JPS60216641A - Optical transmission system for mobile body - Google Patents
Optical transmission system for mobile bodyInfo
- Publication number
- JPS60216641A JPS60216641A JP59074269A JP7426984A JPS60216641A JP S60216641 A JPS60216641 A JP S60216641A JP 59074269 A JP59074269 A JP 59074269A JP 7426984 A JP7426984 A JP 7426984A JP S60216641 A JPS60216641 A JP S60216641A
- Authority
- JP
- Japan
- Prior art keywords
- optical
- base station
- mobile body
- robot
- stand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H04B10/22—
Abstract
Description
【発明の詳細な説明】
〔発明の技術分野〕
この発明は、A危局とロボット等の移動体との間で元臣
間辿・1j゛を行う伝送7スデムに関する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a transmission system for carrying out inter-vassal tracing between a crisis point and a mobile object such as a robot.
移動する物体、例えばロボットに指令を与えるため、基
地局との間で通信システムを確立する必要力;ある場合
、18号の伝送手段として光を用いる事は、混信等信の
信号の影響を受ける事が少い点で優れているが、移動物
体が他の機器の影に入る等すると、光がしゃ断され通信
が出来なくなるので、これに対処できるシステムが必要
である。In order to give commands to moving objects, such as robots, it is necessary to establish a communication system with a base station; in some cases, the use of light as the transmission means of No. 18 may be affected by signals such as interference. However, if a moving object enters the shadow of another device, the light will be cut off and communication will not be possible, so a system that can deal with this is needed.
従来、この種の装置として、特開昭58−146150
号公報に示されるものがある。この例では、室内壁面に
多数の光端末サテライトを設ける事で、影の影響をさけ
るようたしたものである。Conventionally, as this type of device, Japanese Patent Application Laid-Open No. 58-146150
There is something shown in the publication. In this example, a large number of optical terminal satellites are installed on the indoor wall to avoid the influence of shadows.
第1図は従来方式を示す構成図であり、(1)は室の壁
、(2)はロボット側の光送受信機、(3)は基地局側
の光送受信機、(9)は光路、IJOはロボット、αη
は障害物、@は説明のために示すロボットα0の移動方
向である。FIG. 1 is a configuration diagram showing the conventional system, in which (1) is the wall of the room, (2) is the optical transceiver on the robot side, (3) is the optical transceiver on the base station side, (9) is the optical path, IJO is a robot, αη
is an obstacle, and @ is the moving direction of the robot α0 shown for explanation.
今、ロボット91が矢印(2)方向へ移動して行くとや
がて送受信機(2) 、 (3)間の光路(9)は障害
物(ロ)によって、突然しゃ断される。この場合基地局
側の光送受機(3)を壁(1)に多数設け5ておけば、
他の光路に切替える事が出来、通信を確保出来るが、基
地局の数が多くなり、不経済であるし、障害物(ロ)の
数が多い原子力発電プラント等では、実際上無数の基地
局が必要となり実現困難となる。従って、現実には信号
のしゃ断は極けられなく、又、48号のしゃ断は突然発
生し、又切替中には通信が出来ないため不安全であるな
どの欠点があった0〔発明の概要〕
この発明は、上記の様な従来のものの欠点を除去する目
的でなされたもので、基地局側を移動出来る構造とする
ことで、基地局の数を減らし、又光路を少くとも2本以
上とする事により、基地局がいずれの方向に移動すれば
影から逃れ得るかを検知出来るようにする事で、通信を
回復する時間が短く経済的なシステムを提供するもので
ある。Now, as the robot 91 moves in the direction of arrow (2), the optical path (9) between the transmitters and receivers (2) and (3) is suddenly interrupted by an obstacle (b). In this case, if a large number of optical transceivers (3) on the base station side are installed on the wall (1),
It is possible to switch to another optical path and secure communication, but this increases the number of base stations, making it uneconomical.In nuclear power plants, etc., where there are many obstacles (b), there are actually countless base stations. would be required and would be difficult to implement. Therefore, in reality, signal interruption is unavoidable, signal interruption occurs suddenly, and communication is not possible during switching, making it unsafe.0 [Summary of the Invention] ] This invention was made for the purpose of eliminating the above-mentioned drawbacks of the conventional system, and by creating a structure in which the base station side can be moved, the number of base stations can be reduced, and the number of optical paths can be reduced by at least two or more. By doing so, it is possible to detect in which direction the base station should move to escape from the shadow, thereby providing an economical system that takes less time to restore communications.
