JP2014225764A - Radio communication system, radio communication method, control device, mobile communication device, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce radio wave interference in moving spaces of a plurality of mobile objects operating next to each other.SOLUTION: A radio communication system includes: a control device connected by wire with a plurality of stationary communication devices arranged in a space where a mobile object moves; and a mobile communication device that is attached to the mobile object and transmits a radio signal from its transmission antenna to the plurality of stationary communication devices from a position moved by movement of the mobile object. The control device comprises: an acquisition unit that acquires state information indicating the state of the mobile communication device in the space; and a calculation unit that calculates a recommendation value of the aperture angle of the transmission antenna using the state information and position information indicating how each of the plurality of stationary communication devices is arranged in the space. The mobile communication device comprises: a determination unit that determines the aperture angle of the transmission antenna using the recommendation value; and a radio communication unit that sets the determined aperture angle to the transmission antenna and transmits the radio signal.

Description

  The present invention relates to a wireless communication system, a wireless communication method, a control device, a mobile communication device, and a program.

  For example, in a factory that assembles industrial products, a robot station having a manipulator is frequently used as a manufacturing apparatus. In such a manufacturing apparatus, a control device arranged inside or outside the robot station and a manipulator are connected via a wired communication path, and the manipulator operates according to an instruction received from the control device via the wired communication. Conversely, monitoring data acquired by a pressure sensor, a temperature sensor, or the like attached to the manipulator may be transmitted from the manipulator to the control device using a wired communication path. In particular, when transmitting an image captured by a camera attached to a manipulator to a control device, a large amount of data must be transferred as an image, so it is necessary to adopt a communication method with very high-speed data communication performance. There is.

  For such a manipulator, there are a large number of movable parts to be controlled. Therefore, in order to control these individual movable parts using a wired communication path from the control device, it is necessary to handle a very complicated cable. . Furthermore, considering the case where monitoring data from a camera or sensor mounted on the manipulator is transmitted to the control device, it is necessary to wire more cables through a complicated wired communication path.

  In addition, it is inevitable that the cable wired to the manipulator is mechanically bent or twisted according to the operation of the manipulator. For this reason, problems such as communication failures due to disconnection or cable quality degradation may occur within a relatively short operation time as a manufacturing apparatus. As described above, a cable wired to a movable object such as a manipulator needs to be replaced more frequently than a wiring cable to a stationary object, which raises the problem of increasing the operating cost of the manufacturing apparatus.

  In order to solve such a problem, a technique for transferring data between a manipulator and a control device using wireless communication instead of a wired cable has been proposed. For example, Patent Document 1 proposes a manufacturing apparatus that wirelessly communicates manipulator control information between a wireless terminal provided in a manipulator and a wireless unit that controls the manipulator. Patent Document 2 proposes a technique for transmitting an image captured by a camera mounted on a hydraulic excavator to an operator side using wireless communication and displaying the image on a television monitor monitored by the operator.

JP 2009-78325 A JP 10-329070 A

  As a wireless transmission method applicable to such a manipulator, IEEE802.11 standard group is mentioned as a wireless LAN using 2.4 GHz or 5.2 GHz band radio waves. However, particularly in a system that needs to transmit a large amount of data such as image data, it is more preferable to use a 60 GHz band millimeter-wave radio having a wide frequency bandwidth. Since the millimeter wave radio has a very high frequency, it has a characteristic that the radio wave travels straight. Also, since the position and orientation of the wireless terminal attached to the manipulator changes according to the movement of the manipulator, it is not always possible to maintain a good wireless communication state between one wireless mobile station and one wireless control station. Have difficulty.

  Therefore, in order to realize highly reliable wireless communication between the wireless terminal (wireless mobile station) attached to the manipulator and the wireless control station, one wireless control station is arranged in a spatially separated place. In addition, a diversity system has been devised in which a plurality of wireless fixed stations are connected by wire. In this system, if at least one of a plurality of radio fixed stations arranged at different locations can receive a signal from a radio mobile station, the radio mobile station, radio control station, and Communication between is maintained. However, in order for as many wireless fixed stations as possible to receive radio waves from radio mobile stations, radio mobile stations radiate radio waves using antennas with a wide radiation angle range regardless of the position and orientation of the radio mobile station. There is a need.

  In actual production sites, it is common for multiple robot stations to operate simultaneously in a factory. However, when a wireless communication system is applied to each of these multiple robot stations, radio waves are mutually transmitted between adjacent stations in the vicinity. May interfere. At this time, there is a problem that a radio communication failure occurs due to radio waves from other robot stations interfering with the radio communication system moving at the robot station, and the operation of the robot station stops or operates abnormally. It was. In particular, in a system in which a wireless mobile station transmits radio waves over a wide radiation angle range, there is a high possibility that such radio wave interference occurs between adjacent stations.

