CN110023786A - Communication system - Google Patents

Abstract

The present invention is the communication system between a kind of mobile station and base station using defined frequency band, this communication system includes the mobile station and the base station is able to carry out the 1st mode of two-way communication and the 2nd mode of base station distribution location update information.The base station stored has: the multiple channels for being included by the frequency band are divided into multiple groups of multiple channel lists.In the 1st mode, the base station sends provisioning information to the mobile station.The provisioning information includes: the information for indicating channel list used in the base station described in the 2nd mode that is, any channel list selected from the multiple channel list.In addition, the provisioning information further include: indicate the information in channel included in channel used in the base station described in the 2nd mode that is, selected any channel list.

Description

Communication system

Technical field

The present invention relates to communication systems.Specifically, it is related between a kind of mobile station and base station using defined frequency band Communication system.

Background technique

In the past, as the communication system between mobile station and base station, it is known that following communication system: mobile station reception comes Location update information from base station can precisely obtain the location of itself in mobile station based on the location update information Information.Patent document 1 discloses the drive-control system for having this communication system.

Although patent document 1 only describes: in disclosed drive-control system, being moved using the methods of wireless Communication between platform (independently travelling working truck) and base station (base station), still, it is considered that between mobile station and base station Communication is, for example, using frequency band as defined in anyone specific small-power that can be used etc..

Patent document

Patent document 1: International Publication No. 2015/119265

Summary of the invention

However, having when using defined frequency band as described above to carry out the communication between mobile station and base station When the adjacent presence of the other systems of identical frequency band, it is possible to the feelings that wave interference occurs, generates communication disruption Shape.For example, as the drive-control system of patent document 1, in the accurate current location for persistently obtaining mobile station incessantly In critically important system, it is necessary to avoid occurring the communication disruption of location update information distribution, it is expected that construct be not susceptible to it is such The communication system of the state of affairs.

The present invention is made in view of above situation, and its purpose is to provide a kind of communications for being not likely to produce communication disruption System.

The invention solves project as described above, the means and its effect for solving the project will be illustrated next.

Viewpoint according to the present invention provides the communication system of following composition.That is, the system is the shifting using defined frequency band Communication system between dynamic platform and base station.The communication system includes above-mentioned mobile station and above-mentioned base station is able to carry out two-way communication The 1st mode and above-mentioned base station distribution location update information the 2nd mode.Above-mentioned base station stored has: above-mentioned frequency band is wrapped The multiple channels contained are divided into multiple groups of multiple channel lists.In above-mentioned 1st mode, above-mentioned mobile station is sent out in above-mentioned base station Send provisioning information.Above-mentioned provisioning information include: indicate in the 2nd mode channel list used in above-mentioned base station, be also from The information of any channel list chosen in above-mentioned multiple channel lists.In addition, above-mentioned provisioning information further include: indicate Channel used in above-mentioned base station in above-mentioned 2nd mode is also to lead to included in the above-mentioned any channel list selected The information in road.

The 1st mode can be used as the mode for example for poll other side, the 2nd mode for dividing as a result, The mode for sending out location update information, in the 1st mode, base station sends channel list used in base station, channel to mobile station Information, mobile station know which channel base station uses in the 2nd mode, so, two-way communication is not needed in the 2nd mode.By This, can be not easy to cause because of communication disruption caused by wave interference etc., so that mobile station can obtain precision without delay Good location update information.

It is preferably following to constitute in above-mentioned communication system.That is, above-mentioned base station has: being repaired including distributing above-mentioned location 1st communication module of positive information and multiple sending modules including the 2nd communication module.In above-mentioned 2nd mode, above-mentioned base station Distribution dwell time after distributing above-mentioned location update information by above-mentioned 1st communication module, by above-mentioned 2nd communication module point Send out location update information above-mentioned.

Thereby, it is possible to the distribution dwell times of the communication module using a side, are distributed by the communication module of its other party and are surveyed Position update information, can efficiently use frequency band.

It is preferably following to constitute in above-mentioned communication system.That is, above-mentioned base station and above-mentioned shifting in above-mentioned 1st mode Two-way communication used in two-way communication between dynamic platform is the channel for being not included in above-mentioned multiple channel lists with channel.Separately Outside, each channel included in this two-way communication channel and above-mentioned multiple channel lists is not cause wave interference mutually Channel.

As a result, by the way that the channel of two-way communication is arranged, the work for needing base station to cooperate with mobile station can easily be done Industry.In addition, no matter used channel and which channel all do not cause wave interference mutually when normal mode, so can be avoided Communication bandwidth superposition, so as to avoid communication failure.

It is preferably following to constitute in above-mentioned communication system.That is, in above-mentioned 2nd mode, when can not in the stipulated time In the case where the distribution for executing above-mentioned location update information, used channel is changed to above-mentioned times selected by above-mentioned base station Other channels included in meaning channel list.In above-mentioned 2nd mode, rule have been interrupted it in the acquirement of above-mentioned location update information In the case where fixing time, used channel is changed to included in the above-mentioned any channel list selected by above-mentioned mobile station Other above-mentioned channels.

Channel list is mutually stored in base station, mobile station as a result, so, even if not being every time from base station Information related with channel is used is sent, as long as not communicated at the appointed time, mobile station becomes according to channel list More other channels, so that also channel can be matched with base station.In addition, about channel change mode rule, as be described hereinafter that Sample needs base station, shares in mobile station.As long as no matter changing on the contrary, sharing with which type of rule, this is not affected The implementation of patent.

Detailed description of the invention

Fig. 1 is to show to draw as the robot for the mobile station that the communication system of one embodiment of the present invention has The side view of the overall structure of machine.

Fig. 2 is the top view of robotic tractor.

Fig. 3 is to show the block diagram of the main composition of the robotic tractor as mobile station.

Fig. 4 is to show the block diagram of the main composition of base station.

Fig. 5 is to show the table of the multiple channel lists for the storage unit for being stored in robotic tractor.

Fig. 6 be show as mobile station robotic tractor side progress processing in, mainly normal mode When processing process flow chart.

Fig. 7 be show as mobile station robotic tractor side progress processing in, mainly enrollment mode When processing process flow chart.

The flow chart of the process of processing when Fig. 8 is normal mode show in the processing that base station carries out, main.

The flow chart of the process of processing when Fig. 9 is enrollment mode show in the processing that base station carries out, main.

Symbol description:

1: tractor (mobile station)；80: base station

Specific embodiment

Next, referring to attached drawing, to illustrate embodiments of the present invention.Hereinafter, to the same part in each figure of attached drawing Same symbol is assigned, the repetitive description thereof will be omitted sometimes.In addition, simply replacing the name of component corresponding with same symbol etc. sometimes Claim, or is replaced with the title of upperseat concept or subordinate concept.

Such as shown in following embodiments, the present invention is suitable for following autonomous driving system: making 1 or more work Industry vehicle travels in predetermined field, in all or part of for executing the agricultural operation in field, makes working truck Automatically travel.In the present embodiment, it is illustrated by taking tractor as an example as working truck, but as working truck, It further include the ride-types operations such as rice transplanter, combine harvester, civil construction apparatus for work, snow sweeper other than tractor Machine and walk-behind type working rig.In the present specification, so-called autonomous traveling is to indicate: the control unit having using tractor (ECU), it controls that tractor has and travels related composition, so that tractor is along predetermined route； So-called AUTONOMOUS TASK is to indicate: the control unit having using tractor, come control tractor have it is related with operation It constitutes, so that tractor carries out operation along predetermined path.In contrast, so-called manual traveling and manual working are tables Show: each composition that user's operation tractor has, to carry out traveling and operation.