以下、この発明の一実施例について説明する。 An embodiment of the present invention will be described below.
第2図に於て、(4)はロボツ) GOに設けられた光
送受信機取付台、(5)はロボット光送受信機取付台(
4)に設けられた第2の送受信機、(6)は基地局移動
体、(7)は基地移動体(6)に設けられた光送受信機
取付台、(8)は基地局光送受信機取付台(7)に設け
られた第2の光送受信機、0はロボット側及び基地局の
第2の送受信機(5) 、 (8)の間の光伝送路であ
る。In Figure 2, (4) is the optical transceiver mounting base installed on the robot GO, and (5) is the robot optical transceiver mounting base (
(4) is the second transceiver installed in the base station, (6) is the base station mobile body, (7) is the optical transceiver mount provided in the base mobile body (6), and (8) is the base station optical transmitter/receiver. The second optical transceiver 0 provided on the mounting base (7) is an optical transmission line between the second transceiver (5) and (8) on the robot side and the base station.
又、第3図に取付台(7)の部分について更に詳細を示
す。Further, FIG. 3 shows further details of the mounting base (7).
ここで、説明の都合上、基地局(6)もロボット0Qも
2次平面内で移動するものとする。通常基地局(6)は
停止しておシ、ロボットQOは必要な方向(矢印(2)
で示す)へ移動している。光送受信機取付台(4)及び
(7)は、少くとも1本の光路が保たれている間は常に
正対する方向に自動制御されているものとする。即ち第
3図に於て、取付台(7)は、自由に回動出来る構造で
ある。Here, for convenience of explanation, it is assumed that both the base station (6) and the robot 0Q move within a quadratic plane. Normally, the base station (6) is stopped and the robot QO moves in the required direction (arrow (2)).
(indicated by ). It is assumed that the optical transmitter/receiver mounts (4) and (7) are automatically controlled to always face each other as long as at least one optical path is maintained. That is, in FIG. 3, the mounting base (7) has a structure that allows it to rotate freely.
さて、今、ロボツ)QOが矢印@方向へ移動して行き、
障害物αυによって光路(9)がしゃ断されるとロポツ
)Qりは一也動きを停止し、一方基危局(6)は2本の
光路の内遡信が珠たれている光送受信機(8)側へと移
動する様に構成されている。Now, the robot QO is moving in the direction of the arrow @.
When the optical path (9) is cut off by an obstacle αυ, Kazuya stops moving, while the basic crisis station (6) transmits the optical transmitter/receiver (8), which has two optical paths. ) side.
基地局(6)のこの動きにより、普通の場合失われた光
路は再び結合されることになり早期に回復できることに
なる。しかし、光路が失われた原因が他の移動物体によ
る場合、奉危局(6)の動きにより、光路(9)が回復
しても新に光路@が失われる結果となる場合もある。こ
の様な場合はアラームにより全ての動きを止め、全く別
の判断例えば手動操作により基地局(6)を別の通信可
能な場所へ誘導すると良い。This movement of the base station (6) allows optical paths that would otherwise be lost to be recombined and to be recovered quickly. However, if the loss of the optical path is due to another moving object, the movement of the dangerous station (6) may result in the loss of a new optical path (@) even if the optical path (9) is restored. In such a case, it is preferable to stop all movements with an alarm and guide the base station (6) to another communicable location using a completely different judgment, for example, manual operation.
なお、上記実施例では、2次平面内を移動する場合につ
いて説明したが、3次元空間を移動する場合も光送受信
器(ロ)を設け、光路を3本以上とし、その配置を第4
図に示すごとく立体化すれば同様の効果を奏する。In the above embodiment, the case of moving within a secondary plane was explained, but when moving in a three-dimensional space, an optical transmitter/receiver (b) is provided, the number of optical paths is three or more, and the arrangement is arranged in a fourth direction.
A similar effect can be achieved by making it three-dimensional as shown in the figure.
又、2次平面内を移動する場合も光送受信機取付台(4
) (7)のみ基地局移動体(6)又はロボツ)QOの
上で3次元的に移動可能であるようにする事でもよい0
又、送信側を1コ受信側を複数化することでもほぼ目的
は達し得名。Also, when moving within a secondary plane, use the optical transmitter/receiver mounting base (4
) (7) Only the base station mobile object (6) or robot) may be able to move three-dimensionally on the QO0
Also, by having one transmitter and multiple receivers, most of the objectives can be achieved.
