JPH06268563A - Radio relay system in mobile object - Google Patents

Abstract

PURPOSE:To surely send information from a mobile object to a stationary station even at a location having lots of obstacles by providing a reflector in which a transmission wave with a strong directivity sent from the mobile object is sent to the stationary station by using a reflecting plate whose angle is made variable with a location of the mobile body. CONSTITUTION:A radio wave sent from a mobile object 1 is reflected by reflectors 3-5 with driver and stationary reflecting plates 6, 7 and fed to a stationary station 2 by detouring obstacle A. A position and a progressing direction of the mobile object 1 are measured by a position measurement device such as a GPS, and since the change is at first measured by a drive mechanism of the mobile object 1, the antenna azimuth angle and elevating angle with respect to the reflector 3 are calculated by a CPU of the mobile object 1 itself and outputted to the driver. Since it is located in the entirely opposite direction when viewing from the reflector 3, the data are received to calculate a direction of the reflecting plate of the reflector 3 and the result is outputted to the driver. Thus, the mobile object 1 is traced smoothly and the transmission from the mobile object 1 is ensured.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wireless relay system for a mobile body, and more particularly to a wireless relay system for a mobile body which is carried out between the mobile body and a fixed station by using radio waves having strong directivity.

[0002]

2. Description of the Related Art In the case of transmitting a moving image such as a television image to a fixed station while moving from a moving body, a simple wireless device using millimeter waves has been conventionally used as the wireless transmission system. This is because the TV signal is a wide band signal of 4 MHz, so if it is attempted to be transmitted using a carrier such as VHF or UHF while moving, a high power is required for the carrier, and it is generally difficult to use and low power consumption is required. F
If the degree of modulation of M modulation is increased, the used band is further expanded, the influence of the propagation path is likely to occur, and the image quality is deteriorated. Therefore, a simple radio apparatus using millimeter waves has a strong directivity of radio waves and This is because it is possible to concentrate on the antenna, and thus broadband transmission can be performed without being affected by the surrounding environment.

[0003]

However, when it is attempted to wirelessly communicate information requiring a wide band such as an image signal from a mobile body without being affected by the surrounding environment, a high frequency such as microwave or millimeter wave is required. Since the microwave and millimeter waves have strong directivity, when used in a place with many obstacles, radio waves are obstructed by obstacles and radio waves do not reach the fixed station from the moving object, and information transmission There was a problem such as not being able to do.

The present invention has been made in view of the above points, and provides a wireless relay system in a mobile body that can reliably transmit information from a mobile body to a fixed station even in a place where there are many obstacles. With the goal.

[0005]

A radio of a mobile body which performs communication between the mobile body and a fixed station by means of at least one reflecting means having a reflector for reflecting the radio wave by a radio wave having directivity. In the relay system, the moving body has a position and orientation measuring means for measuring its own position and orientation, a first storage means for storing the position data of the reflecting means, and its own position and orientation measured by the position and orientation measuring means. Based on the data and the position data of the reflecting means stored in the first storage means, the directional data corresponding to the directional direction of the directional antenna is transmitted to the reflecting means, and the directional antenna is set based on the directional data. A second wireless communication means for transmitting and receiving the radio wave by controlling so as to be directed to a reflecting means, wherein the reflecting means stores a position of a fixed station or another adjacent reflecting means. While receiving the directional data transmitted from the storage means and the moving body, the reflecting plate of another reflecting means or a fixed station based on the directional data and the azimuth data and the position data stored in the second storage means. And a second radio communication means for transmitting and receiving the radio wave to and from the moving body by reflecting the radio wave to the fixed station. It becomes.

[0006]

The moving body can know its own position, azimuth and the position of the reflecting means by the position and direction measuring means and the first storing means, and can direct the directional antenna to the reflecting means from these data.

