 802, there is only a vacancy in a position far from the picking area 806 (for example, shelf installation area 802D), and it is necessary to move the mobile shelf 801, for example, along the path indicated by the arrow. This causes problems such as a longer travel path for the AGV 803, longer work time, and increased power energy consumption of the AGV. For this reason, the AGV system judges this state to be an emergency state requiring measures. The wireless monitoring sensor 103 recognizes that the environment of the logistics warehouse 800 has entered state A by analyzing the channel state information, and sets the emergency state flag 604 in the channel state information table 600. In addition, upon receiving the emergency notification, the control server 901 sets an operation plan for changing the state of the AGV system in the upper server 905.

Figure 12B shows state B (1210), which is an example of the result of executing the reconfigured operation plan. In state B (1210), the mobile shelves 801 are not accumulated near the picking area 806, but are distributed throughout the shelf installation area 802. In state B (1210), the AGV 8013 can return the mobile shelves 801, which have completed picking work in the picking area 806, to the vacant shelf installation area 802C near the picking area 806. Therefore, in state B (1210), the travel distance of the AGV 803 is shorter than in state A (1200), so that the work time can be shortened and the consumption of the motive energy of the AGV 803 can be suppressed. The wireless monitoring sensor 103 learns in advance the state in which the logistics warehouse environment becomes state B (1210) by analyzing the channel state information, and outputs an emergency notification to the control server 901 based on the learned classification result. The control server 901 sends an emergency notification including the calculated location information to the upper server 905. The upper server 905 creates an operation plan for the AGV so that the environment in the logistics warehouse becomes state B.

By using the configuration and processing described above, the AGV control system 900 of the second embodiment can transmit movement instructions to the AGV 803 based on the monitoring results of the wireless monitoring sensor 103, and optimize the position of the monitored object 104 (mobile shelf 801). As a result, the safety and efficiency of the AGV control system 900 can be improved.

Third Embodiment
The third embodiment relates to a process for realizing another specific function in the configuration shown in the first embodiment. Hereinafter, the third embodiment will be described with reference to Figs.

Figure 13 is a diagram showing a wireless communication environment according to the third embodiment. The mine shows an environment in which an unmanned transport truck 1301 called an AHS (Autonomous Haulage System) operates. In addition, a wireless control system 200 that operates the AHS truck 1301 operates in the mine. A transport path 1300 is provided in the mine, and the AHS truck 1301 runs on the transport path 1300. The AHS truck 1301 communicates wirelessly with the wireless base station 101. In addition, the wireless monitoring sensor 103 receives radio waves around the transport path 1300 in the mine, analyzes channel state information, and classifies it. An obstacle 1304 caused by a rockfall, collapse, etc. becomes the monitoring target 104. The radio wave environment is different when an obstacle 1304 is present on the transport path 1300 and when an obstacle 1304 is not present on the transport path 1300, and the wireless monitoring sensor 103 monitors the change in this radio wave environment. The AHS control system that controls the travel of the AHS truck 1301 may be configured with a control server 201, a wireless monitoring sensor 103, and a wireless base station 101, similar to the wireless control system 200 shown in FIG. 2. The wireless mobile station 102 is mounted on the AHS truck 1301, and the obstacle 1304 is the monitored object 104.