  In order to avoid such interference between adjacent stations, Patent Document 1 covers the entire robot station with an electromagnetic shield to prevent radio waves transmitted within the station from being emitted outside the station. Yes. This avoids the electromagnetic waves in the station from electromagnetically affecting other adjacent stations and equipment, but by installing a shield on the entire robot station, installation costs increase and maintainability decreases. It was causing new problems. As described above, in the conventional wireless robot system, it is difficult to reduce radio wave interference between adjacent stations without causing an increase in cost and a decrease in maintainability.

  In view of the foregoing circumstances, an object of the present invention is to provide a wireless communication technique capable of reducing radio wave interference between moving spaces of a plurality of moving bodies that operate adjacently.

In order to achieve the above object, a wireless communication system according to one aspect of the present invention includes:
A control device wiredly connected to a plurality of fixed communication devices arranged in a space in which the moving body moves, and a transmission antenna to the plurality of fixed communication devices from a position attached to the moving body and moved by movement of the moving body A wireless communication system having a mobile communication device for transmitting a wireless signal from
The controller is
An acquisition means for acquiring state information indicating a state in the space of the mobile communication device moving by the moving body using a control signal for moving the moving body;
Calculating means for calculating a recommended value of the aperture angle of the transmitting antenna of the mobile communication device using the state information and position information of each of the plurality of fixed communication devices arranged in the space; ,
The mobile communication device
Determining means for determining an aperture angle of the transmitting antenna using the recommended value;
Wireless communication means for setting the determined aperture angle to the transmission antenna and transmitting the wireless signal via the transmission antenna.

  According to the present invention, it is possible to reduce radio wave interference between moving spaces of a plurality of moving bodies that operate adjacently.

The figure which shows the system configuration | structure of the manufacturing apparatus in 1st Embodiment. The bird's-eye view of the manufacturing apparatus in a 1st embodiment. The block diagram of the robot arm in 1st Embodiment. The figure which illustrated radio | wireless communication operation when a radio | wireless mobile station is arrange | positioned at a high place. The figure which illustrated radio | wireless communication operation when a radio | wireless mobile station is arrange | positioned in the low place. The figure which illustrated radio transmission operation from the radio mobile station by a 1st embodiment. The figure which shows the internal structure of the radio control station in 1st Embodiment. The figure explaining the flow of processing at the time of robot arm movement. The figure which shows the format of a CAN data frame The figure which shows the internal structure of the radio | wireless mobile station in 1st Embodiment. The figure explaining the flow of a process at the time of the image photography by a camera. A diagram showing a configuration example of a transmission antenna of a wireless mobile station The figure explaining the determination method of the transmission antenna aperture angle of 2nd Embodiment.

  Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. However, the components described in this embodiment are merely examples, and the technical scope of the present invention is determined by the scope of the claims, and is not limited by the following individual embodiments. Absent.

(First embodiment)
FIG. 1 is a diagram illustrating a system configuration example of a manufacturing apparatus to which a wireless communication system according to the present embodiment is applied. In FIG. 1, a robot arm 101 (manipulator) as a moving body is wire-connected to a robot control device 102 by a robot control line 103. Each joint of the robot arm 101 is provided with a motor, and the robot arm 101 operates in accordance with a device control signal input from the robot control device 102 using the robot control line 103. In this embodiment, an industry standard CAN (Control Area Network) standard is used as the robot control line 103, but other types of control lines can be used as long as the device control signal can be transmitted to the robot arm 101. Is possible.

  A wireless mobile station 201 (mobile communication device) is provided in the hand unit 108 that is the tip of the robot arm 101. The wireless mobile station 201 performs wireless communication with the wireless fixed stations 211 to 213 (fixed communication devices), and the wireless fixed stations 211 to 213 perform wired communication with the wireless control station 202 (control device) via the fixed station communication line 203. . When data is communicated from the radio mobile station 201 to the radio control station 202, data is transmitted from the transmission antenna of the radio mobile station 201 to the radio fixed stations 211 to 213, and the data is transmitted from the radio fixed stations 211 to 213 to the radio control station 202. Transferred. A transmission range in which a radio signal (data) is transmitted from the transmission antenna is determined by an aperture angle set in the transmission antenna of the wireless mobile station 201. The wireless mobile station 201 uses a wide directional antenna (transmission antenna) with a large aperture angle so that the plurality of wireless fixed stations 211 to 213 arranged at different positions can receive data. Send.

  Then, the wireless fixed stations 211 to 213 receive the wireless packet transmitted from the wireless mobile station 201. The wireless fixed stations 211 to 213 demodulate and decode the received wireless packets, and then transmit the received wireless packets to the wireless control station 202 via the fixed station communication line 203 as received data. As the fixed station communication line 203, for example, various wired communication lines such as metallic cables and optical fibers can be applied.

