JPH0984161A - Two-way radio communication method between fixed station and mobile station - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable permitting two directional communication antennas of a fixed station and a mobile station to normally and correctly oppose to each other at all times by providing a two-shaft driving universal head at the mobile station and executing driving control so as to make the antenna always turn in the direction of the fixed station by means of an angular velocity detection sensor. SOLUTION: A fixed station side directional communication antenna is provided in the fixed station. The mobile station such as a construction machine, etc., is provided with a mobile station side directional communication antenna 4b which is held at the two-shaft driving mobile station side universal head 2b with a longitudinal shaft 21 and a horizontal shaft 23. The longitudinal shaft driving source 24 and the horizontal shaft driving source 25 of the mobile station side universal head 2b are driven and controlled by data detected by the use of a sensor which detects the angular velocity or the rotation angle of a longitudinal shaft rate sensor 26 and a horizontal shaft rate sensor 27 so as to permit the mobile station side directional communication antenna 3b always to turn in the fixed direction which is set to the fixed station side directional communication antenna 3b direction. Thus, complicated calcualtion is not required, the both shaft driving sources 24 and 25 are actuated and universal head control with high responsiveness where correspondence to high-speed movement is sufficiently executed is executed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a two-way wireless communication control method for a fixed station and a mobile station, which is used when the construction machine is remotely controlled while watching a video signal of a video camera attached to the construction machine. In particular, the two-way communication between a fixed station and a mobile station that enables wireless communication of large-capacity long-distance communication such as video signals by using low-power radio waves in a specific band permitted as simple wireless communication. The present invention relates to a communication control method.

[0002]

2. Description of the Related Art Conventionally, various proposals have been made for adopting remote control for work in a dangerous area. For example, it has been proposed to perform unmanned remote operation of construction machines to perform leveling work in a dangerous area where people cannot enter. Recently, in addition to unilaterally sending a signal for driving and controlling a construction machine to a construction machine, a position signal or a video signal is sent from the construction machine side so that an operator who remotely operates can receive the received signal or video. Looking at it, there was a demand for more efficient and precise work to be done accurately, and already at such a distance of several tens of meters to several hundreds of meters, such a communication method was proposed and construction examples were also provided. It has been reported.

That is, if a large-capacity wireless communication is possible with both the operating / monitoring building as a fixed station and the working machine such as a working vehicle as a mobile station, the following application examples can be implemented. 1. Remote control system for construction machinery (vehicles) A system that operates construction machinery from a remote location, ensuring safety by performing work in dangerous areas, etc. at a remote location. 2. Construction machine worker information teaching system A system that teaches various information to construction machine workers.
For example, by teaching the position information of the construction machine and the construction data corresponding thereto, accurate, quick, and efficient construction is realized. 3. Construction machine management system A system that manages the operation status of construction machines. For example, it is possible to realize monitoring such as automatic tracking with a video camera using location information of construction machines, and to continuously manage the operation status of construction machines. This allows you to manage the output.

[0004]

However, since the bidirectional wireless communication as described above has a large amount of communication information, when bidirectional wireless communication is attempted over a long distance, it is necessary to use a powerful radio wave in a wide band. However, it has the drawback that it cannot be used anywhere without any restrictions due to the relationship with other radio waves.

Therefore, in order to carry out long-distance wireless communication by using radio waves in the band and output allowed by the simple radio, it is necessary to strengthen the directivity of the antenna, and there is relatively little trouble between fixed stations. However, if you try to communicate with a fixed station and a mobile station over a long distance using a directional communication antenna,
It has a drawback that the mobile station may be out of the communication allowable range of the directional communication antenna due to movement of the mobile station and communication may be disabled.

Therefore, as a typical example of such a long-distance two-way wireless communication between a fixed station and a mobile station, the mobile station and the fixed station are mutually tracked by a laser type automatic tracking device and the like. A method has been proposed in which both directional communication antennas are controlled so as to always face in opposite directions in conjunction with automatic tracking, but the laser-type automatic tracking device automatically changes the angle with a small movement at a short distance. Tracking is easy to come off,
There is a problem that once the automatic tracking is off, a predetermined time for returning to the facing relationship by scanning or the like is required, and if the automatic tracking is impossible while the mobile station is moving, the scanning or the like may be disabled. Further, the laser type automatic tracking device has a drawback that the laser beam is attenuated before reaching an object when dust or the like dances, which makes automatic tracking difficult.

Further, the most serious problem of the laser type automatic tracking device at present is that there is no biaxial drive type platform for the directional radio antenna and another platform is diverted, so that the weight loaded on the platform is large. Is overloaded. Therefore, the control of the platform is inevitably slow, and although it has a sufficient response speed, it is not provided yet.

