JP4079124B2 - Ground-mobile communication system - Google Patents
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本発明は、一定走行経路上を走行する移動体、例えば搬送設備における搬送用走行体と地上局との間の通信システムに関するものである。 The present invention relates to a communication system between a moving body that travels on a certain travel route, for example, a traveling body for transportation in a transportation facility and a ground station.
一定走行経路上を走行する搬送用走行体の発進、変速、停止などの走行制御や当該搬送用走行体が搭載する各種作業装置の制御を地上側ホストコンピューターからの制御信号に基づいて行わせたり、搬送用走行体から地上側ホストコンピューターへ現在位置の定期的通知や前記制御信号の受信確認通知、指示された制御の完了通知などを伝送する場合の通信システムとして、例えば特許文献１に示されるように、搬送用走行体の走行経路に沿って張設され且つ一端が地上局に接続された漏洩同軸通信線と前記搬送用走行体に設けられたアンテナとを介して地上側ホストコンピューターに接続された地上局と前記搬送用走行体上の移動局との間で通信を行うようにしたものが知られている。
而して、この種の地上・移動体間通信システムでは、通信線の全長は地上局からの通信可能距離によって決定される。即ち、通信線から漏洩する信号品質（強度を含む）は発信源である地上局から遠ざかるに従って劣化するので、正常な通信が保証される一定レベル以上の信号品質が確保できる長さが地上局からの通信可能距離となり、通信線が張設される移動体（搬送用走行体など）の走行経路の長さが前記通信可能距離を超える場合には、リピーター局を介して通信線を延長することが知られている。 Thus, in this type of ground-mobile communication system, the total length of the communication line is determined by the communicable distance from the ground station. In other words, the signal quality (including strength) leaked from the communication line deteriorates as the distance from the ground station that is the transmission source is deteriorated. If the length of the travel path of a mobile body (such as a transport traveling body) over which the communication line is stretched exceeds the communicable distance, the communication line should be extended via a repeater station. It has been known.
而して従来のリピーター局利用のシステムでは、リピーター局により単に弱まった信号を高周波増幅して信号伝送方向の下手側へ送り出すというものであって、リピーター局の一次側通信線と二次側通信線とに同一周波数の信号が流れることになるので、リピーター局の一次側通信線と二次側通信線との間で同一周波数に起因する電波干渉が発生するばかりでなく、リピーター局介装のために分断された通信線の端部からの反射波の影響による受信レベル値の変動などにより、リピーター局付近では通信が不安定になり、最悪の場合は通信不能の状態に陥る危険もあった。 Thus, in the conventional system using the repeater station, the signal weakened by the repeater station is simply amplified at a high frequency and sent to the lower side in the signal transmission direction. Since signals of the same frequency will flow through the line, not only will there be radio wave interference due to the same frequency between the primary communication line and the secondary communication line of the repeater station, As a result, the communication level becomes unstable near the repeater station due to fluctuations in the reception level value due to the influence of the reflected wave from the end of the communication line that has been cut off, and in the worst case, there is a danger of falling into a state where communication is not possible. .
本発明は上記のような従来の問題点を解消し得る地上・移動体間通信システムを提供することを目的とするものであって、その手段を後述する実施形態の参照符号を付して示すと、移動体（搬送用走行体１）の走行経路２に沿って張設され且つ一端が地上局７に接続された漏洩同軸通信線３と前記移動体（搬送用走行体１）に設けられたアンテナ４とを介して前記地上局７と前記移動体上の移動局５との間で通信を行う地上・移動体間通信システムにおいて、前記通信線３の他端にリピーター局８が接続され、地上局７は、周波数ｆ１の移動局向け信号の送信と周波数ｆ２の地上局向け信号の受信とを行い、リピーター局８は、受信した周波数ｆ１の移動局向け信号を周波数ｆ３の移動体向け信号に変換して送信すると共に、受信した周波数ｆ４の地上局向け信号を周波数ｆ２の地上局向け信号に変換して送信し、移動局５は、通信線３の地上局側区画Ａ１にあるときは周波数ｆ１の移動局向け信号の受信と周波数ｆ２の地上局向け信号の送信とを行い、通信線３のリピーター局側区画Ａ３にあるときは周波数ｆ３の移動局向け信号の受信と周波数ｆ４の地上局向け信号の送信とを行う構成となっている。 The present invention aims to provide a terrestrial / mobile communication system capable of solving the above-described conventional problems, and means thereof is shown with reference numerals of embodiments to be described later. And a leaky coaxial communication line 3 that is stretched along the travel path 2 of the mobile body (conveying traveling body 1) and connected at one end to the ground station 7 and the mobile body (conveying traveling body 1). In a terrestrial / mobile communication system in which communication is performed between the ground station 7 and the mobile station 5 on the mobile body via the antenna 4, a repeater station 8 is connected to the other end of the communication line 3. The ground station 7 transmits a signal for the mobile station having the frequency f1 and receives a signal for the ground station having the frequency f2, and the repeater station 8 sends the received signal for the mobile station having the frequency f1 to the mobile body having the frequency f3. It is converted into a signal and transmitted, and the received frequency When the mobile station 5 is in the ground station side section A1 of the communication line 3, the mobile station 5 receives and transmits the signal for the mobile station having the frequency f1. The signal is transmitted to the ground station at f2, and when it is in the repeater station side section A3 of the communication line 3, it receives the signal for the mobile station at frequency f3 and transmits the signal for the ground station at frequency f4. ing.