  Further, when wirelessly communicating data from the wireless control station 202 to the wireless mobile station 201, the wireless control station 202 sequentially selects one wireless fixed station that transmits data from the plurality of wireless fixed stations 211 to 213 one by one. . The radio control station 202 transmits data to the selected radio fixed station via the fixed station communication line 203 according to the order of selection. The selected wireless fixed station receives the data transmitted from the wireless control station 202 via the fixed station communication line 203. Then, the selected wireless fixed station converts the received data into a wireless packet, and then wirelessly transmits it from the transmission antenna to the wireless mobile station 201.

  The wireless control station 202 is sequentially selected from a plurality of wireless fixed stations 211 to 213 so that the data from the wireless control station 202 can be received regardless of the position of the wireless mobile station 201 moved by the operation of the robot arm 101. Select a wireless fixed station one by one and transmit data.

  The hand unit 108 of the robot arm 101 is provided with a wireless mobile station 201 and a camera 109. The camera 109 captures a work object and transmits the captured image (image data) to the wireless mobile station 201. The wireless mobile station 201 transmits the image data transmitted from the camera 109 as a wireless packet to the wireless control station 202 via the wireless fixed stations 211 to 213.

  The radio control station 202 is connected to the image analysis device 104 by, for example, an industry standard camera link cable 105. The wireless control station 202 transfers an image (image data) captured by the camera 109 to the image analysis device 104 via the camera link cable 105. In this embodiment, a camera link cable is used for image transfer, but the gist of the present invention is not limited to this example. In addition, any communication cable capable of transmitting images, such as USB, LAN, and GigE, can be applied to the connection between the wireless control station 202 and the image analysis device 104.

  As the camera 109, for example, a two-lens stereo camera that can capture a stereo image can be applied. The stereo image transmitted to the wireless control station 202 is analyzed by the image analysis device 104, and a detailed relative position (relative position information) between the work object and the hand unit 108 is calculated. The image analysis apparatus 104 transmits this relative position information to the robot control apparatus 102 using the LAN cable 106, for example. The robot control device 102 generates control information (device control signal) for reflecting the relative position information transmitted from the image analysis device 104 in the operation of the robot in the next work process.

  FIG. 2 is an overhead view showing the appearance of the system of the manufacturing apparatus in the present embodiment. In the present embodiment, the robot arm 101 is disposed inside the robot station 107. In addition, the wireless fixed stations 211 to 213 are respectively arranged on the ceiling portion of the robot station 107. In general, the floor of a robot station often has a work table, various devices related to work, or assembly members. In such a case, in order to secure a mutually visible propagation path between the wireless mobile station 201 and the wireless fixed stations 211 to 213, the wireless fixed stations 211 to 213 are placed on the ceiling of the robot station 107 in this embodiment. It is arranged. The arrangement of the wireless fixed stations 211 to 213 is exemplary, and the wireless fixed stations can be installed at optimal positions according to each work environment. The wireless fixed stations 211 to 213 are connected to the wireless control station 202 by a fixed station communication line 203 wired in the robot station 107.

  FIG. 3 is a diagram illustrating the configuration of the robot arm 101 in the present embodiment. At the tip of the robot arm 101, a hand unit 108 for gripping a work object used for assembly work is provided. Further, the hand unit 108 is provided with a camera 109 and a wireless mobile station 201 for photographing a work object.

  The robot arm 101 has an S axis 301, an L axis 302, a U axis 303, an R axis 304, a B axis 305, and a T axis 306 as six joints. The S axis 301 is a joint for rotating the entire robot arm 101. An L axis 302 is a joint for moving the robot arm 101 back and forth (left and right direction on the paper surface). The U axis 303 is a joint for moving the forearm portion 110 of the robot arm 101 up and down. The R axis 304 is a joint for rotating the forearm portion 110 of the robot arm 101. The B axis 305 is a joint for moving the hand part 108 of the robot arm 101 up and down, and the T axis 306 is a joint for rotating the hand part 108. With the movement of the six joints, the robot arm 101 can realize the movement with six degrees of freedom.

  Returning to FIG. 2, the robot control apparatus 102 performs a work sequence for managing the order of each work process in the manufacturing apparatus and the time required for the process, and the position and orientation (attitude) of the hand unit 108 in each work process. ) Is stored. In each work process, the robot control apparatus 102 calculates the rotation angle that each joint 301 to 306 of the robot arm 101 should take based on the three-dimensional position information and orientation information of the hand unit 108. The rotation angle information of each joint is transmitted from the robot control apparatus 102 to the robot arm 101 via the robot control line 103 using the device control signal. The robot arm 101 receives this device control signal, rotates the motor of each joint by a necessary angle according to the instruction of the device control signal, and moves the hand unit 108 to a desired position and orientation. In the present embodiment, the camera 109 is fixed to the hand unit 108, and the shooting direction of the camera 109 changes depending on the orientation of the hand unit 108. Similarly, the wireless mobile station 201 is also fixed to the hand unit 108, and the directivity directions of the transmission antenna and the reception antenna provided in the wireless mobile station 201 change depending on the orientation of the hand unit 108.