In particular, when a construction machine (vehicle) is used as a mobile station, the normal movement (travel) of the mobile station B is not so fast, so there is no problem, but the construction machine is inclined or has a predetermined position even when traveling is stopped. There are times when it makes complicated movements such as turning at a certain position, and turning at a predetermined position is usually quite fast, and it is currently difficult to track such fast movements with a laser-type automatic tracking device. There is.

When the mobile station is a construction machine as described above, even if the mobile station moves several tens of meters several kilometers away, it may be allowed within the communication allowable range of the directional communication antenna. When the directional communication antenna turns along with the mobile station during turning work, etc., if the turning is performed quickly, mutual automatic tracking will not be possible, so construction machinery can be operated at a much slower speed than usual and automatically tracked. It had the drawback that it had to maintain its condition.

Therefore, the present invention has been made in view of the above-described problems, and has a fast directional control response of the directional communication antenna, and always allows the directional communication antennas of the fixed station and the mobile station to face each other accurately. Therefore, it is an object of the present invention to provide a two-way wireless communication method between a fixed station and a mobile station, which is less likely to lose the facing relationship.

[0011]

In order to solve the above-mentioned problems, the structure of the present invention, which is based on the above claims, has a fixed station-side directional communication antenna 3a. , A vertical axis 21 and a horizontal axis 23 on a mobile station B such as a construction machine.
A mobile station side directional communication antenna 3b held by a two-axis drive type mobile station side pan head 2b is provided.
The mobile station side directional communication antenna 3b is always fixed by the data obtained by detecting the vertical axis drive source 24 and the horizontal axis drive source 25 by the angular velocity or rotation angle detection sensors such as the vertical axis rate sensor 26 and the horizontal axis rate sensor 27. Station side directional communication antenna 3a
The driving control is performed so that the mobile station side directional communication antenna 3b always faces the fixed direction set in the fixed station side directional communication antenna 3a. It is a measure taken.

Further, in the invention of "Claim 2", the fixed station side pan head 2a of the fixed station A is a biaxial drive type of the vertical axis 21 and the horizontal axis 23.
The fixed station side directional communication antenna 3a held in the mobile station side of the mobile station B of the construction machine or the like is held in the two-axis drive type mobile station side pan / tilt head 2b having the vertical axis 21 and the horizontal axis 23. A sexual communication antenna 3b is further provided, and further a measuring device G for automatically positioning the position of the mobile station B is provided, and the vertical axis drive source 24 and the horizontal axis drive source 25 of the mobile station side platform 2b are connected to the vertical axis rate sensor 2
6 and the data detected by the angular velocity or rotation angle detection sensor such as the horizontal axis rate sensor 27 so that the mobile station side directional communication antenna 3b always faces the fixed direction set to the fixed station side directional communication antenna 3a. Then, the vertical axis drive source 24 and the horizontal axis drive source 25 of both the fixed station side pan head 2a and the mobile station side pan head 2b are positioned by the measuring device G to determine the position of the mobile station B. This is a technical measure for controlling the driving so that the bidirectional communication antennas 3a and 3b are always opposed to each other by the value.

Further, in the invention of "claim 3", the fixed station side GPS 1a and the biaxial drive type fixed station side pan head 2a of the vertical axis 21 and the horizontal axis 23 are provided at a known position of the fixed station A. The fixed station side directional communication antenna 3a which is held is provided, and the mobile station B such as a construction machine, the mobile station side GPS 1b that performs relative positioning together with the fixed station side GPS 1a, and the same two-axis drive type mobile station as described above. The mobile station side directional communication antenna 3b held by the side platform 2b is provided, and the vertical axis drive source 24 of the mobile station side platform 2b is provided.
The mobile station side directional communication antenna 3b is always fixed station side directional communication antenna based on the data detected by the vertical axis rate sensor 26 and the horizontal axis rate sensor 27 by the angular velocity or rotation angle detection sensors. Drive control is performed so as to face a fixed direction set in the 3a direction, and further, the vertical axis drive source 24 and the horizontal axis drive source 25 of both the fixed station side pan head 2a and the mobile station side pan head 2b are provided. Both GPS1 above
According to the positioning value of the mobile station B located by a and 1b,
The technical means is provided so that the bidirectional communication antennas 3a and 3b are drive-controlled so as to always face each other.