上記構成の本発明を実施するについて、具体的には、請求項２に記載のように、通信線３の地上局側区画Ａ１とリピーター局側区画Ａ２とが当該通信線３の中間位置で互いに一部重なり合うように構成し、この重なり区画Ａ３に前記移動体のアンテナ４が対応する状態で移動局５の送受信周波数が切り換えられるように構成することができる。この場合、請求項３に記載のように、移動体のアンテナ４が前記重なり区画Ａ３に進入した後で且つ通信線３との間の通信が終了している時点で移動局５の送受信周波数が切り換えられるように構成するのが望ましい。 For implementing the present invention having the above-described configuration, specifically, as described in claim 2, the ground station side section A1 and the repeater station side section A2 of the communication line 3 are located at an intermediate position of the communication line 3. The mobile station 5 can be configured to be partially overlapped, and the transmission / reception frequency of the mobile station 5 can be switched while the mobile antenna 4 corresponds to the overlapping section A3. In this case, as described in claim 3, after the mobile antenna 4 enters the overlapping section A3 and the communication with the communication line 3 is completed, the transmission / reception frequency of the mobile station 5 is It is desirable to be able to switch.
また、請求項２または３に記載の構成を採用する場合、請求項４に記載のように、移動体に現在位置検出装置３５を設け、この現在位置検出装置３５によって検出される現在位置値と前記重なり区画Ａ３に対応して設定された設定位置値との比較により、移動体のアンテナ４が前記重なり区画Ａ３に進入した時点を検出するように構成したり、請求項５に記載のように、移動体の走行経路２側に前記重なり区画Ａ３に対応して被検出部４１を配設すると共に、この被検出部４１を検出するセンサー４２を移動体に設け、当該センサー４２による前記被検出部４１の検出により、移動体のアンテナ４が前記重なり区画Ａ３に進入した時点を検出するように構成することができる。 Further, when the configuration described in claim 2 or 3 is adopted, the current position detection device 35 is provided in the moving body, and the current position value detected by the current position detection device 35 is set as described in claim 4. It is configured to detect a point in time when the mobile antenna 4 enters the overlapping section A3 by comparison with a set position value set corresponding to the overlapping section A3. In addition, a detected portion 41 corresponding to the overlapping section A3 is provided on the traveling path 2 side of the moving body, and a sensor 42 for detecting the detected portion 41 is provided on the moving body, and the detected portion by the sensor 42 is provided. By detecting the part 41, it can be configured to detect the time when the antenna 4 of the moving body enters the overlapping section A3.
上記構成の本発明に係る地上・移動体間通信システムによれば、通信線の全長域が地上局側区画とリピーター局側区画とに分けられるだけで、従来のように物理的に通信線が分断されるものではないので、通信線の中間に位置する両区画の終端付近、換言すれば発信源である地上局やリピーター局からの通信可能距離の限界付近で通信環境が悪化する付近は、物理的な通信線の終端から遠く離れることになり、通信線終端からの反射波の影響による受信レベル値の変動は生じない。即ち、従来のように通信線を分断することなく、地上局からの通信可能距離を大幅に延長させることができ、しかも通信線全域において良質な通信が行える。また、通信線の地上局側区画とリピーター局側区画とで送受信周波数が異なるので、両区画間で信号どうしが互いに干渉して通信不良を来す恐れもない。 According to the terrestrial / mobile communication system according to the present invention having the above-described configuration, the communication line is physically physically provided as in the related art only by dividing the entire length of the communication line into the ground station side section and the repeater station side section. Because it is not divided, near the end of both sections located in the middle of the communication line, in other words, near the limit of the communication distance from the ground station or repeater station that is the transmission source, The distance from the end of the physical communication line is far away, and the reception level value does not vary due to the influence of the reflected wave from the end of the communication line. That is, the communication distance from the ground station can be greatly extended without dividing the communication line as in the prior art, and high-quality communication can be performed over the entire communication line. In addition, since the transmission / reception frequency differs between the ground station side section and the repeater station side section of the communication line, there is no possibility that signals may interfere with each other and cause communication failure.
尚、請求項２に記載の構成によれば、地上局側区画での送受信周波数とリピーター局側区画での送受信周波数の何れでも正常な通信が行える区画（重なり区画）が存在することになり、この重なり区画内において移動局側の送受信周波数を切り換えるのであるから、移動局側での送受信周波数切り換えのタイミングに時間的余裕をもたせることができ、送受信周波数切り換えのための制御が簡単容易になる。 In addition, according to the structure of Claim 2, there exists a division (overlapping division) which can perform normal communication in any of the transmission / reception frequency in the ground station side division and the transmission / reception frequency in the repeater station side division, Since the transmission / reception frequency on the mobile station side is switched within the overlapping section, a time margin can be provided for the timing of switching the transmission / reception frequency on the mobile station side, and control for switching the transmission / reception frequency becomes easy and easy.
この場合、請求項３に記載の構成によれば、通信線との間で通信を行っている途中で送受信周波数の切り換えが行われる恐れが皆無になるか殆ど無くなるので、通信不良に伴うリトライの頻度も十分に少なくして通信信号に基づく制御を正確且つ良好に行わせることができる。尚、重なり区画に入ったときに継続されている通信の終了までの時間が長くて、その通信が終了する前に移動局側のアンテナが重なり区画の終端に到達したときは、その時点で強制的に通信を中断させて下手側区画の送受信周波数に切り換えるように構成すれば良い。しかしながら、予想される最長の通信時間と移動体の走行速度との関係に基づいて、重なり区画での送受信周波数切換地点に到達する直前に開始された通信が終了する前に移動体（アンテナ）が重なり区画の終端に到達することがないように、重なり区画の長さを設定するのが望ましい。 In this case, according to the configuration of the third aspect, there is no or almost no risk of switching between transmission and reception frequencies during communication with the communication line. The frequency can be sufficiently reduced so that the control based on the communication signal can be performed accurately and satisfactorily. In addition, if the time until the end of the communication continued when entering the overlapping section is long and the mobile station antenna reaches the end of the overlapping section before the end of the communication, it is compulsory at that time. Therefore, the communication may be interrupted to switch to the transmission / reception frequency of the lower section. However, based on the relationship between the expected longest communication time and the traveling speed of the mobile object, the mobile object (antenna) is connected before the communication started immediately before reaching the transmission / reception frequency switching point in the overlapping section. It is desirable to set the length of the overlapping section so that the end of the overlapping section is not reached.