In the following description, sometimes that the tractor referred to as " nobody () for carrying out autonomous traveling AUTONOMOUS TASK is dilatory Machine " or " robotic tractor ", will carry out traveling manually and the tractor of manual working is referred to as " someone () tractor ".In field In ground, in the case where executing a part of agricultural operation using unmanned tractor, remaining agricultural operation is held using someone's tractor Row.Be referred to as the agricultural operation in single field is executed using unmanned tractor and someone's tractor: the coordination of agricultural operation is made Industry follows operation, with operation etc..In the present specification, the difference of unmanned tractor and someone's tractor is there is no user Implement operation, each constitute is substantially common.Even user takes (by bus) up also can be into that is, unmanned tractor Row operation (that is, can as someone's tractor come using) even or someone's tractor, user can also get off and be allowed to Carry out autonomous traveling and AUTONOMOUS TASK (that is, can come as unmanned tractor using).In addition, the coordination as agricultural operation is made Industry can also include other than " executing the agricultural operation in single field using unmanned tractor and someone's tractor " " vehicle and someone's vehicle are performed simultaneously the agricultural operation in the different fields such as adjacent field ".

Next, referring to attached drawing, to illustrate embodiments of the present invention.Fig. 1 is to show: as an embodiment party of the invention The side view of the overall structure of the robotic tractor 1 for the mobile station that the communication system 100 of formula has.Fig. 2 is that robot drags The top view of machine drawing 1.Fig. 3 is to show: the block diagram of the main composition of the robotic tractor 1 as mobile station.

The communication system 100 of one embodiment of the present invention is following communication system, it may be assumed that the robot as mobile station drags 1 moment of machine drawing (working truck) is all receiving the location update information from base station 80, dilatory in the robot as mobile station In machine 1, it can be based on the location update information, precisely obtain the position-detection information of itself.

As shown in Figure 1, robotic tractor 1 is by carrying out between wireless communication terminal 46 via near radio net It wirelessly communicates and is operated.User's operation wireless communication terminal 46, by between the control unit 4 of the tractor 1 suitably The transmitting-receiving for carrying out signal, can make tractor 1 carry out independently travelling AUTONOMOUS TASK.

Tractor 1 has: the travel machine body 2 that can independently travel in field.Fig. 1 and working rig shown in Fig. 23 with The mode that can be assembled and disassembled is installed on travel machine body 2.As the working rig 3, for example, having cultivator, plough, fertilizer applicator, grass trimmer, broadcasting The various working rigs such as kind machine can select desired working rig 3 as needed from these working rigs, and be installed to traveling Body 2.Travel machine body 2 is constituted are as follows: can change the height and posture of installed working rig 3.

Referring to Fig.1 and Fig. 2, the composition of tractor 1 is described in more detail.As shown in Figure 1, the travel machine body 2 of tractor 1 The front-wheel (wheel) 7,7 of 1 pair of the left and right in front support, the rear-wheel 8,8 of 1 pair of the left and right in the rear portion of travel machine body 2 supports.

The front of travel machine body 2 is configured with hood 9.It is accommodated in the hood 9: the driving as tractor 1 The engine 10 and fuel tank (figure omits) in source.The engine 10 can be made of such as diesel engine, but not limited to this, Such as it can also be made of petrol engine.In addition, as driving source engine+electric motor can also be used, or may be used also To replace engine using electric motor.

It is configured at the rear of hood 9: the driver's cabin 11 taken for user.It is mainly set in the inside of the driver's cabin 11 It is equipped with: the seat 13 that can take a seat for the steering direction disk 12 of user's steering operation, user and for carrying out various operations Various operating devices.Wherein, as the working truck of mobile station, however it is not limited to which the vehicle with driver's cabin 11 is also possible to not have The vehicle of standby driver's cabin 1.

It as above-mentioned operating device, can include as an example: monitoring arrangement 14 shown in Fig. 2, throttle lever 15, main Gear lever 27, multiple hydraulic operation bars 16, PTO switch 17, PTO gear lever 18, secondary gear lever 19 and working rig lifter switch 28 etc..These operating devices configure near seat 13 or near steering direction disk 12.

Monitoring arrangement 14 is constituted are as follows: can show the various information of tractor 1.Throttle lever 15 is: for setting engine The operational instrument of 10 output revolving speed.Main shift lever 27 is: the operation of stepless change is carried out for the travel speed to tractor 1 Tool.Hydraulic operation bar 16 is: for the handover operation hydraulic external operational instrument for taking out valve (not shown).PTO switch 17 is: Transmitting for the PTO shaft (not shown) (power taking-up axis) that handover operation power direction highlights from the rear end of gearbox 22 Or cut-off operational instrument.That is, power is passed to PTO shaft, PTO shaft rotation when PTO switch 17 is to connect (ON) state Turn, working rig 3 is driven；On the other hand, when PTO switch 17 is to disconnect (OFF) state, the power transmitted to PTO shaft is cut Disconnected, PTO shaft does not rotate, and working rig 3 stops.PTO gear lever 18 is: for changing behaviour to the power for inputing to working rig 3 The tool of work, specifically, being the operational instrument for the variable speed operation for carrying out the rotation speed of PTO shaft.Secondary gear lever 19 is: For switching the operational instrument of the gear ratio of the secondary change gear mechanism of the traveling in gearbox 22.Working rig lifter switch 28 is: The operational instrument of the height of the working rig 3 in travel machine body 2 is installed in for descending operation within the specified scope.

As shown in Figure 1, the lower part of travel machine body 2 is provided with the chassis 20 of tractor 1.The chassis 20 is by body frame 21, change Fast case 22, preceding bridge 23 and rear axle 24 etc. are constituted.

Body frame 21 is the bearing part of the front of tractor 1, directly or by antivibrating parts etc. to engine 10 into Row bearing.Gearbox 22 changes the power from engine 10, and is transmitted to preceding bridge 23 and rear axle 24.Preceding bridge 23 is constituted Are as follows: the power inputted from gearbox 22 is transmitted to front-wheel 7.Rear axle 24 is constituted are as follows: transmits the power inputted from gearbox 22 To rear-wheel 8.

As shown in figure 3, tractor 1 has control unit 4, the control unit 4 be used to control travel machine body 2 movement (advance, after Move back, stop and turn) and working rig 3 movement (lifting, driving and stop etc.).Control unit 4 has: not shown CPU, ROM, RAM, I/O etc., CPU can read out various programs and be executed from ROM.Have for controlling tractor 1 Each controller for constituting (for example, engine 10 etc.) and wireless for being carried out wireless communication with other wireless communication machines Communication equipment etc. is electrically connected to control unit 4 by standards such as CAN respectively.

As above-mentioned controller, tractor 1 at least has: engine controller 41, speed controller 42, course changing control Device 43 and lifting controller 44.Each controller can be according to the electric signal from control unit 4, to control each of tractor 1 It constitutes.