FIG. 4 is a diagram illustrating a state in which the hand unit 108 is working at a relatively high place in the robot station 107 in this embodiment. When the hand unit 108 of the robot arm 101 is at a high place, the included angle θ ₁ between the direction when the wireless mobile station 201 views the wireless fixed stations 211 to 213 and the transmission antenna directing direction 220 of the wireless mobile station 201, θ ₂ and θ ₃ are relatively large angles.

Therefore, in order to allow each of the wireless fixed stations 211 to 213 to correctly receive a signal (wireless transmission signal) wirelessly transmitted from the wireless mobile station 201, the wireless mobile station 201 transmits a signal transmitted by the transmission antenna. As a transmission range, a radio signal is transmitted using a transmission antenna having an opening angle sufficiently larger than θ ₁ , θ ₂ , and θ ₃ so that the radiation angle range 221 of the radio transmission signal is widened.

FIG. 5 is a diagram illustrating a state where the hand unit 108 is working in a relatively low place in the robot station 107 in the present embodiment. In FIG. 5, the wireless mobile station 201 transmits a wireless signal using the same opening angle as the example in FIG. 4. 5, the angles θ ₁ , θ ₂ , and θ ₃ between the direction in which each of the wireless fixed stations 211 to 213 is viewed from the wireless mobile station 201 and the transmission antenna directing direction 220 of the wireless mobile station 201 are as shown in FIG. Smaller than Therefore, if the wireless mobile station 201 transmits a radio wave using a transmission antenna having the same characteristics as in FIG. 4 and a wide aperture angle, the radiation range becomes the radiation angle range 221 shown in FIG. Therefore, each of the wireless fixed stations 211 to 213 can receive a signal (wireless transmission signal) wirelessly transmitted from the wireless mobile station 201 without any problem. On the other hand, in the case of FIG. 5, since the radiation angle range 221 of the transmission antenna is wider than necessary, a signal (wireless transmission signal) transmitted from the wireless mobile station 201 reaches the robot station 111 adjacent to the robot station 107. Resulting in. As a result, the radio wave of the wireless communication system operating at the robot station 107 causes radio wave interference to the adjacent robot station 111.

  FIG. 6 is a diagram for exemplarily illustrating how the radio wave interference to the adjacent robot station 111 is avoided by applying the present invention. In the example illustrated in FIG. 6, the transmission antenna aperture angle of the wireless mobile station 201 is adjusted to be small, and a wireless signal is transmitted in a radiation angle range 222 that is relatively narrow compared to the radiation angle range 221 illustrated in FIG. 4. To do. In this way, by limiting the radiation angle range of radio waves wirelessly transmitted from the wireless mobile station 201 according to the position and orientation of the wireless mobile station 201, the wireless transmission signal does not reach the adjacent robot station 111. Can be controlled. Thereby, the radio wave used in the robot station 107 does not affect the adjacent robot station 111 as interference, or the influence can be reduced.

  Next, operations of the wireless control station 202 and the robot control apparatus 102 during the operation of the robot arm 101 in the present embodiment will be described with reference to FIGS. 7 and 8.

  FIG. 7 is a diagram illustrating an internal configuration of the wireless control station 202 in the present embodiment, and FIG. 8 is a diagram illustrating a processing flow of the robot control device 102 and the wireless control station 202 when the robot arm 101 is moved.

  The radio control station 202 includes a fixed station position information holding unit 504. The fixed station position information holding unit 504 includes three-dimensional position information (X1, Y1, Z1) of the wireless fixed station 211 connected to the wireless control station 202, and three-dimensional position information (X2, Y2, Z2) of the wireless fixed station 212. ), The three-dimensional position information (X3, Y3, Z3) of the wireless fixed station 213 is held. The position information of the wireless fixed station is recorded in a nonvolatile memory or the like provided in the fixed station position information holding unit 504 when the installation operator operates the wireless control station 202 when the manufacturing apparatus is installed. In addition, the radio control station 202 includes a device control signal detection unit 505. The device control signal detection unit 505 is connected to the robot control device 102 by the robot control line 103.

  As processing of the robot control apparatus 102, in step S101 of FIG. 8, the robot control apparatus 102 advances one work process according to the work sequence stored in the internal work procedure database.

  In step S102, the robot control apparatus 102 acquires three-dimensional information related to the position and orientation that the hand unit 108 of the robot arm 101 should take in the current work process from the work procedure database stored together with the work sequence (S102). .