上記の請求項２または３に記載の構成を採用する場合、移動体側のアンテナが重なり区画の送受信周波数切換地点に到達した時点を正確にチェックできることが要求されるが、請求項４に記載の構成によれば、移動体の走行経路側に前記重なり区画の送受信周波数切換地点を示す特別な被検出部を配置しておかなくとも、当該送受信周波数切換地点に相当する設定位置値を予め学習などにより設定しておくだけで、移動体側でのみアンテナが前記重なり区画の送受信周波数切換地点に到達した時点を検出できるので、移動体の走行経路レイアウトの変更などにも容易に対応できる。 When the configuration according to claim 2 or 3 is adopted, it is required that the time when the antenna on the moving body reaches the transmission / reception frequency switching point of the overlapping section can be accurately checked. According to the above, even if a special detected part indicating the transmission / reception frequency switching point of the overlapping section is not arranged on the traveling route side of the moving body, the set position value corresponding to the transmission / reception frequency switching point is learned in advance. By only setting, it is possible to detect the time when the antenna arrives at the transmission / reception frequency switching point of the overlapping section only on the mobile body side, so that it is possible to easily cope with a change in the travel route layout of the mobile body.
また、請求項５に記載の構成によれば、移動体側のアンテナが重なり区画の送受信周波数切換地点に到達した時点を、特別な制御を必要としない簡単で安価に実施できる構成により正確にチェックできるので、請求項２や３に記載の構成の実用化が容易である。 Further, according to the configuration of claim 5, the time when the antenna on the mobile unit arrives at the transmission / reception frequency switching point of the overlapping section can be accurately checked with a configuration that can be implemented easily and inexpensively without requiring special control. Therefore, it is easy to put the configuration according to claims 2 and 3 into practical use.
以下に本発明の具体的実施例を添付図に基づいて説明すると、図１において、１は移動体としての搬送用走行体であって、その走行経路２には漏洩同軸通信線３が張設されている。図では２台の搬送用走行体１を例示しているが、実際には多数台の搬送用走行体１が同一走行経路２上に配置され、各搬送用走行体１毎に異なる識別番号（ＩＤ）が割り当てられている。各搬送用走行体１には、通信線３との間の送受信用アンテナ４と、この送受信用アンテナ４に接続された移動局５とが設けられている。前記通信線３の一端には、搬送用走行体１を制御するホストコンピューター６からの各搬送用走行体１毎の制御指令を通信線３に供給する地上局７が接続され、当該通信線３の他端にはリピーター局８が接続されている。 A specific embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. 1, reference numeral 1 denotes a transporting traveling body as a moving body, and a leakage coaxial communication line 3 is stretched along the traveling path 2. Has been. In the figure, two transporting traveling bodies 1 are illustrated, but actually, a large number of transporting traveling bodies 1 are arranged on the same traveling path 2 and different identification numbers ( ID) is assigned. Each transport traveling body 1 is provided with a transmission / reception antenna 4 between the communication line 3 and a mobile station 5 connected to the transmission / reception antenna 4. One end of the communication line 3 is connected to a ground station 7 that supplies a control command for each transport traveling body 1 from the host computer 6 that controls the transport traveling body 1 to the communication line 3. A repeater station 8 is connected to the other end.
地上局７は、周波数ｆ１の移動局向け信号の送信と周波数ｆ２の地上局向け信号の受信とを行い、リピーター局８は、受信した周波数ｆ１の移動局向け信号を周波数ｆ３の移動体向け信号に変換して送信すると共に、受信した周波数ｆ４の地上局向け信号を周波数ｆ２の地上局向け信号に変換して送信するものである。而して通信線３は、地上局側区画Ａ１とリピーター局側区画Ａ２とに分けられ、移動局５は、搬送用走行体１が地上局側区画Ａ１にあるときは周波数ｆ１の移動局向け信号の受信と周波数ｆ２の地上局向け信号の送信とを行い、搬送用走行体１がリピーター局側区画Ａ２にあるときは周波数ｆ３の移動局向け信号の受信と周波数ｆ４の地上局向け信号の送信とを行うように構成されている。 The ground station 7 transmits a signal for the mobile station having the frequency f1 and receives a signal for the ground station having the frequency f2. The repeater station 8 converts the received signal for the mobile station having the frequency f1 to the signal for the mobile body having the frequency f3. And the received signal for the ground station having the frequency f4 is converted into a signal for the ground station having the frequency f2 and transmitted. Thus, the communication line 3 is divided into the ground station side section A1 and the repeater station side section A2, and the mobile station 5 is directed to the mobile station having the frequency f1 when the carrier 1 is in the ground station side section A1. When receiving the signal and transmitting the signal for the ground station having the frequency f2, and when the carrier 1 is in the repeater station side section A2, receiving the signal for the mobile station having the frequency f3 and the signal for the ground station having the frequency f4. It is comprised so that transmission may be performed.
更に具体的に説明すると、図２に示すように地上局７は、インターフェース基板９と地上局用モデム１０とから成り、インターフェース基板９には、通信インターフェース部１１、送信側及び受信側デジタルフィルター部１２，１４、送信側符号化部１３、及び受信側再符号化部１５などが設けられ、地上局用モデム１０には、送信用変調部１６と受信用復調部１７とが設けられており、ホストコンピューター６から出力される特定搬送用走行体１に対する制御信号は、通信インターフェース部１１を経由してデジタルフィルター部１２及び符号化部１３によって処理され、変調部１６により、所定レベル（信号強度）で搬送周波数がｆ１の移動局向け信号に変換されて通信線３に出力される。また、走行経路２上の搬送用走行体１から通信線３へ出力されたホストコンピューター６への各種信号、即ち、搬送周波数がｆ２の地上局向け信号は、復調部１７で復調されると共に、デジタルフィルター部１４及び再符号化部１５によって処理された後、通信インターフェース部１１を介してホストコンピューター６へ送出される。 More specifically, as shown in FIG. 2, the ground station 7 includes an interface board 9 and a ground station modem 10. The interface board 9 includes a communication interface unit 11, a transmission side and a reception side digital filter unit. 12 and 14, a transmission side encoding unit 13, a reception side re-encoding unit 15, and the like. The ground station modem 10 is provided with a transmission modulation unit 16 and a reception demodulation unit 17. The control signal for the specific transport traveling body 1 output from the host computer 6 is processed by the digital filter unit 12 and the encoding unit 13 via the communication interface unit 11, and a predetermined level (signal strength) by the modulation unit 16. Thus, the signal is converted into a signal for a mobile station having a carrier frequency of f1 and output to the communication line 3. In addition, various signals to the host computer 6 output from the traveling body 1 for transportation on the traveling path 2 to the communication line 3, that is, signals for the ground station having the carrier frequency f2, are demodulated by the demodulation unit 17, After being processed by the digital filter unit 14 and the re-encoding unit 15, it is sent to the host computer 6 through the communication interface unit 11.