Engine controller 41 is the controller for controlling revolving speed of engine 10 etc..Specifically, in engine 10 It is provided with governor arrangement (figure omits), which has the actuator of the revolving speed for changing the engine 10.Start Machine controller 41 can control the revolving speed of engine 10 by control governor arrangement.In addition, being attached to fuel in engine 10 Injection apparatus (figure omits), which can adjust: for spraying the combustion of (supply) into the combustion chamber of engine 10 The injection timing the amount of injection of material.Engine controller 41 is by control fuel injection device, such as can make to engine 10 Fuel supply stop, the driving of engine 10 can be made to stop.

Speed controller 42 is the controller for controlling the speed of tractor 1.Specifically, being provided with example in gearbox 22 Such as, the Hyaulic infinite variable speed mechanism of adjustable slant board formula (figure omits).Speed controller 42 by actuator change fluid pressure type without The angle of the inclined plate of grade speed change gear realizes desired speed so as to change the gear ratio of gearbox 22.

Steering controller 43 is: for controlling the controller of the rotational angle of steering direction disk 12.Specifically, turning to The middle part of the rotary shaft (steering shaft) of steering wheel 12 is provided with steering actuator (figure omits).According to this constitution, in tractor 1 (being set as unmanned tractor) in the case where travelling on predetermined path, control unit 4 calculates the suitable of steering direction disk 12 When rotational angle, to make tractor 1 along the route, and to steering controller 43 export control signal, so as to Reach obtained rotational angle.Steering controller 43 is activated based on the control signal inputted from control unit 4 to drive to turn to Device controls the rotational angle of steering direction disk 12.In addition, steering controller can also be with uncomfortable turn over to the angle of rotation of steering wheel 12 The steering angle of the front-wheel 7 of tractor 1 is spent and adjusts, in this case, even if carrying out turning driving, steering direction disk 12 does not also revolve Turn.

Lifting controller 44 is: for controlling the controller of the lifting of working rig 3.Specifically, tractor 1 is by operation Machine 3 is attached near 3 point linkage mechanisms of travel machine body 2, is had: the lift actuator (figure being made of hydraulic cylinder etc. Slightly).According to this constitution, lifting controller 44 drives lift actuator based on the control signal inputted from control unit 4, make operation The suitably lifting action of machine 3, so as to carry out agricultural operation by working rig 3 in desired height.It, can by the control With the desired height such as avoidance height (height without agricultural operation) and operation height (height for carrying out agricultural operation), come Supports work machine 3.

In addition, above-mentioned multiple controllers 41,42,43,44 are based on the signal inputted from control unit 4, to control engine Each portions such as 10, so, can grasp: control unit 4 substantially controls the situation in each portion.

The tractor 1 for having control unit 4 as described above is constituted are as follows: user takes in driver's cabin 11, and carries out various Operation, by the control unit 4, to control each portion (travel machine body 2, working rig 3 etc.) of tractor 1, so as to one side in field Traveling carries out agricultural operation on one side in ground.In turn, even if user does not take on tractor 1, the tractor 1 of present embodiment also can Based on by wireless communication terminal 46 export come defined control signal and independently travelled and AUTONOMOUS TASK.

Specifically, tractor 1 has as shown in Fig. 3 etc.: being able to carry out the various structures of autonomous traveling AUTONOMOUS TASK At.For example, tractor 1 has: the position in order to precisely obtain itself (travel machine body 2) moment based on location system Confidence ceases and essential location antenna 6 and the 1st wireless communication antenna 5 etc..According to such composition, 1 base of tractor The location information of itself is obtained in location system, can independently be travelled on field.

Next, the composition that tractor 1 has in order to independently be travelled is further described.It is specific and Speech, as shown in Fig. 3 etc., the tractor 1 of present embodiment has location antenna 6, location information receiver 52, the 1st channel radio Credit antenna 5, mobile communications machine the 57, the 2nd wireless communication antenna 48, wireless near field communication machine 51, video camera 56, inertia Measuring device (IMU) 54 and storage unit 55 etc..

Location antenna 6 is: for receiving from the survey for constituting the location system such as satellite location system (GNSS) The antenna of the signal of position satellite 105.In addition, in the present embodiment, using full earth location system (GPS etc.) as GNSS. As shown in Figure 1, location antenna 6 is mounted on the upper surface of the cab roof 26 of the driver's cabin 11 of tractor 1.By location antenna The 6 location signals received are input into location information receiver 52.

52 pairs of the location information receiver location signals from location satellite inputted carry out signal processing and obtain survey Position information.In addition, the location update information that location information receiver 52 is obtained based on utilization mobile communications machine 57, to acquired Position-detection information be modified, so as to calculate and obtain the travel machine body 2 of tractor 1 (strictly speaking, for location day Line 6) location information, as such as Latitude-Longitude information.Position-detection information is modified in this way, it can be to be higher than The precision of common GNSS location obtains the position of travel machine body 2.The location information obtained by the location information receiver 52 It is stored in storage unit 55, is in time read out from storage unit 55, and input to control unit 4, to be used to independently travel.

1st wireless communication antenna 5 is: and communication protocol (present embodiment used in the communication between base station 80 In be 920MHz wireless communication protocol) corresponding antenna.As shown in Figure 1, the 1st wireless communication is configured with antenna 5 in driver's cabin The upper surface of 11 cab roof 26.In relationship between base station 80, tractor 1 can be referred to as mobile station.Pass through the 1st Wireless communication antenna 5, reception include existing from the location update information (information for position correction) that base station 80 is distributed Interior signal.In addition, the bandwidth of wireless communication protocol is not limited to 920MHz.For example, the bandwidth being able to use is sometimes according to country And it is different, 900MHz etc. is used using 860MHz, in the U.S. in Europe, suitable bandwidth can be properly selected.

57 pairs of signals comprising location update information received using the 1st wireless communication antenna 5 of mobile communications machine Signal processing is carried out, location update information is obtained.It is used to correct using the location update information that mobile communications machine 57 obtains: The position-detection information obtained using location information receiver 52.

2nd wireless communication is with antenna 48: used in the communication between the wireless communication terminal 46 used with user The corresponding antenna of communication protocol (being 2.4GHz and 5GHz wireless communication protocol in present embodiment).As shown in Figure 1, the 2nd The upper surface for the cab roof 26 that the driver's cabin 11 that wireless communication antenna 48 configured in tractor 1 has.It is wireless using the 2nd The signal from wireless communication terminal 46 that communication antenna 48 receives is carrying out signal by wireless near field communication machine 51 After reason, it is input to control unit 4.In addition, from the signal that control unit 4 etc. is sent to wireless communication terminal 46 be by short distance nothing Line communication equipment 51 and by carry out signal processing, later, sent from the 2nd wireless communication antenna 48, and by wireless communication terminal 46 It receives.

51 pairs of wireless near field communication machine come from wireless communication terminal 46 using what the 2nd wireless communication antenna 48 received Signal carry out demodulation process, and information is taken out, as numerical data, is input to control unit 4.User uses nothing as a result, Line communication terminal 46 and the instruction etc. issued is input into control unit 4, for controlling each portion of engine 10 etc..

Video camera 56 is to shoot the environment on the periphery of tractor 1 respectively (for example, the front and rear of travel machine body 2 Environment) video camera.Although being not shown in Fig. 1 and Fig. 2, video camera 56 is mounted on the cab roof 26 of tractor 1.Benefit The video data taken with video camera 56 in wireless near field communication machine 51 in a suitable approach by modulation treatment after, be carried on The carrier wave of allocated frequency band is transmitted from the 2nd wireless communication antenna 48, and is shown after being received by wireless communication terminal 46 Show.