  Next, in step S103, the robot controller 102 determines the rotation angles (φ1, φ2, φ3, φ4, φ5) that the joints 301 to 306 of the robot arm 101 should take from the three-dimensional information about the position and orientation of the hand unit 108, respectively. , Φ6). The robot controller 102 uses an algorithm of inverse kinematics calculation to calculate the rotation angles (φ1, φ2, φ3, φ4, φ5, φ6) of each joint of the robot arm 101.

  After calculating the rotation angle of each of the joints 301 to 306, in step S104, the robot control apparatus 102 generates a CAN data frame that holds the rotation angle information. FIG. 9 is a diagram illustrating a CAN data frame used in this embodiment, and FIG. 9A shows an extended format of the data frame in the industry standard CAN specification. In such a CAN data frame, by specifying identification information (ID) for identifying each joint in the base ID field or the extended ID field, it is specified which joint rotation angle information the CAN data frame holds. it can. Further, the rotation angle information of each joint is held in the data field of the CAN data frame.

  FIGS. 9B to 9G are diagrams illustrating CAN data frames transmitted to the joints 301 to 306, respectively. As the rotation angle information, the rotation angles (φ1, φ2, φ3, φ4, φ5, φ6) of the joints are held in the data field of the CAN data frame transmitted to the corresponding joint. The robot controller 102 transmits the generated CAN data frame to the robot control line 103 as a device control signal (S104).

  As processing of the radio control station 202, in step S111 of FIG. 8, the device control signal detection unit 505 receives a CAN data frame (device control signal), analyzes each frame, and rotates the rotation angle (φ1 as drive information of each joint). , Φ2, φ3, φ4, φ5, φ6).

  Next, in step S112, the mobile station state determination unit 506 of the radio control station 202 uses the information on the rotation angle of each joint (movable unit) (joint angle information) to obtain the three-dimensional position information (X0, Y0, Z0) is calculated and stored in the internal storage unit. Similarly, in step S113, the mobile station state determination unit 506 of the radio control station 202 obtains information (Px, Py, Pz) regarding the orientation of the radio mobile station 201 from information on the rotation angle of each joint (joint angle information). Calculate and store in the storage unit. The mobile station state determination unit 506 determines the three-dimensional position information (X0, Y0, Z0) and the three-dimensional orientation information (Px, Py, Pz) of the wireless mobile station 201 from the rotation angle information (joint angle information) of each joint. ) Is used to calculate a forward kinematics algorithm.

  The radio control station 202 updates the three-dimensional position information and the three-dimensional orientation information of the radio mobile station 201 each time the robot arm 101 operates while following the work sequence of the robot arm 101, and a mobile station state determination unit Store in 506.

  Next, the operations of the wireless control station 202, the wireless mobile station 201, the image analysis device 104, and the camera 109 when an image is taken by the camera 109 attached to the robot arm 101 in this embodiment are shown in FIGS. And it demonstrates using FIG. 7 is a diagram illustrating an internal configuration of the radio control station 202, FIG. 10 is a diagram illustrating an internal configuration of the radio mobile station 201, and FIG. 11 is a diagram illustrating a robot control apparatus 102, a radio control station 202, a radio mobile station 201, It is a figure explaining the flow of a process of the camera. In FIG. 7, the wireless control station 202 has a camera link interface unit 501, and the camera link interface unit 501 and the image analysis device 104 are connected by a camera link cable 105.

  In step S201 in FIG. 11, when it is time to shoot (shooting timing), the image analysis apparatus 104 controls a control signal (shooting instruction) defined as a CC1 signal by the camera link standard to instruct the camera 109 to shoot. Signal). Then, the image analysis apparatus 104 transmits a control signal (imaging instruction signal) to the wireless control station 202 via the camera link cable 105.

  In step S211, the camera link interface unit 501 of the wireless control station 202 receives the enabled control signal (shooting instruction signal).

  In step S212, the imaging timing acquisition unit 508 instructs the aperture angle calculation unit 507 to calculate a recommended value of the aperture angle at the transmission antenna of the wireless mobile station 201. Here, the recommended value is a value indicating the aperture angle of the transmission antenna such that the fixed communication device is included in the transmission range of the radio signal transmitted by the transmission antenna. The aperture angle calculation unit 507 recommends the aperture angle of the transmission antenna using the three-dimensional information (state information) regarding the position and orientation of the wireless mobile station 201 at the photographing timing and the three-dimensional position information of the wireless fixed stations 211 to 213. Calculate the value. When calculating the recommended value, the aperture angle calculation unit 507 stores the three-dimensional information regarding the position and orientation of the wireless mobile station 201 stored in the mobile station state determination unit 506 during the operation of the robot arm 101 and the fixed station position information holding unit 504. Reference is made to the stored three-dimensional position information of the wireless fixed station. Then, the aperture angle calculation unit 507 calculates an appropriate recommended value as the aperture angle of the transmission antenna of the wireless mobile station 201, and inputs this recommended value to the wireless protocol processing unit 503. The wireless protocol processing unit 503 generates an imaging instruction wireless command that holds the recommended value of the opening angle in order to output the recommended value of the opening angle.