Further, in the invention of "Claim 4", the fixed station side GPS 1a and the biaxial drive type fixed station side pan head 2a of the vertical axis 21 and the horizontal axis 23 are provided at a known position of the fixed station A. The fixed station side directional communication antenna 3a which is held is provided, and the mobile station B such as a construction machine, the mobile station side GPS 1b that performs relative positioning together with the fixed station side GPS 1a, and the same two-axis drive type mobile station as described above. A mobile station side directional communication antenna 3b held on the side platform 2b and a three-dimensional attitude detection device 4 are provided, and the vertical axis drive source 24 and the horizontal axis drive source 25 of the mobile station side platform 2b are vertically arranged. The mobile station side directional communication antenna 3b always faces the fixed direction set in the fixed station side directional communication antenna 3a based on the data detected by the angular velocity or rotation angle detection sensors such as the axis rate sensor 26 and the horizontal axis rate sensor 27. Drive control to Further, the vertical axis drive source 24 of both the fixed station tripod head 2a and the mobile station side pan head 2b and the horizontal axis driving source 25
And the change value of the reference axis for drive control of the mobile station side pan head 2b to the mobile station side directional communication antenna 3b are obtained by the attitude detection value of the three-dimensional attitude detection device 4, and the change value and both GPs are obtained.
The technical means is provided so that the bidirectional communication antennas 3a and 3b are drive-controlled so as to always face each other by the positioning value of the mobile station B positioned by S1a and 1b.

Next, the operation of the present invention will be described. First, according to the present invention, the mobile station B is provided with a mobile station side directional communication antenna 3b held on a mobile station side pan / tilt head 2b of a biaxial drive type having a vertical axis 21 and a horizontal axis 23. The mobile station side directional communication antenna 3b is always fixed by the data obtained by detecting the vertical axis drive source 24 and the horizontal axis drive source 25 by the angular velocity or rotation angle detection sensors such as the vertical axis rate sensor 26 and the horizontal axis rate sensor 27. The mobile station side directional communication antenna 3a is configured so as to be driven and controlled so as to face a fixed direction set in the direction of the station side directional communication antenna 3a, even if the attitude of the mobile station changes.
The axial direction of b acts so as not to change spatially.

Originally, the vertical axis rate sensor 26 and the horizontal axis rate sensor 27 are for detecting the rotational angular velocities of the respective axes, but the vertical axis drive source 24 and the horizontal axis are arranged so as to cancel the respective detected values. By controlling the axial drive source 25, the axial direction of the mobile station side directional communication antenna 3b does not change spatially even if the attitude of the mobile station B changes. In addition to the vertical axis rate sensor 26 and the horizontal axis rate sensor 27, the rotation angle actually rotated may be detected or the angle may be differentiated to control the mobile station side platform 2b. Is of course.

Therefore, assuming that the mobile station B moves in a specific limited place, the fixed station side directional communication antenna 3a is installed toward the specific place, and further, the mobile station side is directed first. If the directional communication antenna 3b is oriented in the direction of the fixed station side directional communication antenna 3a, the directional communication antennas 3a and 3b are always kept facing each other, and a large capacity mutual capacity over a long distance is maintained. It has the effect of enabling wireless communication.

Controlling the vertical axis drive source 24 and the horizontal axis drive source 25 by the vertical axis rate sensor 26 and the horizontal axis rate sensor 27 is performed by detecting the rotation angle by another rotation angle detection sensor. Compared with the control method, the detection values of the vertical axis rate sensor 26 and the horizontal axis rate sensor 27 are immediately
Since it can be used for the control signals of the vertical axis drive source 24 and the horizontal axis drive source 25, in other words, the action of quick response, in other words,
Even if the mobile station B changes its posture rapidly, the mobile station B can cope with the situation.

However, in the above, the communication is possible
It is premised that the mobile station B moves within the communication allowable range of the bidirectional communication antennas 3a and 3b, and the mobile station B exceeds the communication allowable range of the bidirectional communication antennas 3a and 3b. When moving, communication will be disabled.

Therefore, the invention of "claim 2" is the fixed station A
2 axis-fixed fixed station side platform with vertical axis 21 and horizontal axis 23
A mobile station side in which the fixed station side directional communication antenna 3a held in a is held in a mobile station side mobile station B of a construction machine or the like, which is also a biaxial drive type mobile station side platform 2b having a vertical axis 21 and a horizontal axis 23. A directional communication antenna 3b is provided, a measuring device G for positioning the position of the mobile station B is further provided, and the vertical axis drive source 24 and the horizontal axis drive source 25 of the mobile station side platform 2b are connected to the vertical axis rate sensor 26.
And the drive control is performed so that the mobile station side directional communication antenna 3b always faces the fixed direction set in the fixed station side directional communication antenna 3a based on the data detected by the angular velocity or rotation angle detection sensor such as the horizontal axis rate sensor 27. Like no
Further, the vertical axis drive source 24 and the horizontal axis drive source 25 of both the fixed station side pan head 2a and the mobile station side pan head 2b are measured by the measuring device G to determine the positioning values of the mobile station B. Communication antenna 3
Since the drive control is performed so that the a and 3b always face each other, the bidirectional communication antennas 3a and 3b can be controlled to face each other in the facing direction even if the mobile station B moves indefinitely.