Inertial measuring unit 54 is posture (angle of heel, pitch angle, the yaw for capableing of the specific travel machine body 2 of tractor 1 out Angle) equipment.It is input to control unit 4 using the information related with the posture of travel machine body 2 that inertial measuring unit 54 obtains, For correction position information or for other controls.

Storage unit 55 is that the driving path that storage travels tractor 1 independently or storage tractor 1 are (stringent next Say, location antenna 6) location information memory.In addition, the storage unit 55 of present embodiment stores: (mobile with tractor Platform) 1 communicate the related information of required frequency channel with base station 80, and store: it is obtained in the communication with base station 80 Location update information.

In addition, storage unit 55 is constituted are as follows: manage a part of its storage region as unit of page using page table.Each page Corresponding relationship is established with a base station in the base station 80 registered.In addition, being described in detail below to the registration of base station 80.

If being more specifically illustrated, the storage unit 55 of present embodiment are as follows: have our station ID storage unit 61, location information Storage unit 62, location update information storage unit 63, base station IDs storage unit 711, channel list storage unit 712 and use channel The composition of storage unit 713 etc..

Our station ID storage unit 61 is: the storage unit that the i.e. our station ID of identiflication number for storing the machine (tractor 1) is numbered. Our station ID number is: for example, the identiflication number that tractor 1 is endowed when dispatching from the factory, is defined as not Chong Die with other tractors.

Location information storage unit 62 is: obtaining in a correlated manner to store from location information receiver 52 with the time The storage unit of the location information of tractor 1.

Location update information storage unit 63 is: being taken in a correlated manner to store using mobile communications machine 57 with the time The storage unit of the location update information obtained.

Base station IDs storage unit 711 stores: identiflication number that is, the base station IDs number of assigned base station 80.

Channel list storage unit 712 stores: the channel list sent from base station 80.

It is stored using channel storage unit 713: receiving used channel when the location update information from base station 80.Separately Outside, it is also stored using channel storage unit 713: changing the other informations such as mode rule in channel.

Base station IDs storage unit 711, channel list storage unit 712 and can be for being registered using channel storage unit 713 Each base station 80, to store information.Specifically, base station generated pipe when can be to register base station 80 every time of storage unit 55 Reason page 71,72,73 ... is unit, to and with communication between base station 80 related information (base station IDs storage unit 711, channel List storage unit 712 and the storage content for using channel storage unit 713) it is managed.It is logical thereby, it is possible to be easy to carry out Believe addition, deletion, the switching of base station 80 etc. of other side.

Next, being described in detail: referring to Fig. 4 via the middle distance of specific small-power etc. between tractor (mobile station) 1 Wireless network and the composition of base station 80 communicated.Fig. 4 is to show the block diagram of the main composition of base station 80.

The base station 80 of present embodiment has antenna, receiver is sent (to constitute in detail aftermentioned.), it is arranged to: after setting not It can change easily.The setting of base station 80 exists: predetermined place, and is that the electric wave from location satellite 105 substantially arrives at It in range, and is also that electric wave can centainly reach the place in the range of tractor 1.Specific setting field as base station 80 Institute, such as, it may be considered that be set in tractor 1 carry out agricultural operation field near hummock on etc..

Base station 80 has: control unit 82, location antenna 101,81,2 communication antenna 98 of location information receiver, 98, base station communication machine 83, user interface 99 and storage unit 90 etc..

Location antenna 101 is the antenna for receiving the signal from location satellite 105.Utilize location antenna 101 The location signal received is input into location information receiver 81.

Location information receiver 81 is based on the location signal from location satellite inputted, (strictly speaking, by base station 80 Location antenna 101) positional information calculation go out and obtain, as such as Latitude-Longitude information.Utilize the location information The location information that receiver 81 obtains is stored in storage unit 90, is in time read out from storage unit 90, and be input to control unit 82, for calculating location update information.

Control unit 82 (is stored in the location information that is, setting place information in the place of the setting base station 80 known in advance Location information in setting place information storage part 96) and be compared by the location information that location information receiver 81 obtains, Location update information is calculated, wherein the location update information is for making the position-detection information as measured value closer to actual The correction value of location information.In addition, control unit 82 in time sends base station communication machine 83 for the location update information.In addition, The above-mentioned setting place information of base station 80 is for example set by user's operation user interface 99, and is stored in setting place letter Cease storage unit 96.

2 communication antenna 98,98 are all and communication protocol (this embodiment party used in the communication between tractor 1 In formula, 920MHz wireless communication protocol) corresponding antenna.By communication antenna 98,98, it includes that location is corrected that the moment, which sends, The signal of signal.In addition, in the present embodiment, alternately being sent out using 2 communication antenna 98 according to certain time interval Send the signal comprising location update information.The frequency for sending signal from each communication antenna 98, which can be considered, to be set as between 1 second Repeatedly.As a result, for example, electric wave even if from the communication antenna 98 of a side is because so-called multipath or carry out arrogantly anti- Penetrating etc. influences and mutually weakening with back wave reduces so as to cause the reception level of 1 side of tractor, can also connect in 1 side of tractor It receives the electric wave from other communication antenna 98 and obtains location update information.As a result, by from multiple communication antenna 98 Location update information is repeatedly sent, can be improved the reliability of communication.

Base station communication machine 83 obtains the data comprising location update information from storage unit 90, and carries out modulation treatment, carries To defined frequency band carrier wave and in the state that can be sent from communication antenna 98,98, and in due course timing, from logical The distribution of credit antenna 98,98 includes the electric wave of the location update information.Correspondingly base station is logical with 2 communication antenna 98,98 Letter machine 83 includes 2 sending modules that is, the 1st sending module 84 and the 2nd sending module 85.Base station communication machine 83 is by by controlling Portion 82 carry out control, come adjust electric wave transmission timing, thus by the 1st sending module 84 distribution comprising location amendment letter Distribution dwell time after the signal of breath includes the signal of location update information by the distribution of the 2nd sending module 85.As a result, from 2 Root communication antenna 98,98 alternately sends location update information, can repeatedly distribute location amendment letter between 1 second as a whole Breath, so as to inhibit: losing the frequency of distribution information in mobile station (tractor 1) side.

User interface 99 is: when base station 80 is communicated with tractor 1 by 920MHz, for being located at base Stand 80 this side user collect information from tractor 1 or input be sent to tractor 1 information component.This reality The user interface 99 for applying mode is made up of display of touch-screen type etc., can input the position letter in the place of setting base station 80 Breath that is, setting place information.

Storage unit 90 is used to store: being distributed to the location update information of tractor 1, in the communication between tractor 1 The various information such as used multiple channel lists.The storage unit 90 of present embodiment stores: with base station (our station) 80 and draw Machine (mobile station) 1 communicated used in the related information of frequency channel, and store: the communication between tractor 1 The information related with tractor 1 of middle acquirement.

If being more specifically illustrated, the storage unit 90 of present embodiment is configured to have: our station ID storage unit 91, location Update information storage unit 92, uses channel storage unit 94 and mobile station ID list storage unit 95 at channel list storage unit 93 Deng.

Our station ID storage unit 91 is used to store: identiflication number that is, our station the ID number of the machine (base station 80).Our station ID is compiled Number be: for example, when being registered as base station 80 that the base station in known place is arranged in, the identiflication number assigned, and be defined as and its He does not repeat base station.