搬送用走行体１上の移動局５は、ハードウエアとしては地上局７のインターフェース基板９及び地上局用モデム１０と同一のインターフェース基板１８及び移動局用モデム１９を備えたもので、この移動局５に、アンテナ４を介して通信線３から受信する信号を、地上局７から送信される周波数ｆ１の移動局向け信号とリピーター局８から送信される周波数ｆ３の移動局向け信号との何れかに択一的に切り換える受信周波数切換手段２０と、移動局用モデム１９の変調部１６から送出される送信信号を、周波数ｆ２の地上局向け信号と周波数ｆ４のリピーター局向け信号との何れかに択一的に切り換える送信周波数切換手段２１とが付加され、インターフェース基板１８における通信インターフェース部１１は、この搬送用走行体１が備える走行駆動装置などの制御対象を制御する制御用コントローラー２２との間で信号の受け渡しを行う。尚、図では、前記受信周波数切換手段２０と送信周波数切換手段２１とを移動局用モデム１９とは切り離して示しているが、実施に際しては、移動局用モデム１９が備える機能として当該移動局用モデム１９内に組み込むこともできる。 The mobile station 5 on the carrier 1 for transportation is provided with the interface board 18 and the mobile station modem 19 identical to the interface board 9 and the ground station modem 10 of the ground station 7 as hardware. 5, a signal received from the communication line 3 via the antenna 4 is either a signal for a mobile station having a frequency f1 transmitted from the ground station 7 or a signal for a mobile station having a frequency f3 transmitted from the repeater station 8. The transmission signal transmitted from the reception frequency switching means 20 and the modulation unit 16 of the mobile station modem 19 is switched to either a ground station signal with a frequency f2 or a repeater station signal with a frequency f4. A transmission frequency switching means 21 for alternatively switching is added, and the communication interface unit 11 in the interface board 18 is provided in the transport traveling body 1. For transferring signals between the control controller 22 for controlling the controlled object, such as a line drive. In the figure, the reception frequency switching means 20 and the transmission frequency switching means 21 are shown separately from the mobile station modem 19. However, in the implementation, the functions of the mobile station modem 19 are provided for the mobile station. It can also be incorporated in the modem 19.
リピーター局８は、図３に示すように、インターフェース基板２３、地上局用モデム２４、リピーター局専用モデム２５、及びこれら両モデム２４，２５と通信線３との間に介装されて、受信した信号の周波数に応じて受信信号を地上局用モデム２４とリピーター局専用モデム２５とに振り分けると共に、これら地上局用モデム２４とリピーター局専用モデム２５とから送出される送信信号を通信線３に出力する信号分配・合流部２６から構成されている。インターフェース基板２３は、地上局用モデム２４の復調部２７から送出された信号を処理してリピーター局専用モデム２５の変調部３０に送出するデジタルフィルター部３１及び再符号化部３２と、リピーター局専用モデム２５の復調部２９から送出された信号を処理して地上局用モデム２４の変調部２８に送出するデジタルフィルター部３３及び再符号化部３４とを備えている。 As shown in FIG. 3, the repeater station 8 receives the interface board 23, the ground station modem 24, the repeater station dedicated modem 25, and the modems 24 and 25 and the communication line 3. The received signal is distributed to the ground station modem 24 and the repeater station dedicated modem 25 according to the signal frequency, and the transmission signal transmitted from the ground station modem 24 and the repeater station dedicated modem 25 is output to the communication line 3. The signal distributing / merging unit 26 is configured. The interface board 23 processes the signal sent from the demodulator 27 of the ground station modem 24 and sends it to the modulator 30 of the repeater station dedicated modem 25, and the repeater station only. A digital filter unit 33 and a re-encoding unit 34 that process a signal transmitted from the demodulation unit 29 of the modem 25 and transmit the signal to the modulation unit 28 of the ground station modem 24 are provided.
また、図１に示すように、通信線３に割り当てられた地上局側区画Ａ１は、地上局７からの送信信号を通信線３から搬送用走行体１側のアンテナ４を介して移動局５側で正常に受信できる領域であり、リピーター局側区画Ａ２は、リピーター局８からの送信信号を通信線３から搬送用走行体１側のアンテナ４を介して移動局５側で正常に受信できる領域であって、各区画Ａ１，Ａ２の終端（地上局７またはリピーター局８側の端部とは反対側の端部）は、基本的に、それぞれの始端Ｐ１，Ｐ２から通信可能距離だけ離れた位置の共通１点に設定されておれば良いが、この実施形態では、図４に示すように両区画Ａ１，Ａ２の終端Ｐ３，Ｐ４は互いに相手側の区画Ａ２，Ａ１内に入り込み、両区画Ａ１，Ａ２の隣接端部が適当長さにわたって互いに重なって重なり区画Ａ３を構成し、この重なり区画Ａ３のほぼ中央に送受信周波数切換地点Ｐ３が設定されている。 As shown in FIG. 1, the ground station side section A1 assigned to the communication line 3 transmits the transmission signal from the ground station 7 to the mobile station 5 via the antenna 4 on the transport traveling body 1 side from the communication line 3. The repeater station side section A2 can normally receive the transmission signal from the repeater station 8 from the communication line 3 via the antenna 4 on the transport traveling body 1 side on the mobile station 5 side. The end of each section A1, A2 (the end opposite to the end on the ground station 7 or repeater station 8 side) is basically separated by a communicable distance from the respective start ends P1, P2. However, in this embodiment, as shown in FIG. 4, the end points P3 and P4 of both sections A1 and A2 enter the other sections A2 and A1, and both The adjacent ends of the sections A1 and A2 are connected to each other over an appropriate length. Reception frequency switching point P3 is set overlapping the overlap constitutes a partition A3, approximately in the middle of the overlap zone A3 to.