That is, when the position of the mobile station B is measured by the measuring device G, the fixed station side directional communication antenna 3a is moved to the mobile station side directional communication by controlling the fixed station side pan / tilt head 2a according to the value. The mobile station side directional communication antenna 3b is fixed by controlling the mobile station side pan head 2b because the position of the fixed station A is known when the position of the mobile station B is measured. Station side directional communication antenna 3
It will be able to point in the direction of a.

The invention of this section also exhibits the operation of "Claim 1" described above. When the mobile station B changes its location, the above-mentioned operation is utilized, and the mobile station B moves rapidly at a predetermined location. When the posture is changed to, the action of "claim 1" is utilized, and this point is the same in the inventions of the following claims.

In the invention of claim 3, the fixed station A is provided with the fixed station side GPS 1a and the mobile station B is provided with the mobile station side GPS 1b. The three-dimensional position has the effect of being able to perform positioning in almost real time within an error range of several centimeters (specifically, about 2 cm).

Then, when the three-dimensional position of the mobile station B is accurately obtained, the two pan heads 2a and 2b are moved according to the positioning value.
The bidirectional communication antennas 3a and 3b held by the respective bidirectional communication antennas 3a and 3b can be driven so as to face each other accurately, and by ensuring an accurate facing relationship between the bidirectional communication antennas 3a and 3b, the bidirectional communication antennas 3a and 3b are secured. Has the effect of enabling the use of radio waves having a higher directivity and enabling large-capacity mutual wireless communication over a long distance.

Further, in the invention of "claim 4", since the mobile station B is provided with the three-dimensional attitude detection device 4, the mobile station side pan head 2b to the mobile station side directional communication antenna 3b are detected according to the attitude detection values. This provides the effect that the change value of the reference axis for drive control of can be obtained. That is, if the attitude of the mobile station B changes, the reference axis that drives and controls the mobile station side platform 2b also changes, so the measured value of the three-dimensional attitude detection device 4 determines the change value of the reference axis. Therefore, the bidirectional communication antenna 3
The function of ensuring the accuracy of the facing relationship between a and 3b is exerted.

[0026]

BEST MODE FOR CARRYING OUT THE INVENTION Next, according to the embodiment of the present invention, the fixed station A is installed in a safe place where a person can always come in and out.
As a monitoring building, mobile station B is a construction machine such as an unmanned power shovel 50 that has entered a dangerous area such as a volcanic danger area where it is dangerous for people to enter, and the work of unmanned power shovel 50 as this mobile station B is performed. An example will be described in which fixed station A is remotely operated.

In the present invention, the fixed station A is provided with the fixed station side directional communication antenna 3a. The fixed station side directional communication antenna 3a is set so that the antenna gain half-width is in a specific direction with a very limited half-width (in this embodiment, as a specific example, the antenna gain half-width is 1.5 degrees). A conventionally known antenna is used, and a so-called parabolic antenna is used in the illustrated example.

The fixed station side directional communication antenna 3 is used.
Although not shown in a, it is a matter of course that wireless communication devices are connected. In the embodiment, the fixed station side directional communication antenna 3a is held by the fixed station side pan head 2a similar to the mobile station side pan head 2b described later, but in the invention of "Claim 1", The fixed station side platform 2a is not always necessary, but it is needless to say that the fixed station side platform 2a can be fixed in an appropriate direction.

The mobile station B such as a construction machine has a vertical axis 2
A mobile station side directional communication antenna 3b held by a two-axis drive type mobile station side platform 2b of 1 and a horizontal axis 23 is provided. As shown in FIGS. 2 and 3, the mobile station side platform 2b has a holder 22 rotatably attached with a vertical axis 21 as a central axis and a horizontal axis 23 as a central axis. Although the mobile station side directional communication antenna 3b is rotatably attached, various conventionally known two-axis drive type antennas may be used.

The vertical axis 2 is provided on the mobile station side platform 2b.
1, a vertical axis drive source 24 and a horizontal axis drive source 25 for driving a mobile station side directional communication antenna 3b holding the horizontal axis 23 as a rotation center axis are attached, and the two axes detect angular velocity. It has rate sensors 26 and 27 (or a rotation angle detection sensor that detects an actual rotation angle). In the illustrated example, the mobile station side pan head 2b to the mobile station side directional communication antenna 3b and the fixed station side pan head 2a to the fixed station side directional communication antenna 3a are made of a dust-proof / waterproof material, respectively. It is stored in the cover 28.

Although not shown, wireless communication devices are of course connected to the mobile station side directional communication antenna 3b, and further, appropriate devices such as a camera and a construction machine control device are connected. In this embodiment, the power shovel 50 is equipped with a TV camera 51 and a power shovel remote control device (not shown) / a remote control device for the TV camera 51, and the video signal of the TV camera 51 is transmitted to the mobile station side directional communication antenna. 3b to the fixed station A wirelessly, and the fixed station A
The video signal of the television camera 51 received by the fixed station side directional communication antenna 3a is visualized on a monitor, and a worker remotely operates the power shovel 50 while watching it.