Location update information storage unit 92 is: being based on receiving using location information to store in a correlated manner with the time The storage unit of the received information of machine 81 and calculated location update information.

Channel list storage unit 93 is for being stored in advance: by defined frequency band (in present embodiment, 920MHz bandwidth) institute The multiple channels for including are divided into multiple groups of multiple channel lists.Fig. 5 shows the multiple channel columns of conduct of present embodiment The channel list 1 of table, 2 ....Fig. 5 be the multiple channel lists 1 for showing the storage unit 55 for being stored in robotic tractor 1, 2, table ....In addition, the example in common channel is also shown in Fig. 5.

Observe Fig. 5 it is found that multiple channel lists 1,2 ... each channel for being included is set to: with multiple channel lists 1, 2, wave interference does not occur for any channel in other channels for ... being included.The arbitrary channel quilt that the channel list is included Be used in: the communication pattern of base station 80 and tractor 1 is the occasion of normal mode (the 2nd mode).

In addition, as by multiple channel lists 1,2 ... each path setting for being included be with multiple channel lists 1, 2, the specific method of wave interference does not occur for any channel in other channels for ... being included, such as can have as shown below Method.

That is, for example, to avoid that wave interference occurs, needing to set in the case where wave interference occurs for adjacent interchannel It is fixed at: for example, select each channel in a manner of skipping one, other channels for thus being included with same channel list or Any channel in multiple channels that different channel lists are included is not overlapped and non-conterminous.

On the other hand, in the case where wave interference does not occur for adjacent channel to each other, if make each channel not with its His channel overlapping is just much of that.

Using channel storage unit 94 for storing: base station 80 (among the channel that the channel list selected is included) institute 1 channel selected is as using channel.This is using the communication pattern that channel is used between base station 80 and tractor 1 The occasion of normal mode (the 2nd mode).

Mobile station ID list storage unit 95 is for storing: through base station 80 and tractor 1 under enrollment mode (the 1st mode) It is communicated and the ID of tractor that is being obtained by base station 80 and being registered (mobile station) 1 number.It is stored in mobile station ID list In portion 95, the ID of one or more tractors 1 can be numbered and be fabricated to such as list to store.

Hereinafter, the communication pattern of base station 80 and tractor 1 is described in detail referring especially to Fig. 6 to Fig. 9.Present embodiment The enrollment mode the (the 1st that the communication pattern of base station 80 and tractor 1 is mutually authenticated and registered in addition to base station 80 and tractor 1 Mode) and from base station 80 to tractor 1 distribute location update information normal mode (the 2nd mode) except, there are also mutually into Communication test mode of row communication test etc. is but concentrated below and illustrates main communication pattern that is, enrollment mode and usually Mode.

Firstly, referring to Fig. 6 and Fig. 7, to illustrate the process in the processing of 1 side of the tractor progress as mobile station.

After starting mobile communications machine 57, firstly, as shown in fig. 6, control unit 4 judges whether there is base station in storage unit 55 80 register information (step S101).Specifically, judge BTS management page 71,72,73 ... with the presence or absence of page 1 or more.It is tied Fruit attempts to receive the location update information from the base station 80, communicates mould there are the register information of base station 80 Formula is switched to normal mode, carries out later processing (step S102~step S106).

When being switched to normal mode, the BTS management page 71 corresponding to base station 80 that control unit 4 was registered from the past makes Channel used in location update information is received with reading out in channel storage unit 713.In addition, hereinafter, to using channel to store What portion 713 was stored is illustrated using the situation that channel is a.

Then, control unit 4 will utilize mobile communications machine 57 to attempt to receive the location update information from base station 80 Carrying out received path setting is a (step S102), waits the information (step S103) to be received from base station 80.

Wait it is to be received from the information of base station 80 when, if having received the location update information from base station 80 (step S104, "Yes"), then control unit 4 stores the location update information received to location update information storage unit 63.It Afterwards, back to standby mode is received, unceasingly reception (repeats step S103 from the location update information of base station 80 ~step S104).

On the other hand, wait it is to be received from the information of base station 80 when, continue for the stipulated time or more fails to receive In the case where location update information (step S104 "No", step S105 "Yes"), it is believed that this side of base station 80 is because of certain A little things and change channel used in communication.Therefore, channel list storage unit 712 of the control unit 4 from BTS management page 71 Read out channel list specified by base station 80.In addition, in the case where the example, read out include channel a channel column Table 1.Control unit 4 selects next channel according to the change mode in the channel agreed upon in advance referring to the channel list 1.Separately Outside, in the case where the example being shown here at, according to " in the case where alternate channel, by next plurality in channel list The channel of value is as next channel (in the case where next larger value of channel is not present, then as in channel list Minimum value channel) " as the change mode that agrees upon in advance, next channel is determined as b (referring to Fig. 5). Although specific description is omitted in present embodiment, as channel change mode rule, as long as being shared between base station/mobile station , also it is able to use change mode rule other than the above.

Moreover, control unit 4 receives the location amendment letter from base station 80 to reattempt to using the new channel b Breath, then will carry out received channel using mobile communications machine 57 and be changed to b (step S106).Under the state, control unit 4 is waited Receive the information (return step S103) from base station 80.

In addition, the channel b selected in step s 106 is stored in using channel storage unit 713.That is, being deposited using channel What is stored in storage portion 713 is updated to b from a using channel.

According to the process of such processing, control unit 4 being capable of the reception location update information next from the distribution of base station 80. Even if in the case where this side of base station 80 changes channel used in distribution due to certain things, according in advance from base station 80 channel lists 1 received, set next channel, and reception can be also reattempted to using the channel and is divided from base station 80 The location update information sent.That is, knowing base station 80 since tractor 1 is waited in normal mode according to channel list 1 and using Which channel, thus it is possible to successfully communicated with base station 80.It is good can to obtain without delay precision for tractor 1 as a result, Good position-detection information (the revised location information of location update information obtained using the moment), continues traveling, agricultural operation.

On the other hand, in the judgement of step S101 the result is that (step S101 in the case where the not register information of base station "No"), communication pattern is set to enrollment mode.

In enrollment mode, as shown in fig. 7, control unit 4 sends mobile communications machine 57 and mobile station (not shown) Path setting used in machine is common channel, waits the information (step S107) to be received from base station 80.In addition, hereinafter, setting Routing x is common channel to be illustrated.

Be set as common channel and wait it is to be received from the information of base station 80 when, if receiving this from base station 80 Information of standing (specifically, the ID of base station 80 is numbered) (step S108, "Yes"), then in order to allow this side of base station 80 by tractor 1 It is registered as distribution destination, control unit 4 sends registration request (step S109) to base station 80.Registration request includes: including dragging Information related with tractor 1 including the ID number of machine drawing 1.Alternatively, it is also possible to constitute are as follows:, being capable of basis in the registration It needs, setting time-out simultaneously suitably carries out wrong display, but this is not the distinctive thing of this patent, so being omitted specifically It is bright.

Control unit 4 continues to carry out standby shape with channel x before receiving the our station information (base station information) from base station 80 State (step S108, "No").

For the registration request sent in step S109, if had received using mobile communications machine 57: as Receive confirmation and the response (step S110, "Yes") that sends from base station 80, then following control unit 4 judges: whether from base station 80 have received the notice (refusal notice) (step S111) of the meaning of the refusal of registration.In addition, not receiving from base station 80 Response in the case where (step S110, "No"), return step S108, continue channel x under it is standby.