Next, referring to FIG. 14, the process executed by the control server 201 according to the third embodiment will be described. In FIG. 14, in a steady state, the control server 201 transmits a steady-state control signal to the mobile station (1401). Next, the control server 201 receives state information from the wireless mobile station 102 (1402). Then, the control server 201 waits for a notification from the wireless monitoring sensor 103 (1403). If the control server 201 does not receive a notification from the wireless monitoring sensor 103, it returns to step 1401 and repeats communication of the steady-state control signal. If the control server 201 receives a notification from the wireless monitoring sensor 103, it estimates the position and state of the monitoring target 104 (e.g., an obstacle 1304 on the conveying path 1300) from information on the channel state included in the received notification (1404). Next, the control server 201 calculates the positional relationship between the wireless mobile station 102 and the monitoring target 104 (1405). Then, the control server 201 judges whether it is necessary to change the movement plan of the AHS truck 1301 (wireless mobile station 102) (1406). For example, if the AHS truck 1301 travels according to the current movement plan, it will overlap with the position of the obstacle 1304, and the AHS truck 1301 and the obstacle 1304 will interfere with each other, causing a hindrance to the work performed by the wireless mobile station 102. Therefore, it is preferable to judge that it is necessary to change the movement plan of the AHS truck 1301. If it is not necessary to change the movement plan of the wireless mobile station 102, the process returns to step 1401, and communication of control signals during normal operation is repeated. On the other hand, if it is necessary to change the movement plan of the wireless mobile station 102, an emergency control signal is transmitted to the wireless mobile station 102 (1407). The emergency control signal transmitted in step 1407 is, for example, for emergency stopping the AHS truck 1301 (wireless mobile station 102). The control server 201 then determines whether the notification from the wireless monitoring sensor 103 has stopped (1408), and continues to transmit the emergency control signal while the notification from the wireless monitoring sensor 103 continues (1407). On the other hand, if the obstacle 1304 has been removed and the notification from the wireless monitoring sensor 103 has stopped (Yes in 1408), the control server 201 returns to step S1401 and repeats communication of the normal control signal.

For example, in the situation shown in FIG. 13, the wireless monitoring sensor 103 detects that an obstacle 1304, which is the monitored object 104, has blocked the transport path 1300, and transmits a stop command to the AHS truck 1301 equipped with the wireless mobile station 102, thereby improving the safety of the AHS truck 1301 controlled by the AHS control system.

By using the configuration and processing described above, the AHS control system in the third embodiment can receive a notification from the wireless monitoring sensor 103 and transmit a control signal to the wireless mobile station 102, thereby optimizing the positional relationship between the monitored object 104 and the wireless mobile station 102. As a result, the safety and efficiency of the AHS truck 1301 controlled by the AHS control system can be improved.

As described above, the wireless control system 200 according to the embodiment of the present invention includes a control server 201, a wireless monitoring sensor 103, and a wireless base station 101. The control server 201 transmits a control signal to the wireless mobile station 102 via the wireless base station 101. The wireless monitoring sensor 103 monitors the state of the wireless signal through which the control signal is transmitted, and notifies the control server 201 when it detects a predetermined event in the state of the wireless signal. When the control server 201 receives a notification from the wireless monitoring sensor 103, it transmits a control signal to the wireless mobile station 102 that changes the state of the wireless signal so as to resolve the detected event. Therefore, when an unsteady state in the operating area of the wireless control system 200 is detected, the wireless control system 200 is controlled to return to a steady state, thereby improving the safety and efficiency of the wireless control system 200.

In addition, the state of the wireless signal is determined as the delay of the wireless signal received by the wireless monitoring sensor 103, so it is less susceptible to the effects of noise and can accurately capture changes in the monitored object 104. In addition, the number of sensors can be reduced compared to using a camera.

The system also includes an upper server 905 that generates a control signal to be sent to the wireless mobile station 102. When the control server 901 receives a notification from the wireless monitoring sensor 103, the upper server 905 generates a control signal that changes the state of the wireless signal so that the detected event is resolved, and sends the generated control signal to the wireless mobile station 102. This allows the mobile shelves 801 to be distributed in the logistics warehouse 800, shortens the travel distance of the AGV 803, and improves the efficiency of item sorting.

In addition, the control server 201 estimates the position and state of the monitored object 104 from the notification received from the wireless monitoring sensor 103, calculates the positional relationship between the wireless mobile station 102 and the monitored object 104, and if there is a possibility of interference between the wireless mobile station 102 and the monitored object 104, changes the movement plan of the wireless mobile station 102 to avoid interference between the wireless mobile station 102 and the monitored object 104, and transmits a control signal according to the changed movement plan to the wireless mobile station 102, thereby improving the safety and efficiency of the wireless control system 200.