以上のように、この発明によれば、基地局側が移動可能
なので基地局の数を減らす事が出来経済的であり、又、
光路を1本でなく2本以上としたので信号が急に途切れ
る事がなく、安全性が高い幼果がある。As described above, according to the present invention, since the base station side is movable, the number of base stations can be reduced, which is economical.
Since there are two or more optical paths instead of one, there is no sudden interruption of the signal, and there are young fruits that are highly safe.
第1図は従来の光空間伝搬システムの構成図、第2図は
この発明による光空間伝搬システムの一例を示す構成図
、第3図はこの発明の光送受信機取付台の部分詳細図、
第4図はこの発明の他の実施例を示す部分詳細図である
。
図において、(1)は室の壁、(2)はロボット側光送
受信機、(3)は基地側光送受信機、(4)はロボット
側光送受信機取付台、(5)はロボット側温2の光送受
信機、(6)は基地局側移動体、(7)は基地局側光送
受信機の取付台、(8)は基地局側温2の光送受信機、
(9)は光路、σQはロボット、αpは障害物、(6)
は説明のためのロボツ)40の移動方向、(2)は第2
の光送受信機による光路である。
なお、各図中、同一符号は、同一あるいは相当部分を示
すものとする〇
代理人 大巻 増雄
第1図
第2図
第3図FIG. 1 is a block diagram of a conventional optical space propagation system, FIG. 2 is a block diagram showing an example of an optical space propagation system according to the present invention, and FIG. 3 is a partially detailed diagram of an optical transceiver mount according to the present invention.
FIG. 4 is a partially detailed view showing another embodiment of the invention. In the figure, (1) is the wall of the room, (2) is the optical transceiver on the robot side, (3) is the optical transceiver on the base side, (4) is the optical transceiver mount on the robot side, and (5) is the temperature sensor on the robot side. 2 optical transceiver, (6) a mobile unit on the base station side, (7) a mounting base for the base station side optical transceiver, (8) an optical transceiver on the base station side,
(9) is the optical path, σQ is the robot, αp is the obstacle, (6)
(2) is the movement direction of the robot (for explanation) 40, and (2) is the second
This is the optical path of the optical transceiver. In addition, in each figure, the same reference numerals indicate the same or corresponding parts.〇 Agent Masuo Ohmaki Figure 1 Figure 2 Figure 3
Claims (1)
伝搬により1u号伝送するシステムにおいて、基地局を
移動可能にすると共に、基地局側の光送受信機と上記移
動物体側の光送受信機とを少くとも人々2組共備し、少
くとも2組の光伝送路を形成したことfc特徴とする移
動体用光伝送システム。In a system in which 1U transmission is performed by optical space propagation between a moving object equipped with an optical transceiver and a base station, the base station is made movable, and the optical transceiver on the base station side and the optical transceiver on the moving object side are What is claimed is: 1. An optical transmission system for a mobile body, characterized in that at least two sets of people are equipped with an FC machine and at least two sets of optical transmission lines are formed.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59074269A JPS60216641A (en) | 1984-04-11 | 1984-04-11 | Optical transmission system for mobile body |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP59074269A JPS60216641A (en) | 1984-04-11 | 1984-04-11 | Optical transmission system for mobile body |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS60216641A true JPS60216641A (en) | 1985-10-30 |
Family
ID=13542228
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP59074269A Pending JPS60216641A (en) | 1984-04-11 | 1984-04-11 | Optical transmission system for mobile body |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS60216641A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4792995A (en) * | 1987-08-19 | 1988-12-20 | Caterpillar Industrial Inc. | Bidirectional roller deck control for a self guided vehicle |
US4864651A (en) * | 1985-10-22 | 1989-09-05 | Canon Kabushiki Kaisha | Light communication apparatus with tracking ability |
-
1984
- 1984-04-11 JP JP59074269A patent/JPS60216641A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4864651A (en) * | 1985-10-22 | 1989-09-05 | Canon Kabushiki Kaisha | Light communication apparatus with tracking ability |
US4792995A (en) * | 1987-08-19 | 1988-12-20 | Caterpillar Industrial Inc. | Bidirectional roller deck control for a self guided vehicle |
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