Data obtained by detecting the vertical axis drive source 24 and the horizontal axis drive source 25 of the mobile station side platform 2b by the angular velocity or rotation angle detection sensors such as the vertical axis rate sensor 26 and the horizontal axis rate sensor 27. Then, the mobile station side directional communication antenna 3b is always drive-controlled so as to face the fixed direction set to the fixed station side directional communication antenna 3a.
The mobile station side directional communication antenna 3b is always directed in a fixed direction set to the fixed station side directional communication antenna 3a.

The mobile station B is not limited to the power shovel 50 shown in the figure, but may be a vehicle such as a transport vehicle for construction machines and materials, a surveying vehicle, or other various moving bodies. It may be a moving part such as a part of a pulling wire.

As described above, the vertical axis rate sensor 26 and the horizontal axis rate sensor 27 are conventionally well-known ones for detecting the angular velocity. However, the vertical axis drive source is arranged so as to cancel the respective detected values. By controlling 24 and the horizontal axis drive source 25, the axial direction of the mobile station side directional communication antenna 3b can be spatially unchanged even if the attitude of the mobile station changes.

That is, if the vertical axis rate sensor 26 and the horizontal axis rate sensor 27 control the vertical axis drive source 24 and the horizontal axis drive source 25, which are constituted by electric motors, the attitude of the base station B itself. Even if changes, the vertical axis drive source 2
4 and the horizontal axis drive source 25 operate so that the axial direction of the mobile station side directional communication antenna 3b does not change spatially. Further, when using another rotation angle detection sensor, it is only necessary to detect the actual rotation angle and control so as to return it.

Therefore, if the mobile station side directional communication antenna 3b is first set to face the fixed station side directional communication antenna 3a, then the mobile station B moves (changes its posture). However, the initial state is always maintained, and large-capacity mutual wireless communication over a long distance is possible.

However, in the above, communication is possible
Communication is impossible if the mobile station B moves beyond the communication allowable range, which is determined only by the communication allowable range determined by the degree of directivity of the bidirectional communication antennas 3a and 3b. But,
It is sufficiently practical when the communication distance is long (for example, the mobile station B is several kilometers ahead of the fixed station A) and the movement range is small (for example, the mobile station B moves only within a range of several tens of meters). is there.

First, as described above, the bidirectional communication antennas 3a and 3b must be manually opposed to each other, but the fixed station side directional communication antenna 3 is used.
a is also provided with a fixed station side platform 2a similar to the mobile station side platform 2b, and the bidirectional communication antennas 3a and 3b are always kept parallel to the antenna axis and the bidirectional communication antenna platform 2a, Telescope (not shown) in which 2b and each are interlocked
It is advisable that the bidirectional communication antennas 3a and 3b are accurately opposed to each other by attaching a standard to the directional communication antennas 3a and 3b of the other party.

Next, in addition to the above-mentioned structure, the invention of "claim 2" is the fixed station side fixed to the fixed station A which is held on the fixed-station-side platform 2a of the biaxial drive type having the vertical axis 21 and the horizontal axis 23. A directional communication antenna 3a is provided.

That is, in "claim 1", only the mobile station side directional communication antenna 3b is controlled, but "claim 2".
The present invention intends to drive and control the fixed station side directional communication antenna 3a as well, and uses the fixed station side pan head 2a having the same configuration as the mobile station side pan head 2b.

The mobile station B for construction machinery has a vertical axis of 2
Although the mobile station side directional communication antenna 3b held by the two-axis drive type mobile station side pan / tilt head 2b of 1 and the horizontal axis 23 is provided, it is the same as "Claim 1". Then, a measuring device G for automatically measuring the position of the mobile station B is further provided.

A conventionally known device may be used as the measuring device G. The measuring device G includes a fixed station A and a mobile station B.
And the mobile station B, or at a separate place. Further, as a specific example of the measuring device G, an automatic tracking total station which performs automatic tracking with a laser beam and also has a function of lightwave distance measurement and an angle measuring function, a traveling distance and a traveling direction are sequentially calculated, and a current position is determined. Inertial navigation system for positioning, GPS (Global Positioning System: GlobalPosit) which receives radio waves from artificial satellites for positioning.
Ioning System) and the like are known.

Data obtained by detecting the vertical axis drive source 24 and the horizontal axis drive source 25 of the mobile station side platform 2b by the angular velocity or rotation angle detection sensors such as the vertical axis rate sensor 26 and the horizontal axis rate sensor 27. It is the same as the above-mentioned invention that the mobile station side directional communication antenna 3b is always controlled so as to face the fixed direction set to the fixed station side directional communication antenna 3a.