一方、搬送用走行体１には、走行経路２上の現在位置を検出する現在位置検出装置３５が搭載されている。この現在位置検出装置３５は、例えば走行駆動用モーター３６で駆動される車輪や当該モーター３６と車輪との間の伝動機構における中間回転軸などに連動するパルスエンコーダー３７、演算部３８、比較部３９、及び論理演算部４０から構成することができる。演算部３８は、パルスエンコーダー３７の出力パルスを地上局７側の始端Ｐ１から遠ざかる前進走行時には加算すると共に逆向きの後進時には減算して現在位置値を出力するものであり、比較部３９は、前記重なり区画Ａ３内の送受信周波数切換地点Ｐ３に搬送用走行体１のアンテナ４が位置するときの前記演算部３８から出力される位置値を学習作業などで予め求めて設定された設定位置値と、前記演算部３８から出力される現在位置値とを比較する。論理演算部４０は、比較部３９の比較演算結果とそのときの搬送用走行体１の走行方向情報とに基づいて、前進走行する搬送用走行体１（アンテナ４）が重なり区画Ａ３の送受信周波数切換地点Ｐ３に到達したときと、後進走行する搬送用走行体１（アンテナ４）が重なり区画Ａ３の送受信周波数切換地点Ｐ３に到達したときに、所定の送受信周波数切換信号を移動局５の送受信周波数切換手段２０，２１（図２，図３参照）に対して出力するものである。 On the other hand, a current position detection device 35 that detects the current position on the travel route 2 is mounted on the transport traveling body 1. The current position detection device 35 includes, for example, a pulse encoder 37, a calculation unit 38, and a comparison unit 39 that are linked to a wheel driven by a traveling drive motor 36, an intermediate rotation shaft in a transmission mechanism between the motor 36 and the wheel. , And a logic operation unit 40. The calculation unit 38 adds the output pulse of the pulse encoder 37 during forward traveling away from the starting end P1 on the ground station 7 side and subtracts it during reverse traveling in the reverse direction, and outputs the current position value. A set position value set in advance by a learning operation or the like for the position value output from the calculation unit 38 when the antenna 4 of the transport traveling body 1 is located at the transmission / reception frequency switching point P3 in the overlapping section A3. The current position value output from the calculation unit 38 is compared. Based on the comparison calculation result of the comparison unit 39 and the traveling direction information of the transport traveling body 1 at that time, the logical operation unit 40 overlaps the transport traveling body 1 (antenna 4) that travels forward and transmits and receives the transmission / reception frequency of the section A3. A predetermined transmission / reception frequency switching signal is sent to the transmission / reception frequency of the mobile station 5 when the switching point P3 is reached and when the transport traveling body 1 (antenna 4) traveling backwards reaches the transmission / reception frequency switching point P3 of the overlapping section A3. This is output to the switching means 20, 21 (see FIGS. 2 and 3).
具体的には、地上局側区画Ａ１の始端Ｐ１から重なり区画Ａ３内の送受信周波数切換地点Ｐ３までの領域を搬送用走行体１が走行しているときは、移動局５の送受信周波数切換手段２０，２１は、地上局７から送信される周波数ｆ１の移動局向け信号を受信すると共に周波数ｆ２の地上局向け信号の送信を行い、リピーター局側区画Ａ２の始端Ｐ２から重なり区画Ａ３内の送受信周波数切換地点Ｐ３までの領域を搬送用走行体１が走行しているときは、移動局５の送受信周波数切換手段２０，２１は、リピーター局８から送信される周波数ｆ３の移動局向け信号を受信すると共に周波数ｆ４のリピーター局向け信号の送信を行うように、走行する搬送用走行体１のアンテナ４が重なり区画Ａ３内の送受信周波数切換地点Ｐ３を通過するときに移動局５の送受信周波数切換手段２０，２１が自動的に切り換えられる。 Specifically, when the carrier 1 is traveling in a region from the start point P1 of the ground station side section A1 to the transmission / reception frequency switching point P3 in the overlapping section A3, the transmission / reception frequency switching means 20 of the mobile station 5 is used. , 21 receives the signal for the mobile station having the frequency f1 transmitted from the ground station 7 and transmits the signal for the ground station having the frequency f2, and transmits / receives the transmission / reception frequency in the overlapping section A3 from the start end P2 of the repeater station side section A2. When the carrier 1 is traveling in the area up to the switching point P3, the transmission / reception frequency switching means 20, 21 of the mobile station 5 receives the signal for the mobile station having the frequency f3 transmitted from the repeater station 8. At the same time, when the antenna 4 of the traveling traveling body 1 that travels passes through the transmission / reception frequency switching point P3 in the overlapping section A3 so as to transmit a signal for the repeater station of the frequency f4. Receiving frequency switching means 20, 21 of Dokyoku 5 is automatically switched.