The reflection means can know the directivity direction and the reflection position of the directional antenna by the data receiver and the second storage means. The directivity angle of the reflector is controlled from these data, and the reflection direction is transmitted from the directional antenna. The generated radio wave can be bent in a predetermined direction. Therefore, the radio wave having a strong directivity transmitted from the directional antenna of the moving body can be bent by the reflecting means to avoid the obstacle and be reliably transmitted to the fixed station.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram of an embodiment of the present invention. In the figure, 1 is a moving body and 2 is a fixed station. The mobile unit 1 moves within the security target and transmits an image within the security target by radio waves having high directivity capable of wide band transmission such as microwaves and millimeter waves.

Radio waves transmitted from the moving body 1 are reflected by the reflecting devices 3 and 4 and 5 and the fixed reflecting plates 6 and 7 of the driving device, bypass the obstacle A and are supplied to the fixed station 2.

Here, the reflection devices 3, 4, 5 and the reflection plate 6,
Installation of No. 7 will be described.

The number of reflecting means to be used is naturally determined because it is necessary to see through to a desired place and bend the radio wave path to form a line.

At this time, since the propagation loss affects the square of the distance, in actual circuit design, a large reflector is arranged in a section where the propagation distance is long, or a large reflection is generated in a section where the reflector drive is not required. It is necessary to perform operations such as using a board to earn a margin. However, since a large reflector has a narrow beam width by that amount, it is necessary to consider not to use a large reflector unnecessarily, and at least the reflector facing the moving body should be small, and the drivability will be excellent. .

Further, when the reflection relay angle by the reflection plate becomes an obtuse angle, the loss due to reflection increases extremely. Therefore, in such a case, it is advisable to use two reflectors close to each other and make the reflection relay angle acute. With such a configuration, the reflection angle per sheet can be halved, and the additional loss due to using two sheets can be reduced to half (3 dB). At this time, if a reflecting plate is installed along the path of the moving body 1 and is tracked as the moving body 1 moves, at least every other reflecting plate is required to have a driving device-equipped reflecting means.

The method of setting the reflector has been described above. Next, the fixed station 2 will be described. The fixed station 2 includes a wireless communication device 8, a television monitor 9, a monitoring device 10, and a data transceiver 11.

The wireless communication device 8 receives a radio wave having a strong directivity such as a microwave or a millimeter wave transmitted from the mobile unit 1,
The image signal captured by the moving body 1 is reproduced from the received signal and supplied to the television monitor 9 and the monitoring device 10.

The television monitor 9 displays the image captured by the moving body 1 according to the image signal supplied from the wireless communication device 8.

The monitoring device 10 is composed of a personal computer or the like, and remotely controls the drive angles of the reflecting devices 3 and 4 with the driving device based on the received signal level supplied from the wireless communication device 8 to perform fixed reflection relay. This is used for initial adjustment to memorize and store the azimuth angle and suppression angle at the time, as well as for fine adjustment performed by instructing a drive angle to a specific device, or instructing start of moving body tracking, etc. Take control.

The data transmitter / receiver 11 communicates by radio waves having low directivity, and supplies instruction data from the monitoring device 10 to the reflecting devices 3, 4 and 5 with a driving device. The radio waves used in the data transmitter / receiver 11 have a relatively low frequency and a low directivity,
Even if there is an obstacle 7 or the like, it is set so as to be able to directly communicate with the reflecting devices 3, 4, and 5 with the driving device without a reflecting plate.

Next, the moving body 1 will be described. FIG. 2 shows a configuration diagram of the mobile unit 1. The moving body 1 includes an imaging device 12, a wireless device 13, a directional antenna 14, and an antenna driving device 1.
5, a relay control device 16, a position measuring device 17, a reflector position data storage device 18, a data transmitter / receiver 19, and a traveling drive system and a traveling control system (not shown).

The image pickup device 12 picks up an image of the periphery of the moving body 1 to generate an image signal. The image signal generated by the imaging device 12 is supplied to the wireless device 13.