The judgement of step S111 the result is that have received refusal notice in the case where (step S111, "Yes"), in order to Trial allows other base stations to be registered, then back to the standby mode (return step S108) under the x of channel.

On the other hand, in the case where not receiving refusal notice (step S111, "No"), it is believed that permit base station 80 The registration of tractor 1.Details are aftermentioned, and base station 80 is constituted are as follows: in the case where permitting the registration of tractor 1, drag immediately to this 1 sendaisle list of machine drawing and the information for using channel.

If mobile communications machine 57 has received the channel list from base station 80 and the information (step using channel S112, "Yes"), then control unit 4 makes the BTS management page 71 of the base station 80, stores in base station IDs storage unit 711 respectively The ID number of base station 80 stores the channel list received in channel list storage unit 712, is using channel storage unit 713 What middle storage received uses channel (step S113).In addition, control unit 4 sends out base station 80 via mobile communications machine 57 It send: indicating to receive the response of the meaning of these information related with channel.

Although in addition, not receiving channel list from base station 80 because of certain things not receiving refusal notice With use channel information in the case where, control unit 4 carries out certification registration comprising the base station including other base stations to attempt to allow, Then back to the standby mode (return step S108) under the x of channel.

According to the process of such processing, tractor 1 carries out two-way communication using common channel with base station 80, so as to It enough mutually receives and dispatches and is registered.In addition, also carrying out following operation other than carrying out the registration, it may be assumed that because base station 80 is preparatory Inform to tractor 1: the relevant information in used channel when to the communication under normal mode later (channel list and makes With channel), so, when communication under normal mode later, does not need two-way communication, as described later, with so-called broadcast Form sends distribution data from base station to mobile station.Therefore, it is able to suppress: situation as bandwidth deficiency occurs, thus It can be avoided: the problem of being such as difficult to set up communication or communication speed reduction etc.In addition, there are multiple mobile stations In the case of, do not have to additional special processing, location update information can be distributed using construction identical with above-mentioned processing.

Next, illustrating the process of the processing carried out in this side of base station 80 referring to Fig. 8 and Fig. 9.

80 this side of base station user's operation user interface 99 and when communication pattern is set as normal mode, such as Fig. 8 Shown, control unit 82 is primarily based on the ID number of our station, selects used channel list (step S201).

I.e., it is contemplated that: in nigh field, while the multiple communication systems 100 identical with communication system 100 of use, 100 ... the case where.In this case, the wave interference between each communication system 100 in order to prevent is preferably set are as follows: make respectively The communication system 100 existing for short distance does not cause the channel of wave interference to each other.To achieve it, in this embodiment party In the communication system 100 of formula, as shown in figure 5, prepare in advance out multiple channel lists 1,2 ..., made in each communication system 100 Channel list is not easy to be overlapped (dispersion).

Specifically, in the present embodiment, the base station 80 of each communication system 100 is decided through consultation are as follows: is used under in the communications State the channel list of the corresponding number (sequence) of remainder, that is, the remainder be by the ID of our station number (base station IDs number) divided by Remainder obtained from the quantity of channel list.

In the following description, the situation for being 18745 to the ID number of base station 80 is illustrated, then in step s 201, Control unit 82 is read out from our station ID storage unit 91: 18745 of the ID number as our station.18745 divided by channel list In the case that the remainder that quantity obtains is 1, control unit 82 selects the 1st channel list that is, channel list 1.The channel selected List 1 be different from other channel lists 2,3 ... and be stored in channel list storage unit 93.

Next, control unit 82 is selected from the channel that channel list 1 is included: being made when communication under normal mode Channel (using channel) (step S202).In the present embodiment, in the way of the decision channel decided through consultation in advance, to select Select channel.In the case where the example being shown here at, according to " in the case where first selector channel, in the list of selector channel This mode for deciding through consultation in advance of the channel of minimum value ", selector channel a are used as using channel (referring to Fig. 5).

Then, control unit 82 judges: as whether crowded (whether bandwidth the is insufficient) (step of channel a for using channel S203).The judgement can for example be carried out by method well known to carrier sense of the utilization obstacle of sense channel a etc..

In the case that the result judged in step S203 is crowded as channel a (step S203, "Yes"), because if making Communication disruption may be generated if being communicated with the channel, so, control unit 82 by use channel to be changed to other than a its His channel (step S204).Specifically, 82 reference channel list 1 of control unit, according to the change mode in the channel decided through consultation in advance, To select next channel.In addition, in the case where the example being shown here at, according to " in the case where alternate channel, leading to Next larger value of channel in road list is as following channel (the case where next larger value of channel is not present Under, then the channel for the minimum value being set as in channel list) " as the change mode decided through consultation in advance, select (change) channel b As next channel (referring to Fig. 5).In addition, control unit 82 judges: the channel b selected as next channel is No crowded (step S203).In this way, repeating step S203 before finding not crowded channel.In addition, logical after change Road b is stored in using channel storage unit 94.

In the case where not crowded using channel in step S203 (step S203, "No"), continue step S205's Judgement.That is, whether control unit 82 judges: being switched communication pattern by operation of user interface 99 etc. in step S205 For enrollment mode.In the judgement the result is that in the case that communication pattern is switched to enrollment mode (step S205, "Yes"), control Portion 82 processed carries out a series of processing (step S210~step S218) of aftermentioned enrollment mode.

On the other hand, in the judgement of step S205 the result is that the case where communication pattern is maintained at the state of normal mode Under (step S205, "No"), control unit 82 reads out location update information from location update information storage unit 92, attempts via base Stand communication equipment 83 to tractor 1 send include the location update information signal (step S206).In the present embodiment, it controls Portion 82 sends the signal including location update information by broadcasting via base station communication machine 83.Even if having multiple drag as a result, In the case that machine drawing 1 is stored in mobile station ID list storage unit 95, does not need individually to send each tractor 1 location yet and repair Positive information.In other words, (distribution) location update information can be sent together to whole tractors 1, the program of transmission is succinct, energy It is enough that bandwidth needed for distribution is suppressed to required minimum.

Next, (just whether the transmission of the location update information carried out in 82 judgment step S206 of control unit successful Often have sent) (step S207).In addition, being carried out before sending in the processing of step S206: using channel whether just by other Confirmation, that is, carry out so-called carrier sense, if channel is idle, actually sent, in the feelings used in wireless system Under condition, control unit 82, which is judged as, to be sent successfully.On the other hand, if channel is used by other wireless systems and the line is busy without It sends, is judged as transmission failure at this time.

If the judgement of step S207 the result is that sent successfully (step S207, "Yes"), then cut in communication pattern It is changed to as before enrollment mode, the moment repeats: obtaining location update information and should from location update information storage unit 92 Location update information is sent to tractor 1 (repeating step S205~step S207).Control unit 82 is for example more every 1 second ground Secondary distribution location update information.

On the other hand, when the transmission for being judged as the location update information carried out in step S206 in the judgement in step S207 In the case where failure (step S207, "No"), whether the number that judgement continuously transmits failure reaches stated number (step S208).