上記構成によれば、走行経路２上にある特定の搬送用走行体１に対してホストコンピューター６から制御指令を伝送させるとき、制御対象の搬送用走行体１を特定する識別番号（ＩＤ）を含む周波数ｆ１の移動局向け信号が地上局７の地上局用モデム１０から通信線３に出力される。この周波数ｆ１の移動局向け信号は、通信線３の終端に接続されているリピーター局８にも到達し、リピーター局専用モデム２５の復調部２９、インターフェース基板２３のデジタルフィルター部３３及び再符号化部３４によって処理され、混入したノイズや信号の歪みなどが除去されて地上局７から出力されたときと同品質まで復元されると共に、地上局用モデム２４の変調部２８によって搬送周波数がｆ３の移動局向け信号として通信線３に送出される。 According to the above configuration, when the control command is transmitted from the host computer 6 to the specific transport traveling body 1 on the travel route 2, the identification number (ID) that identifies the transport traveling body 1 to be controlled is set. A signal for the mobile station having the frequency f 1 is output from the ground station modem 10 of the ground station 7 to the communication line 3. The signal for the mobile station having the frequency f1 reaches the repeater station 8 connected to the terminal of the communication line 3, and the demodulator 29 of the repeater station dedicated modem 25, the digital filter unit 33 of the interface board 23, and the re-encoding. The mixed noise and signal distortion are removed and restored to the same quality as when output from the ground station 7, and the carrier frequency is f3 by the modulator 28 of the ground station modem 24. The signal is sent to the communication line 3 as a signal for the mobile station.
而して、周波数ｆ１の移動局向け信号は、当該信号が出力される地上局７に近い地上局側区画Ａ１において、移動局５との間で良好な通信が行える高品質を維持しており、周波数ｆ３の移動局向け信号は、当該信号が出力されるリピーター局８に近いリピーター局側区画Ａ２において、移動局５との間で良好な通信が行える高品質を維持していることになる。一方、搬送用走行体１上の移動局５は、先に説明した送受信周波数の自動切り換えにより、地上局側区画Ａ１の始端Ｐ１から重なり区画Ａ３内の送受信周波数切換地点Ｐ３までの領域内にあるときは周波数ｆ１の移動局向け信号のみを受信し、リピーター局側区画Ａ２の始端Ｐ２から重なり区画Ａ３内の送受信周波数切換地点Ｐ３までの領域内にあるときは周波数ｆ３の移動局向け信号のみを受信することができる状態にあるので、制御対象の特定搬送用走行体１が走行経路２中のどの地点にあっても、何れも高品質の周波数ｆ１の移動局向け信号または周波数ｆ３の移動局向け信号によりホストコンピューター６から制御指令を受信することができ、通信不良によるリトライを殆ど伴うことなく制御用コントローラー２２を正確且つ確実に稼働させることができる。 Thus, the signal for the mobile station having the frequency f1 maintains high quality capable of performing good communication with the mobile station 5 in the ground station side section A1 close to the ground station 7 from which the signal is output. The signal for the mobile station having the frequency f3 maintains a high quality capable of performing good communication with the mobile station 5 in the repeater station side section A2 close to the repeater station 8 from which the signal is output. . On the other hand, the mobile station 5 on the transport traveling body 1 is in the region from the start end P1 of the ground station side section A1 to the transmission / reception frequency switching point P3 in the overlapping section A3 by the automatic transmission / reception frequency switching described above. When it is in the area from the start point P2 of the repeater station side section A2 to the transmission / reception frequency switching point P3 in the overlap section A3, only the signal for the mobile station of frequency f3 is received. Since it is in a state where it can be received, a high-quality signal for a frequency f1 mobile station or a mobile station with a frequency f3 is used at any point in the travel path 2 where the specific transport traveling body 1 to be controlled is located. The control command can be received from the host computer 6 by the direction signal, and the controller 22 for control can be accurately and reliably hardly accompanied by retry due to communication failure. It is possible to work.
リピーター局８から通信線３に出力された周波数ｆ３の移動局向け信号は、地上局７にも到達するが、地上局７は、周波数ｆ２の地上局向け信号のみを受信するものであるから、当該周波数ｆ３の移動局向け信号による影響はない。 Since the signal for the mobile station having the frequency f3 output from the repeater station 8 to the communication line 3 reaches the ground station 7, the ground station 7 receives only the signal for the ground station having the frequency f2. There is no influence by the signal for the mobile station of the frequency f3.
一方、搬送用走行体１上の移動局５からは、周波数ｆ１またはｆ３の移動局向け信号の受信確認信号、当該移動局向け信号に基づく制御の開始や終了などの確認信号、或いは現在位置報告信号などが地上局７を経由してホストコンピューター６に伝送されるが、これらの地上局向け信号は、先に説明した送受信周波数の自動切り換えにより、搬送用走行体１（アンテナ４）が地上局側区画Ａ１の始端Ｐ１から重なり区画Ａ３内の送受信周波数切換地点Ｐ３までの領域内にあるときは、周波数ｆ２の地上局向け信号として通信線３に送信され、当該周波数ｆ２の地上局向け信号は、その送信地点から近くて且つ当該周波数ｆ２の地上局向け信号のみを受信することができる地上局７で直接受信される。この周波数ｆ２の地上局向け信号は、リピーター局８にも到達するが、リピーター局８は周波数ｆ２の地上局向け信号を受信しないので、影響はない。 On the other hand, from the mobile station 5 on the transport traveling body 1, a reception confirmation signal for a signal for a mobile station having a frequency f1 or f3, a confirmation signal for starting or ending control based on the signal for the mobile station, or a current position report Signals and the like are transmitted to the host computer 6 via the ground station 7. These ground station signals are transferred from the carrier traveling body 1 (antenna 4) by the automatic switching of the transmission / reception frequency described above. When in the region from the start end P1 of the side section A1 to the transmission / reception frequency switching point P3 in the overlapping section A3, the signal is transmitted to the communication line 3 as a signal for the ground station of the frequency f2, and the signal for the ground station of the frequency f2 is It is received directly by the ground station 7 that is close to the transmission point and can receive only the signal for the ground station of the frequency f2. Although the signal for the ground station having the frequency f2 reaches the repeater station 8, the repeater station 8 does not receive the signal for the ground station having the frequency f2, and thus has no effect.