  Next, in step S213, the radio protocol processing unit 503 of the radio control station 202 selects one radio fixed station in order from the radio fixed stations 211 to 213 connected by the fixed station communication line 203. Then, the wireless protocol processing unit 503 transmits the imaging instruction wireless command as a wireless packet according to the selected order to the selected wireless fixed station. Each of the wireless fixed stations 211 to 213 wirelessly transmits an imaging instruction wireless command to the wireless mobile station 201 in order.

  In step 221, the wireless mobile station 201 receives the transmitted shooting instruction wireless command using the receiving antenna 601 in FIG. 10. The radio high-frequency unit 603 converts the imaging instruction radio command into a baseband signal, and the modem unit 604 performs demodulation processing of the baseband signal. The wireless protocol processing unit 605 analyzes the shooting instruction command obtained from the demodulation result, detects that the camera analysis is instructed by the image analysis device 104, and further recommends the opening angle of the transmission antenna of the wireless mobile station 201. Get the value.

  In step S222, the camera control unit 608 instructs and controls shooting with respect to the camera 109 that is electrically connected by a cable or a connector.

  In step S223, the wireless protocol processing unit 605 inputs the recommended value of the aperture angle of the transmission antenna acquired from the imaging instruction command to the aperture angle determination unit 606. The aperture angle determination unit 606 determines the actual aperture angle of the transmission antenna 602 based on the characteristics of the transmission antenna 602 mounted on the wireless mobile station 201 while referring to the recommended aperture angle value.

  In step S224, the aperture angle determination unit 606 sets the aperture angle determined for the transmission antenna 602.

  On the other hand, in step S231, the camera 109 instructed to shoot by the camera control unit 608 starts exposure. After the exposure is completed, the camera 109 transmits the captured image data to the camera control unit 608 in the wireless mobile station 201 in step S232.

  In step S225, the data conversion unit 607 of the wireless mobile station 201 converts the image data transmitted from the camera 109 into an image wireless packet. The image wireless packet generated by the data converting unit 607 is input to the modem unit 604 according to the transmission timing determined by the wireless protocol processing unit 605. The image data converted into the baseband signal by the modem unit 604 is converted into a radio signal by the radio high frequency unit 603. The converted radio signal is transmitted from the transmission antenna 602 to the radio fixed station with the aperture angle already set in step S224.

  FIG. 12 is a diagram illustrating the structure of an array antenna mainly used in millimeter wave radio as a configuration example of an antenna whose aperture angle can be changed. In the array antenna of FIG. 12A, 16 antenna elements 702 are arranged on a substrate 701 made of a material such as ceramic, and the output of the transmission power amplifier connected to each antenna element. Is radiated to the radio space as radio waves. By individually enabling and disabling the 16 transmission power amplifiers, radio wave radiation from each antenna element can be validated and stopped.

  In general, in an array antenna, the larger the number of antenna elements 702 that are enabled and radiate radio waves, the narrower the aperture angle as an antenna. Therefore, as shown in FIG. 12B, if only four antenna elements arranged in the center of the 16 elements are enabled, the antenna aperture angle is widened, and therefore the radiation angle range of the transmission signal is widened. Conversely, if all 16 antenna elements are enabled as shown in FIG. 12C, the antenna aperture angle is narrowed, and therefore the radiation angle range of the transmission signal is also narrowed. In this way, the transmission antenna provided in the wireless mobile station 201 can change the aperture angle.

  In the present embodiment, the case of two steps as the variable step of the aperture angle of the transmission antenna has been described as an example. However, depending on the configuration of the antenna, a transmission antenna having a larger number of variable steps can be applied to the present invention. Further, the antenna is not limited to the array antenna, and any antenna that can change the aperture angle of the antenna can be applied as a transmission antenna in the wireless mobile station 201 of the present invention.

  Returning to FIG. 11, the wireless protocol processing unit 503 of the wireless control station 202 that has received the image data via the wireless fixed station in step S241 inputs the received image data to a camera link PAL (Protocol Adaptation layer) 502. To do. The camera link PAL 502 converts the received image data into a signal format specified by the camera link standard and inputs it to the camera link interface unit 501. The camera link interface unit 501 transmits the image data received from the camera 109 through wireless communication to the image analysis device 104 via the camera link cable.

  In step S251, the image analysis apparatus 104 performs, for example, three-dimensional analysis of a stereo image as an analysis process on the image data received from the wireless control station 202, so that the hand unit 108 and the work object of the robot arm 101 are processed. The relative positional relationship is determined. Such information on the relative positional relationship is finally input to the robot controller 102 and reflected in the operation of the robot arm in the next work process.