Judgement in step S208 the result is that in the case where the continuous continuous failure of stated number (step S208, "Yes"), it may for instance be considered that being: using channel a wave interference or channel a occur for other systems used in nearby Communication bandwidth it is insufficient.In this case, in order to attempt to switch to other channels and recommunicate, 82 reference channel of control unit column Table 1 and channel used in base station communication machine 83 is changed to next channel (step S209).Specifically, control unit 82 It, will be next logical by reading out channel list 1 from channel list storage unit 93, and using the change mode decided through consultation in advance Road is changed to b.In addition, the change mode decided through consultation in advance is the change mode common with the change mode of 1 side of machine drawing grasp.

Then, control unit 82 is attempted to retransmit location update information (step S206) using the new channel b.It is utilizing Channel b is attempted to send location update information and be sent in the case that the frequency of failure also reached stated number, is further changed to Its next channel c attempts to send (referring to Fig. 5).In this way, control unit 82 reference channel list 1, the change mode decided through consultation in advance Alternate channel repeatedly, until meeting the communication bandwidth that can ensure stable communication by chance.

In addition, the channel after changing in step S206 is stored in using channel storage unit 94.That is, using channel storage unit The 94 use channels stored are updated to b (being c according to status update) from a.

According to the process of such processing, control unit 82 can be sent at the moment to tractor 1: based on being received by location information Information that machine 81 receives and calculated location update information.In addition, as described above, as long as agreeing upon the change in channel in advance More mode, even if then changing the feelings used in distribution using channel by base station 80 because stable communication is unable to ensure Under condition, do not need to inform the situation to 1 side of tractor every time yet.In addition, sending location using the channel a initially selected In the case that update information has failed, according to channel list 1, is sent using next channel b, also had failed in this way In the case of, it according to channel list 1, is sent using its next channel c, thereby, it is possible to neatly change communication to be made Frequency band, and be able to suppress generation with other fields used in base station system or nearby used in other without linear system The wave interference of system, so as to avoid prolonged communication disruption.Thereby, it is possible to realize: point from base station 80 to tractor 1 Hair seldom goes out active.

80 this side of base station user's operation user interface 99 and (step when communication pattern is set as enrollment mode S205, "Yes"), as shown in figure 9, control unit 82 uses common channel x by base station communication machine 83, can be reached in electric wave Tractor 1 in range sends our station information (specifically, the ID of base station 80 is numbered) (step S210).In addition, in this reality It applies in mode, the information of the ID number of base station 80 is distributed by broadcasting.

After the processing of step S210, control unit 82 is monitored: the reception situation of base station receiver (not shown).In its knot Fruit is (step S211, "Yes") in the case where having received the registration request from tractor 1, and control unit 82 is to the tractor (mobile station) 1 is sent: as the response (step S212) for receiving confirmation.

Then, control unit 82 judges: the behaviour of the registration of license tractor 1 whether has been carried out by the user of 80 this side of base station Make (judgement of certification, step S213).80 this side of base station user for example based on contract etc. certain things and be judged as nothing The registration of method license tractor 1 and in the case where making the operation of the meaning, control unit 82, which sends the tractor 1, to be refused It notifies (step S214).

On the other hand, the judgement in step S213 the result is that by user carried out license tractor 1 registration meaning In the case where the operation of think of (step S213, "Yes"), control unit 82 will be from the ID for the base station 80 that our station ID storage unit 91 is read out Channel list 1 used in number (18745), the our station that is read out from channel list storage unit 93, from using channel storage unit 94 newest uses channel (here, being set as a) read out are sent to tractor 1 (step S215) via base station communication machine 83.

Receiving expression from the tractor 1 using base station receiver (not shown), to have received these related with channel In the case where the response of the meaning of information (step S216, "Yes"), control unit 82 be considered as base station 80 to the certification of tractor 1 at It is vertical, the ID number for the tractor 1 that the response is included is read out, and be registered in (step in mobile station ID list storage unit 95 S217)。

It, then can be in addition, if (step S210) have passed through stipulated time (step S218, "Yes") since enrollment mode The registration of mobile station (tractor 1) near thinking is substantially the entirety of to be completed, so, 82 finishes registration mode of control unit, transfer To normal mode.

In addition, control unit 82 continues to monitor connecing from mobile station before beginning to pass through the stipulated time from enrollment mode Receipts situation (step S211), additionally it is possible to which multiple mobile stations are registered in mobile station ID list storage unit 95.Thereby, it is possible to use 1 Stylobate station 80 and with more tractors 1,1 ... communicated, so as to concentrate realize more tractors 1,1 ... position letter The amendment of breath.

According to the process of such processing, base station 80 and tractor 1 is set to carry out two-way communication using common channel, thus Can be easy to carry out by the mutual transmitting-receiving of information: registration from base station 80 to 1 this side of tractor and tractor 1 to The registration of 80 this side of base station.In addition, being informed in advance to tractor 1 in enrollment mode: with leading under normal mode thereafter The related information in channel used in letter, so, when other than enrollment mode (when normal mode), unidirectional communication is just sufficient It is much of that.Therefore, it is able to suppress: the insufficient situation of communication bandwidth occurs, so as to avoid: being such as difficult to set up communication, communication The problem of speed reduction etc.In addition, thereby, it is possible to improve the reliability of the communication between base station 80 and tractor 1, so as to It is enough to inhibit that communication loss occurs.

In the case where the mobile station independently travelled the tractor 1 such as present embodiment, tool can be usually seen There are following compositions, that is, constitute are as follows: when certain time or more (for example, several seconds) has been interrupted in the reception of location update information, draw The autonomous traveling of machine 1 is automatically stopped.About this point, in the communication system 100 of present embodiment, because can prevent from drawing Communication between machine 1 and base station 80 is lost for a long time, thus it is possible to avoid tractor 1 due to communicating the state of affairs that is bad and stopping.

As described above, the communication system 100 of present embodiment has used defined frequency band (920MHz) Communication system between tractor (mobile station) 1 and base station 80.The communication system 100 includes tractor 1 and base station 80 can be into The normal mode (the 2nd mode) of location update information is distributed in the enrollment mode (the 1st mode) of row two-way communication and base station 80. Base station 80 is stored with: including that multiple channels (a, b ...) are divided into multiple groups of multiple channel lists by 920MHz frequency band.? In enrollment mode, base station 80 sends provisioning information to tractor 1.Above-mentioned provisioning information includes: indicating the base station in normal mode Channel list used in 80 is also the information for any channel list 1 selected from above-mentioned multiple channel lists.On in addition, Stating provisioning information includes: indicating that channel used in base station 80 is also the above-mentioned any channel list selected in normal mode Channel included in 1 (is the information of channel a) in example shown in present embodiment.

As a result, in enrollment mode, base station 80 sends tractor 1: the information of used channel list 1, channel a, Tractor 1 knows which channel base station 80 has used in normal mode, so, two-way communication is not needed in normal mode. Thereby, it is possible to be not easy to cause because of communication disruption caused by wave interference etc., so that tractor 1 can obtain essence without delay Spend good position-detection information.

In addition, in the 1st mode, base station 80 sends base station to tractor 1 in the communication system 100 of present embodiment ID number, tractor 1 send mobile station ID number to base station 80.

It can mutually specific other side and be received and dispatched between base station 80 and tractor 1 as a result, therefore, the operations such as registration become It must be easy.

In addition, in the communication system 100 of present embodiment, channel that tractor 1 will receive and (accept) from base station 80 List and using channel and base station IDs number stored in a correlated manner.In other words, 55 needle of storage unit of tractor 1 Received channel list is stored to each base station and uses channel.