搬送用走行体１（アンテナ４）がリピーター局側区画Ａ２の始端Ｐ２から重なり区画Ａ３内の送受信周波数切換地点Ｐ３までの領域内にあるときは、上記の地上局向け信号は周波数ｆ４のリピーター局向け信号として出力されるので、当該周波数ｆ４のリピーター局向け信号は、その送信地点から近くて且つ当該周波数ｆ４のリピーター局向け信号のみを受信することができるリピーター局８で直接受信される。この周波数ｆ４のリピーター局向け信号はリピーター局８でのみ受信することができるので、地上局７や他の搬送用走行体１上の移動局５などには影響を及ぼさない。 When the transport traveling body 1 (antenna 4) is in the region from the start end P2 of the repeater station side section A2 to the transmission / reception frequency switching point P3 in the overlap section A3, the above ground station signal is a repeater station having the frequency f4. Therefore, the signal for the repeater station having the frequency f4 is directly received by the repeater station 8 that is close to the transmission point and can receive only the signal for the repeater station having the frequency f4. Since the signal for the repeater station having the frequency f4 can be received only by the repeater station 8, it does not affect the ground station 7 or the mobile station 5 on the other carrier 1 for transportation.
リピーター局８に伝送された周波数ｆ４のリピーター局向け信号は、地上局用モデム２４の復調部２７、インターフェース基板２３のデジタルフィルター部３１及び再符号化部３２によって処理され、混入したノイズや信号の歪みなどが除去されて地上局７に確実に伝送できる品質まで高められると共に、リピーター局専用モデム２５の変調部３０によって搬送周波数がｆ２の地上局向け信号として通信線３に送出されるので、特定の搬送用走行体１からホストコンピューター６向けに送信された信号は、最終的には搬送周波数ｆ２の地上局向け信号として地上局７に受信され、ホストコンピューター６に確実に入力される。この搬送周波数ｆ２の地上局向け信号は、地上局７でのみ受信できる信号であるから、走行経路２中の搬送用走行体１の移動局５などには影響を及ぼさない。 The signal for the repeater station having the frequency f4 transmitted to the repeater station 8 is processed by the demodulation unit 27 of the ground station modem 24, the digital filter unit 31 and the re-encoding unit 32 of the interface board 23, and the mixed noise and signal. The distortion is removed and the quality is improved so that it can be reliably transmitted to the ground station 7, and the carrier frequency is sent to the communication line 3 as a signal for the ground station having the carrier frequency f2 by the modulation unit 30 of the repeater station dedicated modem 25. The signal transmitted from the carrier traveling body 1 to the host computer 6 is finally received by the ground station 7 as a signal for the ground station having the carrier frequency f2, and is reliably input to the host computer 6. Since the signal for the ground station of the carrier frequency f2 is a signal that can be received only by the ground station 7, it does not affect the mobile station 5 of the carrier 1 for transportation in the travel route 2.
尚、搬送用走行体１上の移動局５に必要な送受信周波数切換装置の構成は、図４に示したものに限定されない。例えば図５に示すように、先の説明した重なり区画Ａ３内の送受信周波数切換地点Ｐ３に対応するように、搬送用走行体１の走行経路２側に被検出部４１を配設し、搬送用走行体１側には、アンテナ４が送受信周波数切換地点Ｐ３に対したときに前記被検出部４１を検出するセンサー４２を取り付け、このセンサー４２の検出信号を、図４に示した実施形態の論理演算部４０に入力して、上記と同様に搬送用走行体１の移動局５が送受信周波数切換地点Ｐ３に対応したときに当該移動局５の送受信周波数を自動切換することができる。 The configuration of the transmission / reception frequency switching device necessary for the mobile station 5 on the transport traveling body 1 is not limited to that shown in FIG. For example, as shown in FIG. 5, a detected portion 41 is arranged on the traveling path 2 side of the transport traveling body 1 so as to correspond to the transmission / reception frequency switching point P3 in the overlapping section A3 described above, A sensor 42 that detects the detected portion 41 when the antenna 4 is at the transmission / reception frequency switching point P3 is attached to the traveling body 1 side, and the detection signal of the sensor 42 is the logic of the embodiment shown in FIG. When the mobile station 5 of the transport traveling body 1 corresponds to the transmission / reception frequency switching point P3 as in the above, the transmission / reception frequency of the mobile station 5 can be automatically switched by inputting to the calculation unit 40.
搬送用走行体１の現在位置に関係なく、移動局５に対する地上局７側からの制御信号の送信が行われる場合、制御対象の搬送用走行体１が重なり区画Ａ３内の送受信周波数切換地点Ｐ３を通過する直前、換言すれば、当該制御対象の搬送用走行体１の移動局５の送受信周波数が自動切換される直前に、当該移動局５に対する地上局７側からの制御信号の送信が行われることが考えられる。このような場合、その移動局向け信号の受信途中に移動局５の送受信周波数が強制的に切り換えられて受信が途中で途絶え、通信不良が発生する。 When a control signal is transmitted from the ground station 7 side to the mobile station 5 regardless of the current position of the transport traveling body 1, the transport traveling body 1 to be controlled overlaps with the transmission / reception frequency switching point P3 in the section A3. In other words, immediately before the transmission / reception frequency of the mobile station 5 of the transport vehicle 1 to be controlled is automatically switched, the control signal is transmitted from the ground station 7 to the mobile station 5. It is possible that In such a case, the transmission / reception frequency of the mobile station 5 is forcibly switched during the reception of the signal for the mobile station, the reception is interrupted, and a communication failure occurs.