The wireless device 13 converts the image signal generated by the image pickup device 12 into a signal in a band which has a high directivity such as a microwave and a millimeter wave and can be in a wide band position, and outputs the signal. The output signal of the wireless device 13 is supplied to the directional antenna 14.
The directional antenna 14 is formed in a parabolic shape or the like, and outputs the output of the wireless device 13 in a predetermined directional direction.

The directional antenna 14 is the antenna driving device 1
It is connected to the No. 5 and can change its directivity direction. The antenna driving device 15 is a relay control device 16
The directional antenna 14 is connected to the directional antenna 14 and is driven in response to a control signal from the relay control device 16 to change the directional direction of the directional antenna 14.

The relay controller 16 is connected to the position measuring device 17 and the reflector position data storage device 18, and is obtained from the position data of the moving body 1 obtained by the position measuring device 17 and the reflector position data storage device 18. The directional direction of the directional antenna 14 is calculated based on the reflector position data, the antenna driving device 15 is controlled, and the directional antenna 14 is oriented in the calculated directional direction.

The position measuring device 17 is provided because it is necessary to know the position and traveling direction of the moving body 1. The position measuring device 17 is sent from an azimuth measuring device such as a traveling distance and an azimuth gyro that calculates its own position or from an artificial satellite. GPS (Global Positioning System) that measures position on the ground using radio waves
It is configured by an automatic position and traveling direction measuring device in which a azimuth measuring device is combined with a receiver, and is configured to measure the position and traveling direction of the moving body 1.

In addition, if the pitch and roll amount of the moving body 1 become a problem, a gyro capable of measuring the biaxial inclination of the moving body 1 is further provided to correct the position and traveling direction data of the moving body 1. There is a need.

The reflector position data storage device 18 is a storage device such as a semiconductor storage device, and the installation position data of the reflection devices 2 to 6 is stored in advance.

The relay controller 16 is connected to the data transmitter / receiver 19 and sends out the calculated drive angle data of the directional antenna 14 via the data transmitter / receiver 19. The data transmitter / receiver 19 transmits the drive angle data by radio waves in a low frequency band with low directivity. Data transceiver 1
The signal sent from 9 is the reflecting device with driving device 3, 4, 5
Is supplied to.

FIG. 3 shows the construction of the reflecting devices 3, 4, and 5 with a driving device. The reflectors 3 and 4 with the driving device are the reflector 2
0, a reflector drive device 21, a reflector control device 22, a reflector position data storage device 23, and a data radio device 24,
It is fixed to the ceiling, wall of the building, etc.

The reflection plate 20 is made of a stainless steel plate having a mirror property or a mirror-coated acrylic resin plate so that the initial direction adjustment for forming a propagation path quickly and surely can be performed by light. Since the beam width of the reflector 20 is generally sharper than the beam width of the directional antenna 14, it is necessary to surely carry out the initial direction adjustment within the accuracy of 0.5 °. In addition, the mirror-coated acrylic resin plate is not inferior to the metal plate in reflectance,
Since it bends for a long time, it is necessary to reinforce the back side.

The reflector drive control device 22 has a built-in CPU for calculating and controlling the direction of the reflector 20 and performing a series of processing such as communication with the monitoring device 10 of the mobile unit 1 or the fixed station 2. To do.

The reflector drive control device 22 is supplied with the position data of the adjacent reflector from the reflector position data storage device 23, and the drive angle data of the directional antenna 14 transmitted from the moving body 1 is transmitted by the data radio. The directional angle and the elevation angle of the reflection plate 20 are calculated from the data supplied from the machine 24 based on the mathematical formulas described later.

Data for determining the direction angle and elevation angle of the reflection plate 20 calculated by the reflection plate drive control device 22 are supplied to the reflection plate drive device 21, and the direction angle and elevation angle of the reflection plate 20 are supplied according to the supplied data. Control the two axis directions.