Further, according to the present invention, the vertical axis drive source 24 and the horizontal axis drive source 25 of both the fixed station side pan head 2a and the mobile station side pan head 2b are positioned by the measuring device G of the mobile station B. Positioning value,
The bidirectional communication antennas 3a and 3b are controlled so that they are always opposed to each other.

That is, when the position of the mobile station B is measured by the measuring device G, the fixed station side pan head 2a is controlled according to the value to cause the fixed station side directional communication antenna 3a to move to the mobile station side directional communication. The mobile station side directional communication antenna 3b is fixed by controlling the mobile station side pan head 2b because the position of the fixed station A is known when the position of the mobile station B is measured. Station side directional communication antenna 3
If the bidirectional communication antennas 3a and 3b are always kept facing each other, the mobile station B can carry out wireless communication even if it moves in an unlimited range within the reach of radio waves. It will be.

Next, the invention of "Claim 3" uses GPS as the measuring device G, and in particular, two Gs are used.
The mobile station B is accurately positioned by relative positioning using PS.

That is, according to the invention of "Claim 3", the fixed station side GPS 1a and the biaxial drive type fixed station side pan head 2a of the vertical axis 21 and the horizontal axis 23 are provided at a known position of the fixed station A. The fixed station side directional communication antenna 3a which is held is provided.

The fixed station side GPS 1a includes a plurality of GPSs.
Satellites G11, G12, G13, G14, G15 (5 GPS satellites are shown in the figure, but the GP to be used
The number of S satellites may be four or more. ) Is received by the receiving antenna G21 to obtain the three-dimensional position of the measuring point. Note that the fixed station A is, of course, capable of accurately obtaining its three-dimensional position by another surveying method, and the fixed station side GPS 1a is intentionally installed at a known position to form a pair with the mobile station side GPS 1b described later. Mobile station side GPS 1b
This is because the accurate position of

Then, the mobile station B such as the construction machine is provided with a mobile station side GPS for performing relative positioning together with the fixed station side GPS 1a.
1b is provided. There are several types of relative positioning methods using the pair of GPSs 1a and 1b, and any one of them may be used. However, in this embodiment, the fixed station side GPS 1a is used as a reference point (known point), and the other mobile station side GPS 1b is used. The position of can be measured almost in real time within an error range of about several centimeters (practically 2 cm).

The two pan heads 2a and 2b, their drive sources 24 and 25, and the control mechanisms for both drive sources 24 and 25 may be the same as those in "Claim 2" or "Claim 3". It is only necessary to accurately locate the mobile station B, and more specifically, to accurately specify the fixed station-side directional communication antenna 3a as a reference, the pan heads 2a and 2b are the same as in "claim 3". Since it is controlled to the bidirectional communication antenna 3a,
3b can use the one with higher directivity.

In order to make accurate positioning easier with the pair of GPSs 1a and 1b, antennas G21 and
G22 is provided vertically above the bidirectional communication antennas 3a and 3b, and the positions of the bidirectional communication antennas 3a and 3b are determined by subtracting the heights of the reception antennas G21 and G22 from the positioning values obtained by the GPS 1a and 1b. It is desirable to be able to ask.

Next, in the invention of "Claim 4", the three-dimensional attitude detecting device 4 is attached to the mobile station B in addition to the configuration of "Claim 3".

Fixed station side GPS 1a and mobile station side GPS 1b
The positioning value determined by and is exactly the value of the position of the receiving antenna G22. The fixed station side directional communication antenna 3a of the fixed station A may be installed at a known position, but the position of the mobile station side directional communication antenna 3b of the mobile station B is higher than that of the receiving antenna G22 of the mobile station B. The mutual positional relationship between the mobile station side directional communication antenna 3b and the receiving antenna G22 must be calculated by taking into consideration the mutual positional relationship.

However, when the mobile station B tilts or rotates (particularly tilts), even if the provisional satellite reception antenna G22 is positioned vertically above the mobile station side directional communication antenna 3b, the mobile station side directional characteristic is obtained. Communication antenna 3b and receiving antenna G
Since the mutual positional relationship with 22 changes, the above calculation cannot be performed unless the attitude of the mobile station B is accurately grasped.

However, the problem here is not the exact position of the mobile station side directional communication antenna 3b, but the mobile station side platform 2b to the mobile station side directional communication antenna 3b (the mobile station side platform 2b). Is a change in the reference axis for driving and controlling the vertical axis drive source 24 and the horizontal axis drive source 25). The measurement error of the position of the mobile station side directional communication antenna 3b due to the change in the attitude of the mobile station B can be tolerated to some extent, but the mobile station side platform 2b.
If the reference axis for drive control of the mobile station side directional communication antenna 3b changes due to the attitude change of the mobile station B, control becomes impossible, and therefore the three-dimensional attitude detection device 4 uses this drive control The change value of the reference axis is calculated.