これに対しては、一定時間内に受信確認信号が地上局７側に送信されないことによる同一移動局向け信号の再送信によって対処する（この場合は、送受信周波数切換地点Ｐ３を通過することによって切り換えられた後の送受信周波数による信号の受信によって対処することになる）ことができるが、通信のリトライ頻度を低下させ、或いは制御の時間遅れを無くすためには、送受信周波数切換地点Ｐ３の通過という１条件のみで移動局５の送受信周波数を自動切換するのではなく、その時点で通信が行われていないことも条件とし、送受信周波数切換地点Ｐ３を通過するときに通信が行われているときは、当該通信が完了した時点で移動局５の送受信周波数の自動切換を実行させるように構成することができる。具体的には、図４または図５に示す構成において、論理演算部４０の入力として通信中であるか否かの判別信号を付加すると共に、比較部３８からの一致信号またはセンサー４２からの検出信号を一定時間保持する信号保持機能を付加することにより、簡単に実施できる。 This is dealt with by retransmitting the signal for the same mobile station because the reception confirmation signal is not transmitted to the ground station 7 within a certain time (in this case, switching is performed by passing through the transmission / reception frequency switching point P3). However, in order to reduce the communication retry frequency or eliminate the time delay of the control, the transmission / reception frequency switching point P3 may be used. Instead of automatically switching the transmission / reception frequency of the mobile station 5 only under conditions, it is also assumed that communication is not being performed at that time, and when communication is being performed when passing through the transmission / reception frequency switching point P3, It can be configured to execute automatic switching of transmission / reception frequencies of the mobile station 5 when the communication is completed. Specifically, in the configuration shown in FIG. 4 or 5, a determination signal indicating whether communication is in progress is added as an input to the logical operation unit 40, and a coincidence signal from the comparison unit 38 or detection from the sensor 42 is performed. This can be easily implemented by adding a signal holding function for holding a signal for a certain period of time.
また、上記構成を実施する場合、通信時間が長いために、当該通信が完了する前に搬送用走行体１の移動局５（アンテナ４）が重なり区画Ａ３の出入り口位置Ｐ５またはＰ４に到達してしまい、それまでの送受信周波数（地上局側区画Ａ１での送受信周波数Ｆ１，Ｆ２またはリピーター局側区画Ａ２での送受信周波数Ｆ３，Ｆ４）では正常な通信が行えなくなる場合が考えられる。このようなとき、重なり区画Ａ３の出入り口位置Ｐ５またはＰ４に到達した時点でそのときの通信を強制終了させることもできるが、何れにしても、通信不良に伴って一定時間後に通信のリトライが自動実行されるので、このような通信の強制終了を実行しなくとも結果的には変わりはない。しかしながら、重なり区画Ａ３の長さをあまり長く設定できないような場合で、通信不良による通信のリトライ頻度を減らすためには、送受信周波数切換地点として重なり区画Ａ３の両端出入り口位置Ｐ４，Ｐ５の２箇所を設定し、搬送用走行体１上の移動局５の送受信周波数切換は、そのときの走行方向に応じて、重なり区画Ａ３に対する入り口側となる位置Ｐ４（後進走行時）または位置Ｐ５（前進走行時）の通過時とし、重なり区画Ａ３の全長を活用してそのときの通信を支障なく完了させることができる。 Further, when the above configuration is implemented, since the communication time is long, the mobile station 5 (antenna 4) of the transport traveling body 1 reaches the entrance / exit position P5 or P4 of the overlapping section A3 before the communication is completed. Thus, there may be a case where normal communication cannot be performed at the transmission / reception frequencies up to that point (transmission / reception frequencies F1, F2 in the ground station side section A1 or transmission / reception frequencies F3, F4 in the repeater station side section A2). In such a case, the communication at that time can be forcibly terminated when it reaches the entrance / exit position P5 or P4 of the overlapping section A3, but in any case, communication is automatically retried after a certain time due to communication failure. As a result, even if such forced termination of communication is not executed, there is no change in the result. However, in the case where the length of the overlapping section A3 cannot be set too long, in order to reduce the frequency of communication retries due to communication failure, two positions of both end entrance / exit positions P4 and P5 of the overlapping section A3 are used as transmission / reception frequency switching points. The transmission / reception frequency switching of the mobile station 5 on the transport traveling body 1 is set according to the traveling direction at that time, the position P4 (during backward traveling) or the position P5 (during forward traveling) on the overlapping section A3. ) And the communication at that time can be completed without hindrance using the full length of the overlapping section A3.
１ 搬送用走行体（移動体）
２ 搬送用走行体の走行経路
３ 漏洩同軸通信線
４ 送受信用アンテナ
５ 移動局
６ ホストコンピューター
７ 地上局
８ リピーター局
９，１８，２３ インターフェース基板
１０，２４ 地上局用モデム
１９ 移動局用モデム
２５ リピーター局専用モデム
２６ 信号の分配・合流部
３５ 現在位置検出装置
４１ 被検出部
４２ センサー
Ａ１ 地上局側区画
Ａ２ リピーター局側区画
Ａ３ 重なり区画
Ｐ３ 送受信周波数切換地点
1 Transporting traveling body (moving body)
2 Traveling path of carrier for traveling 3 Leaky coaxial communication line 4 Transmission / reception antenna 5 Mobile station 6 Host computer 7 Ground station 8 Repeater stations 9, 18, 23 Interface board 10, 24 Ground station modem 19 Mobile station modem 25 Repeater Station dedicated modem 26 Signal distribution / merging unit 35 Current position detection device 41 Detected unit 42 Sensor A1 Ground station side section A2 Repeater station side section A3 Overlapping section P3 Transmission / reception frequency switching point
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| Application Number | Priority Date | Filing Date | Title |
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| JP2004180456A JP4079124B2 (en) | 2004-06-18 | 2004-06-18 | Ground-mobile communication system |
| TW094113079A TW200601723A (en) | 2004-06-18 | 2005-04-25 | Communication system among land mobile objects |
| KR1020050036715A KR100899797B1 (en) | 2004-06-18 | 2005-05-02 | Communication system between ground station and mobile station |
| CN 200510077082 CN1710821B (en) | 2004-06-18 | 2005-06-15 | Communication system between ground and moving object |
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| JP2006005689A (en) | 2006-01-05 |
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