At this time, the other reflectors 4 and 5 calculate the azimuth angle and the elevation angle by the calculation described later from the position data of the adjacent reflectors 6 and 7 in the reflector position data storage device 23 incorporated therein. Then, it is controlled to form a transmission path from the reflection device 3 to the wireless device 8.

The antenna drive angle data of the mobile unit 1 is sent by the data transmitter / receiver 19 of the mobile unit 1 directly to the reflecting device 3 which is in close proximity, and is used for calculating the drive angle of the reflecting unit 3. At this time, if there is a vacancy in the voice line of the millimeter-wave wireless device 13, the antenna drive angle data is set to be sent through this line, and if there is an error in the data of the data transceiver 19, the line is monitored. If it can be configured,
More reliable control can be performed.

With the above-described structure, the change in coordinates and azimuth associated with the movement of the moving body 1 can be measured first by the traveling mechanism of the moving body, so that the CPU of the moving body 1 itself immediately causes the antenna azimuth angle with respect to the reflector 20. In addition, the elevation angle can be calculated and output to the antenna driving device 15 without causing a tracking delay. Also,
Since this calculated value is in the completely opposite direction when viewed from the reflection device 3, the drive control device 22 of the reflection plate 20 receives this drive data by the data transmitter / receiver 24 and reflects the received data with a minus value. From the data of the azimuth angle and the elevation angle of the adjacent reflector plates 6 viewed from the device 3, the reflector direction is calculated by the method described later and output to the reflector drive device 21. If these calculation processes are applied to the monitoring device 10 of the fixed station 2, it takes time to send and receive data, and the reliability of the data is lost when it becomes remote, but with the configuration of this embodiment. By doing so, the moving device 1 can be smoothly tracked by the reflecting device 3 and the monitoring device 10 can be configured to perform only monitoring when interruption is not necessary.

Next, the operation of the reflecting devices 3, 4 and 5 with the driving device will be described. FIG. 4 shows an operation explanatory diagram of the reflecting device with a driving device according to an embodiment of the present invention.

In the figure, the coordinate system is an XYZ rectangular coordinate system, and the antenna reflector control method is a biaxial control method of A azimuth angle and elevation angle.

Now, assuming points A, B and C as shown in FIG. 4, the coordinates of the point A are (Xa, Ya, Za), the coordinates of the point B are (Xb, Yb, Zb), Set the coordinates of C to (Xc, Y
c, Zc), the azimuth angle AZ and elevation angle EL at which point A to point B, point B to point A or point C, and point C to point B are respectively expressed by the following equations.

[0039]

[Equation 1]

The moving body 1 is at the point A, and the reflector 20 is at the point B.
If there is, the moving body 1 at point A to the reflector 20 at point B
The azimuth angle and elevation angle are calculated by the azimuth angle AZab and the formula (1).
It can be calculated by the elevation angle ELab in (2). If the traveling direction of the mobile unit 1 is taken into consideration, the antenna drive unit 15 can be obtained by subtracting from the azimuth angle obtained by determining the angle of rotation of the mobile unit 1.
The azimuth angle of is calculated. The elevation is based on the horizontal, so the equation can be used. When the traveling road surface has many undulations and the pitch and roll of the moving body 1 cannot be ignored, the moving body 1 is provided with a pitch amount and a detecting means such as a gyroscope for detecting the roll amount, and the pitch amount detected by the detecting means. , And the coordinate change amount based on the roll amount may be added to the above formula to obtain the azimuth angle and the elevation angle.

This time, there is a reflector 20 at point B, and when the radio wave is relayed from point A to point C, the direction of the reflector 20 at point B is that the incident angle and the reflection angle of the electromagnetic wave are equal to each other with respect to the normal line. Therefore, the directional angle and the elevation angle may be obtained by taking the median values of the incident angle and the reflection angle, and the azimuth angle AZbr and the elevation angle ELbr are represented by the following equations.