As the three-dimensional posture detecting device 4, a conventionally known device such as a strap-down type inertial device having three optical fiber gyros and three accelerometers may be used.

Then, the change value of the reference axis for drive control is obtained from the detected posture value of the three-dimensional posture detecting device 4, and the change value and the measured value of the mobile station B positioned by both GPS 1a and 1b determine The directional communication antennas 3a and 3b are controlled to drive the two pan heads 2a and 2b so as to face the opposite directions, so that the directional communication antennas 3a and 3b can be more accurately.
b are opposed to each other.

[0058]

Since the present invention is as described above, the mobile station side directional communication antenna 3b is always directed in the direction of the fixed station A in a predetermined range no matter how the posture of the mobile station B is changed. The bidirectional communication antennas 3a and 3b having high directivity enable two-way wireless communication over a long distance with a large amount of information even with weak radio waves of a simple wireless communication device. It is possible to provide a two-way wireless communication method with a fixed station, a mobile station, and the like.

The mobile station side directional communication antenna 3b uses the data detected by the angular velocity or rotation angle detection sensors such as the rate sensors 26 and 27, and the mobile station side directional communication antenna 3b always operates the fixed station side directional communication. Antenna 3a
Drive control is performed so that it faces a fixed direction set in the direction, so both axis drive sources 24 and 25 can be operated without requiring complicated calculations, and a pan head control with high responsiveness that can sufficiently cope with fast movements And omnidirectional communication antennas 3a, 3b
It is possible to provide a two-way wireless communication method between a fixed station and a mobile station, which is capable of reliably maintaining the facing relationship of the above and performing stable wireless communication.

Further, in addition to the above effects, the invention of "Claim 2" is provided with a measuring device G for positioning the position of the mobile station B, and the positioning value of the fixed station B measured by the measuring device G is used for both directions. Since the directional communication antennas 3a and 3b are drive-controlled so as to face each other, the mobile station B is controlled by the bidirectional communication antennas 3a and 3b.
It is possible to provide a bidirectional wireless communication method between the fixed station and the mobile station, which is capable of the above-mentioned wireless communication even when the mobile station moves beyond the communication allowable range.

The invention of claim 3 is the GP of the fixed station side.
Since relative positioning is performed between the S1a and the mobile station side GPS 1b, the positions of the bidirectional communication antennas 3a and 3b can be grasped within an error range of about several centimeters (2 cm).
It is possible to provide a two-way wireless communication method between a fixed station and a mobile station, in which the directivity can be set higher, and more reliable two-way wireless communication can be performed between the fixed station A and the mobile station B.

Further, in the invention of "claim 4", since the mobile station B is provided with the three-dimensional attitude detection device 4, the attitude of the mobile station B such as the inclination and direction can be detected, and as a result, the orientation of the mobile station It is possible to provide a bidirectional communication method between a fixed station and a mobile station in which the change value of the reference axis for drive control of the sex communication antenna 3b can be used as a correction value, and more reliable bidirectional wireless communication can be performed.

[Brief description of drawings]

FIG. 1 is an external view of an embodiment of the present invention.

FIG. 2 is a side view of a main part device used in the present invention.

FIG. 3 is a rear view of the “FIG. 2” device.

[Explanation of symbols]

 A fixed station B mobile station G measuring device 1a fixed station side GPS 1b mobile station side GPS 2a fixed station side pan head 2b mobile station side pan head 3a fixed station side directional communication antenna 3b mobile station side directional communication antenna 4 three-dimensional Attitude detection device 21 Vertical axis 23 Horizontal axis 24 Vertical axis drive source 25 Horizontal axis drive source 26 Vertical axis rate sensor 27 Horizontal axis rate sensor 28 Dust / waterproof cover

Front page continuation (72) Inventor Masatsugu Sugimura 2570-4 Shimotsuruma, Yamato-shi, Kanagawa Nishimatsu Construction Co., Ltd. (72) Inventor Osamu Okamoto 2570-4 Shimotsuruma, Yamato-shi, Kanagawa Nishimatsu Construction Co., Ltd. In-house (72) Takashi Koshiba 1-8-3 Akanehama, Narashino-shi, Chiba Japan Precision Co., Ltd. (72) Inventor Kiyoshi Fukuda 1-3-8 Akanehama, Narashino-shi, Chiba Japan Precision Co., Ltd. (72) Inventor Atsuhiro Murayama 1-8-3 Akanehama, Narashino-shi, Chiba Japan Precision Co., Ltd. (72) Inventor Masakazu Akatsuka 1-8-3 Akanehama, Narashino-shi, Chiba Japan Precision Co., Ltd. (72) Hidemitsu Kanzaki 13 Asahi Nikko Co., Ltd. 2-2 Hayato-cho, Chiyoda-ku, Tokyo