The present invention is not limited to the above-described embodiments, but includes various modified examples and equivalent configurations within the spirit of the appended claims. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to having all of the configurations described. Furthermore, part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Furthermore, the configuration of another embodiment may be added to the configuration of one embodiment. Furthermore, part of the configuration of each embodiment may be added, deleted, or replaced with other configurations.

Furthermore, each of the configurations, functions, processing units, processing means, etc. described above may be realized in part or in whole in hardware, for example by designing them as integrated circuits, or may be realized in software by a processor interpreting and executing a program that realizes each function.

Information such as programs, tables, and files that realize each function can be stored in a storage device such as a memory, hard disk, or SSD (Solid State Drive), or in a recording medium such as an IC card, SD card, or DVD.

In addition, the control lines and information lines shown are those considered necessary for explanation, and do not necessarily represent all control lines and information lines necessary for implementation. In reality, it is safe to assume that almost all components are interconnected.

100 Wireless communication environment 101 Wireless base station 102 Wireless mobile station 103 Wireless monitoring sensor 104 Monitoring target 105 Wireless radio wave (direct wave)
106-108 Radio waves (multipath waves)

Claims (6)

1. A wireless control system comprising:
The system includes a control server, a wireless monitoring sensor, and a wireless base station,
The control server transmits a control signal to the wireless mobile station via the wireless base station;
the wireless monitoring sensor monitors a state of the wireless signal through which the control signal is transmitted, and when it detects a predetermined event in a delay profile indicating a delay state of the wireless signal, which indicates an abnormality due to interference between the wireless mobile station and a monitored object , notifies the control server;
The control server includes:
Estimating the location and state of a monitored object from the notification received from the wireless monitoring sensor;
Calculating a positional relationship between the wireless mobile station and the monitoring target;
When there is a possibility that the wireless mobile station and the monitored object interfere with each other, a movement plan of the wireless mobile station is changed to avoid the interference between the wireless mobile station and the monitored object;
A wireless control system comprising: a wireless control unit that transmits a control signal according to the changed movement plan to the wireless mobile station; 2. The wireless control system of claim 1,
The wireless monitoring sensor includes:
A wireless receiving unit for receiving a wireless signal;
a channel state information analysis unit that calculates channel state information based on the state of the received wireless signal;
a pattern learning unit that learns the monitoring target and the channel state information to generate an inference model;
a pattern detection unit that detects a predetermined event using the generated inference model;
a notification unit that notifies a control server of the detected event. 3. The wireless control system according to claim 2,
A wireless control system characterized in that the wireless monitoring sensor records channel state information including identification information of channel state information, monitored object state information indicating the state of the monitored object, monitored object location information indicating the location of the monitored object, and an emergency state flag indicating whether the channel state information is emergency. 2. The wireless control system of claim 1,
Further, a host server for generating a control signal to be transmitted to the wireless mobile station is provided,
A wireless control system characterized in that, when the control server receives a notification from the wireless monitoring sensor, the upper server generates the control signal on behalf of the control server and transmits the generated control signal to the wireless mobile station. 5. The wireless control system according to claim 4,
The upper server includes:
changing a movement plan of the wireless mobile station based on the location information received from the control server;
A wireless control system comprising: a wireless control unit that transmits a control signal according to the changed movement plan to the wireless mobile station; A wireless control method executed by a wireless control system, comprising:
The wireless control system includes a control server, a wireless monitoring sensor, and a wireless base station.
The wireless control method is
the control server transmits a control signal to the wireless mobile station via the wireless base station;
When the wireless monitoring sensor detects a predetermined event indicating an abnormality caused by interference between the wireless mobile station and a monitoring target in a delay profile indicating a delay state of the wireless signal by which the control signal is transmitted, the wireless monitoring sensor notifies the control server;
The control server,
Estimating the location and state of a monitored object from the notification received from the wireless monitoring sensor;
Calculating a positional relationship between the wireless mobile station and the monitoring target;
When there is a possibility that the wireless mobile station and the monitored object interfere with each other, a movement plan of the wireless mobile station is changed to avoid the interference between the wireless mobile station and the monitored object;
A radio control method comprising the steps of: transmitting a control signal according to a changed movement plan to said radio mobile station.

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