[0042]

[Equation 2]

Now, assuming that the point A is the moving body 1, the direction angle AZba and the elevation angle ELba change every moment, so the direction angle AZbr and the elevation angle ELbr of the direction of the reflecting plate 20 at the point B follow the movement of the moving body 1. Will change.

For example, the radio wave from the moving body 1 at the point A (1, -1,1,) is reflected by the reflecting plate at the point B (0,0,3) at the point C (1,1).
When reflected toward the reflectors 1 and 2), the azimuth angle AZbr and the elevation angle ELbr of the reflector at the point B are the values shown below.

The azimuth angle AZba and elevation angle ELba of the directional antenna 14 are AZba = -45 ° ELba = -54.7 ° The azimuth angle AZbc and elevation angle ELbc of the reflector 20 are AZbc = -45 ° C ELbc = -35.3 °. The azimuth angle AZbr and the elevation angle ELbr of the fixed reflector 5 are AZbr = 0 ° ELbr = −45 °.

However, the angle is + clockwise with reference to the X axis.
Then, the plane having the projection point C ′ on the XY plane of the point C is the first quadrant.

As described above, in the present embodiment, the traveling direction of the millimeter wave is controlled by using the reflecting means capable of driving the azimuth angle and the elevation angle of the reflecting plate, so that the corridor is transmitted from the moving body 1 circulating in the building. Even in the presence of obstacles, such as relays of vehicles, relays from the moving body 1 inside the indoor event via the reflecting means on the ceiling, relays from the moving body 1 running along the valley of the building to the reflecting means on several rooftops. You can perform video relay from your body.

[0048]

As described above, according to the present invention, a transmission wave having a strong directivity transmitted from a moving body can be transmitted to a fixed station by a reflector whose angle can be changed according to the position of the moving body. Therefore, it has a feature that broadband information such as a moving image from a moving body can be reliably transmitted to a fixed station.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of an embodiment of the present invention.

FIG. 2 is a configuration diagram of a moving body according to an embodiment of the present invention.

FIG. 3 is a configuration diagram of a reflector relay device according to an embodiment of the present invention.

FIG. 4 is an operation explanatory diagram of the reflecting device with a driving device according to the embodiment of the present invention.

[Explanation of symbols]

 1 Mobile 2 Fixed Station 3, 4, 5 Reflector with Driving Device 6, 7 Fixed Reflector 8 Radio Communication Device 9 Television Monitor 10 Monitoring Device 11 Data Transmitter / Receiver 13 Radio Device 14 Directional Antenna 15 Antenna Drive Device 16 Relay Control Device 17 Signal measuring device 18 Reflector position data storage device 19 Data transmitter / receiver 20 Reflector 21 Reflector drive device 22 Reflector control device 23 Reflector position data storage device 24 Data radio

Claims (2)

[Claims] 1. A wireless relay system in a mobile body, which performs communication between a mobile body and a fixed station via at least one reflecting means having a reflector for reflecting the radio wave by a radio wave having directivity, The moving body includes: a position / direction measuring unit that measures its own position and direction; a first storage unit that stores position data of the reflecting unit; and a position and direction data of itself that is measured by the position and direction measuring unit. Based on the position data of the reflecting means stored in one storage means, while transmitting the directional data according to the directional direction of the directional antenna to the reflecting means, the directional antenna based on the directional data A first wireless communication unit for driving and transmitting the radio wave by controlling the drive so as to be in the direction of the reflection unit is provided, and the reflection unit is the position of the fixed station or another adjacent reflection unit. A second storage unit that stores a position, and the reflector based on the orientation data and the orientation data and the position data stored in the second storage unit while receiving the orientation data transmitted from the moving body. Is provided with a reflection plate control means for driving and controlling the other radio means or the fixed station so as to be in the direction of the fixed station, and the fixed station reflects the radio wave to the moving body and the radio wave by the reflection means. A wireless relay system in a mobile body, comprising a second wireless communication means for transmitting and receiving. 2. The wireless relay system according to claim 1, wherein the reflection plate reflects light in addition to the radio waves.