Claims (4)

[Claims] 1. A fixed station side directional communication antenna (3a) is attached to a fixed station (A), and a vertical axis (2) is attached to a mobile station (B) such as a construction machine.
1) and the horizontal axis (23) are two-axis drive type mobile station side platform (2
The mobile station side directional communication antenna (3b) held in b) is provided, and the vertical axis drive source (24) and the horizontal axis drive source (25) of the mobile station side platform (2b) are connected to the vertical axis rate sensor. The mobile station side directional communication antenna (3b) is always set in the fixed station side directional communication antenna (3a) direction based on the data detected by the angular velocity or rotation angle detection sensor such as (26) and the horizontal axis rate sensor (27). A two-way wireless communication method between a fixed station and a mobile station, which is driven and controlled so as to face a fixed direction. 2. The fixed station (A) has a vertical axis (21) and a horizontal axis (2).
The fixed-station-side directional communication antenna (3a) held on the fixed-station-side platform (2a) of the biaxial drive type with 3) is connected to the mobile station (B) such as a construction machine by the vertical axis (21). Measuring device for automatically measuring the position of the mobile station (B) by providing the mobile station side directional communication antenna (3b) held on the mobile station side platform (2b) of the biaxial drive type with the horizontal axis (23) (G) is provided, the vertical axis drive source (24) and the horizontal axis drive source (25) of the mobile station side platform (2b), the vertical axis rate sensor (26), the horizontal axis rate sensor (27), etc. Based on the data detected by the angular velocity or rotation angle detection sensor, the mobile station side directional communication antenna (3b) is always controlled so as to face the fixed direction set to the fixed station side directional communication antenna (3a). In addition, fixed station side platform (2a) and mobile station side platform (2b)
Both the vertical axis drive source (24) and the horizontal axis drive source (25) are measured values of the mobile station (B) measured by the measuring device (G), and the bidirectional communication antennas (3a, 3b) are used. A two-way wireless communication method between a fixed station and a mobile station, which are controlled so that they always face each other. 3. A fixed station side pan head (2a) of a fixed station side GPS (1a) and a two-axis drive type fixed station side fixed axis (21) and a horizontal axis (23) at a known position of the fixed station (A). ) Is provided with a fixed station side directional communication antenna (3a), and the fixed station side GPS (1) is attached to a mobile station (B) such as a construction machine.
a mobile station side GPS (1b) that performs relative positioning together with a);
A mobile station side directional communication antenna (3b) held by the same two-axis drive type mobile station side platform (2b) is provided, and the vertical drive source (24) of the mobile station side platform (2b) is provided. ) And the horizontal axis drive source (25) with the data detected by the angular velocity or rotation angle detection sensors such as the vertical axis rate sensor (26) and the horizontal axis rate sensor (27), and the mobile station side directional communication antenna (3b). Controls the fixed station side directional communication antenna (3a) so that it always faces a fixed direction, and the fixed station side platform (2a) and the mobile station side platform (2b).
And the ordinate drive source (24) and the abscissa drive source (25) of both of them are measured by the positioning values of the mobile station (B) by the GPS (1a, 1b).
A two-way wireless communication method between a fixed station and a mobile station, in which drive control is performed so that (a, 3b) always face each other. 4. A fixed station side pan head (2a) of a fixed station side GPS (1a) and a two-axis drive type fixed station side fixed axis (21) and a horizontal axis (23) at a known position of the fixed station (A). ) Is provided with a fixed station side directional communication antenna (3a), and the fixed station side GPS (1) is attached to a mobile station (B) such as a construction machine.
a mobile station side GPS (1b) that performs relative positioning together with a);
A mobile station side directional communication antenna (3b) held on the same two-axis drive type mobile station side platform (2b) and a three-dimensional attitude detecting device (4) are provided, and the mobile station side platform is provided. Data obtained by detecting the vertical axis drive source (24) and the horizontal axis drive source (25) in (2b) by the angular velocity or rotation angle detection sensors such as the vertical axis rate sensor (26) and the horizontal axis rate sensor (27). The mobile station side directional communication antenna (3b) is always driven and controlled so as to face the fixed direction set to the fixed station side directional communication antenna (3a). Furthermore, the fixed station side pan head (2a) Mobile station side platform (2b)
Both the vertical axis drive source (24) and the horizontal axis drive source (25) are directed to the mobile station side platform (2b) to the mobile station side by the attitude detection values of the three-dimensional attitude detection device (4). Of the reference axis for drive control of the sexual communication antenna (3b), and the bidirectional communication antenna (by the change value and the positioning value of the mobile station (B) positioned by both GPS (1a, 1b). Three
A two-way wireless communication method between a fixed station and a mobile station, in which drive control is performed so that (a, 3b) always face each other.