(Second Embodiment)
In the first embodiment, a case has been described in which the positions of all three wireless fixed stations exemplarily shown are always within the radiation angle range of the transmission antenna of the wireless mobile station. However, the aperture angle of the transmission antenna provided in the wireless mobile station can generally be adjusted only within a limited range as a limitation in implementation. Therefore, the maximum radiation angle is defined as a mounting specification for each transmission antenna. Depending on the relationship between the position and orientation of the wireless mobile station and the location of each wireless fixed station, the wireless fixed station may be disposed outside the maximum radiation angle. For this reason, even if the radiation angle range of the transmission antenna of the radio mobile station is adjusted, there may be a situation where the radio fixed station arranged outside the maximum radiation angle cannot receive radio waves from the radio mobile station. Even in such a case, the present embodiment will be described below that the present invention can be effectively applied. Configurations common to the first embodiment will be described using the same reference numerals.

  FIG. 13 is a conceptual diagram for explaining a method by which the radio control station according to the present embodiment calculates the recommended value of the aperture angle of the transmission antenna and a method by which the radio mobile station determines the transmit antenna aperture angle. The aperture angle calculation unit 507 provided in the radio control station is centered on the radio mobile station 201 as shown in FIG. 13A, and is based on the three-dimensional information on the position and orientation of the radio mobile station 201 as a reference. The three-dimensional positions 211 to 213 are determined. Then, as processing corresponding to S212 in FIG. 11, the aperture angle calculation unit calculates a plurality of recommended values (for example, the first recommended value and the second recommended value) for the aperture angle of the transmission antenna of the wireless mobile station 201. Then, a radiographing instruction wireless command including the plurality of recommended values is generated.

  Here, the first recommended value is calculated as a recommended value when all three wireless fixed stations 211 to 213 are included in the radiation angle range of the transmitting antenna. Further, the second recommended value is that some of the three wireless fixed stations, for example, two wireless fixed stations (wireless fixed station 211 and wireless fixed station 212) emit radiation angles of the transmitting antenna. Calculated as a recommended value when included in the range. In the second recommended value, the combination of the wireless fixed stations included in the radiation angle range is not limited to the above case, and the wireless fixed station 211, the wireless fixed station 213, the wireless fixed station 212, and the wireless The fixed station 213 may be used. Further, any one of the three wireless fixed stations may be included.

  As processing corresponding to step S213 in FIG. 11, the wireless protocol processing unit 503 of the wireless control station 202 transmits a photographing instruction wireless command to the wireless fixed station as a wireless packet.

  As processing corresponding to step S221 in FIG. 11, when the wireless mobile station 201 receives the transmitted shooting instruction wireless command, the first recommended value and the second recommended opening angle of the transmission antenna included in the shooting instruction wireless command. Get the value.

  In the processing corresponding to step S223, the aperture angle determination unit 606 of the wireless mobile station 201 determines the radiation range of the wireless signal when the first recommended value and the second recommended value are adopted as shown in FIG. Ask. Then, the aperture angle determination unit 606 compares this radiation range with the radiation range based on the maximum aperture angle (maximum aperture angle) that can be set in the transmission antenna 602 of the wireless mobile station 201. Here, if it is determined that the radiation range of the radio signal by the first recommended value exceeds the radiation range that can be radiated by the maximum aperture angle of the transmission antenna 602, the aperture angle determination unit 606 determines the second recommended value as the transmission antenna. It is decided to adopt as the opening angle of 602. Then, in a process corresponding to step S224 in FIG. 11, the aperture angle determination unit 606 sets a second recommended value as the aperture angle for the transmission antenna 602.

  In each of the above-described embodiments, the articulated robot arm 101 (manipulator) is described as an example of the moving body. However, the gist of the present invention is not limited to this example. For example, a stage movable in one axis direction may be arranged in the x-axis, y-axis, and z-axis directions orthogonal to each other in the space of the robot station 107, and the hand unit 108 may be provided at the end of these stages.

  According to each of the embodiments described above, it is possible to reduce radio wave interference between a plurality of wireless robot stations operating adjacent to each other. As a result, it is possible to reduce the occurrence of a system failure such as a robot operation stop or abnormal operation due to radio wave interference.

(Other embodiments)
Each wireless communication device in the above embodiment is assumed to perform wireless communication using 60 GHz band millimeter-wave wireless, but the present invention can also be used for wireless communication using a frequency band other than the 60 GHz band. is there.

  The present invention can also be realized by executing the following processing. That is, software (program) that realizes the functions of the above-described embodiments is supplied to a system or apparatus via a network or various storage media, and a computer (or CPU, MPU, or the like) of the system or apparatus reads the program. It is a process to be executed.