Tractor 1 can change the base station communicated according to situation as a result,.In addition, even if being led to changing In the case where the base station of letter, because knowing which channel each base station uses in normal mode, in normal mode Communication can successfully be established.

In addition, in the communication system 100 of present embodiment, the transmission (distribution) from base station 80 under normal mode is Broadcast.

Even if be registered in enrollment mode for 1 base station 80 as a result, multiple tractors 1,1 ... in the case where, It does not need individually to send location update information to each tractor 1.In other words, can to whole tractor 1,1 ... send out simultaneously Location update information is sent, the program of transmission becomes succinct.

In addition, base station 80 has in the communication system 100 of present embodiment: the including distributing location update information the 1st Multiple sending modules including the 84 and the 2nd sending module (the 2nd communication module) 85 of sending module (the 1st communication module).Logical Under norm formula, in base station 80, by the 1st sending module 84 distribute location update information after distribution dwell time, by the 2nd Sending module 85 distributes location update information.

Thereby, it is possible to the distribution dwell times of communication module that is, the 1st sending module 84 using a side, pass through others Communication module that is, the 2nd sending module 85, to distribute location update information.Accordingly, with respect to each sending module 84,85, sending out It send the time and sends in the limitation at interval, can be improved the reliability of the distribution of location update information.

In addition, the communication system 100 of present embodiment is constituted as follows.That is, base station 80 in enrollment mode and tractor 1 it Between two-way communication used in two-way communication with channel x, y be: be not included in above-mentioned multiple channel lists 1,2 ... among Channel.In addition, this two-way communication channel x, y and above-mentioned multiple channel lists 1,2 ... included in each channel be: phase The channel of wave interference is not caused mutually.

Channel x, y used in enrollment mode are different from the channel of normal mode as a result, thus it is possible to successfully carry out It is communicated required for registration etc..In addition, used channel and arbitrary channel all do not cause mutually electric wave dry when normal mode It disturbs, thus it is possible to the superposition of communication bandwidth be avoided, so as to avoid communication failure.

In addition, the communication system 100 of present embodiment is constituted as follows.That is, base station 80 is corrected in location in normal mode In the case that the number of the distribution failure of information has reached stated number, used channel a is changed to above-mentioned times selected Other channels b that meaning channel list that is, channel list 1 are included.In normal mode, tractor 1 is in location update information In the case that acquirement has been interrupted the stipulated time (for example, several seconds), by used channel a be changed to it is above-mentioned select it is any logical Other channels b included in road list that is, channel list 1.

Channel list 1 is mutually stored in base station 80 and tractor 1 as a result, so, even if be not every time from Base station 80 sends information related with channel is used, as long as example, not communicated at the appointed time, it will be able to be changed to it His channel (b, c etc.).

In addition, in the communication system 100 of present embodiment, base station 80 is by number corresponding with the numerical value of following remainders The channel list 1 of (sequence) is as channel list used in our station in normal mode, that is, the remainder is to number the ID of our station Numerical value obtained from the quantity (such as 4) of (such as 18745) divided by pre-stored multiple channel lists.

As a result, in nigh field simultaneously using multiple same as communication system 100 communication systems 100,100 ... The case where it is inferior, channel, energy can be selected according to different channel lists between communication system 100 existing for short distance It is enough that used channel is avoided to generate overlapping as far as possible.Therefore, wave interference can be not susceptible to using method simple in this way. In addition, even if nearby passing through the step S208 and step of Fig. 8 there are in the case where the other systems for using same frequency band Subprogram shown in S209, in the case where interfering, channel is changed automatically, so, also can be avoided with other systems it Between wave interference.

Ideal embodiment of the invention is explained above, but above-mentioned configuration example can such as carry out as in the following manner Change.

In the above-described embodiment, although defined frequency band used in communication between tractor 1 and base station 80 is 920MHz, but as described above, it is not limited to this, the present invention can also be suitable for the mobile station of the frequency band using miscellaneous stipulations Communication system between base station.

In the above-described embodiment, although base station 80 be stored with included by 920MHz frequency band multiple channels (a, B ...) be divided into multiple groups channel list 1,2 ..., but the quantity of channel list can be increased and decreased according to situation.

The multiple channel lists 1 shown in above-mentioned embodiment, 2 ... each channel for being included, for example, can be with It is the channel in 1 channel of tripping to be isolated relative to adjacent channel, but number of hops is not limited to 1 channel, such as can not also It is to skip 1 channel and is to skip 2 channels.

In the above-described embodiment, in normal mode, number of the base station 80 in the distribution failure of location update information In the case where having reached stated number, used channel a is changed to the above-mentioned any channel list selected that is, channel column Other channels b included in table 1.However, it is possible to say so: when point that can not execute location update information at the appointed time In the case where hair, finally in order to be altered to other channels, this change situation recited above be substantially with using the time come Determine that the situation on the change opportunity in channel is identical.

In the above-described embodiment, the change side in the channel decided through consultation in advance between base station 80 and mobile station (tractor 1) Formula is: " in the case where alternate channel, using next larger value of channel in channel list as next channel " Mode, but this is only to illustrate.That is, the change mode in the channel decided through consultation in advance between base station 80 and mobile station (tractor 1), only If capableing of the change mode of uniquely selector channel, it is also possible to other modes.Specifically, for example, it is also possible to will The change mode in channel is set as Candidate channel ", or be set as " in the case where alternate channel, by channel list skip 1 (1 channel) and it is next Larger value of channel selecting is candidate channel ".

Base station 80 is either the tectosome that can move as user and the base being suitably disposed near field etc. It stands, is also possible to be fixedly installed on the base station in the place of regulation (both knowing).

In the above-described embodiment, base station 80 has 2 sending modules 84,85, and has and send mould with the two Corresponding 2 communication antenna 98,98 of block.As long as however, having multiple transmission moulds to improve the reliability of communication The structure of block and communication antenna, their quantity are also possible to 3 or more.

Claims (4)

1. a kind of communication system, which is the communication system between mobile station and base station using defined frequency band,

The communication system is characterized in that,

It includes the mobile station and the base station is able to carry out the 1st mode and base station distribution location amendment of two-way communication 2nd mode of information,

The base station stored has: the multiple channels for being included by the frequency band are divided into multiple groups of multiple channel lists,

In the 1st mode, the base station sends provisioning information to the mobile station,

The provisioning information includes:

Indicate that channel list used in the base station described in the 2nd mode is also to select from the multiple channel list Channel used in information and the expression base station described in the 2nd mode of any channel list out is also institute State the information in channel included in any channel list selected.

2. communication system according to claim 1, which is characterized in that

The base station has: more including the 1st communication module and the 2nd communication module for distributing the location update information A sending module,

In the 2nd mode, distribution of the base station after distributing the location update information by the 1st communication module Dwell time distributes the location update information by the 2nd communication module.

3. communication system according to claim 1, which is characterized in that

Two-way communication channel used in the two-way communication between the base station and the mobile station in 1st mode It is: is not included in the channel among the multiple channel list,

Each channel included in the multiple channel list is: not causing the channel of wave interference mutually.

4. communication system according to claim 1, which is characterized in that

In the case where the distribution of the location update information can not be executed at the appointed time in the 2nd mode, the base It stands and used channel is changed to other channels included in selected any channel list,

In the 2nd mode, in the case where the acquirement of the location update information has been interrupted the stipulated time, the mobile station Used channel is changed to other described channels included in selected any channel list.