Claims (13)

A control device wired to a plurality of fixed communication devices arranged in a space in which the moving body moves, and a radio from a transmission antenna to the plurality of fixed communication devices from a position attached to the moving body and moved by the moving body A wireless communication system having a mobile communication device for transmitting a signal,
The controller is
An acquisition means for acquiring state information indicating a state in the space of the mobile communication device moving by the moving body using a control signal for moving the moving body;
Calculating means for calculating a recommended value of the aperture angle of the transmitting antenna of the mobile communication device using the state information and position information of each of the plurality of fixed communication devices arranged in the space; ,
The mobile communication device
Determining means for determining an aperture angle of the transmitting antenna using the recommended value;
Wireless communication means for setting the determined aperture angle to the transmission antenna and transmitting the wireless signal via the transmission antenna;
A wireless communication system comprising: The controller is
Detecting means for detecting a control signal for moving the moving body;
Holding means for holding the position information of each of the plurality of fixed communication devices;
Further comprising
The acquisition means acquires the state information using the control signal detected by the detection means,
The calculation means refers to the position information of each fixed communication device acquired from the holding means and the state information, and the fixed communication device is included in a transmission range of a radio signal transmitted by the transmission antenna. The wireless communication system according to claim 1, wherein the recommended value of the opening angle is determined as follows. The controller is
A generator for generating a command for outputting a recommended value of the opening angle;
The generation means selects one fixed communication device from the plurality of fixed communication devices one by one, transmits the command to the selected fixed communication device,
The wireless communication system according to claim 1 or 2, wherein the selected fixed communication device wirelessly transmits the command to the mobile communication device. The controller is
A timing acquisition means for acquiring an imaging timing for performing imaging by an imaging device mounted on the moving body;
The determining means includes
4. The recommended value of the aperture angle of the transmitting antenna is calculated based on state information of the mobile communication device at the photographing timing and position information of the plurality of fixed communication devices. A wireless communication system according to claim 1. A transmission range in which the radio signal is transmitted from the transmission antenna is determined by the opening angle set in the transmission antenna,
The calculating means includes
A first recommended value indicating an opening angle defining the transmission range including all of the plurality of fixed communication devices;
5. The second recommended value indicating an opening angle that defines the transmission range including a part of the fixed communication devices among the plurality of fixed communication devices is calculated. 5. The wireless communication system described. The determining means includes
When the maximum aperture angle that can be set in the transmission antenna is compared with the aperture angle indicated by the first recommended value, the aperture angle indicated by the first recommended value exceeds the maximum aperture angle, 6. The wireless communication according to claim 5, wherein the determining means determines an aperture angle of the transmitting antenna using an aperture angle indicated by the second recommended value that is narrower than the first recommended value. system. The mobile communication device
Camera control means for controlling photographing of the photographing device mounted on the moving body;
Data conversion means for converting image data captured by the imaging apparatus into data for transmission as the wireless signal;
Further comprising
The wireless communication system according to claim 1, wherein the wireless communication unit transmits the data converted by the data conversion unit from the transmission antenna.   The wireless communication system according to claim 1, wherein the state information includes three-dimensional position information and orientation information of the mobile communication device. A control device wired to a plurality of fixed communication devices arranged in a space in which the moving body moves, and a radio from a transmission antenna to the plurality of fixed communication devices from a position attached to the moving body and moved by the moving body A wireless communication method in a wireless communication system having a mobile communication device for transmitting a signal,
The processing executed by the control device is as follows:
An acquisition step in which the acquisition unit of the control device acquires state information indicating a state in the space of the mobile communication device that is moved by the mobile body using a control signal for moving the mobile body;
The calculation means of the control device uses the recommended value of the aperture angle of the transmitting antenna of the mobile communication device, using the state information and the position information where each of the plurality of fixed communication devices is arranged in the space. A calculation step for calculating,
The process executed by the mobile communication device is as follows:
A determination step in which the determination unit of the mobile communication device determines an aperture angle of the transmission antenna using the recommended value;
A radio communication step in which radio communication means of the mobile communication device sets the determined aperture angle to the transmission antenna and transmits the radio signal via the transmission antenna;
A wireless communication method comprising: Among the plurality of fixed communication devices, a mobile communication device that is wired to a plurality of fixed communication devices arranged in a space in which a moving body moves and transmits a radio signal from a transmission antenna to the plurality of fixed communication devices. A control device that communicates via at least one of the following:
An acquisition means for acquiring state information indicating a state in the space of the mobile communication device moving by the moving body using a control signal for moving the moving body;
A calculating means for calculating a recommended value of the aperture angle of the transmitting antenna of the mobile communication device using the state information and position information in which each of the plurality of fixed communication devices is disposed in the space;
A control device comprising: A mobile communication device that transmits radio signals from a transmission antenna to a plurality of fixed communication devices arranged in a space in which a moving body moves,
Using the control signal for moving the mobile body, state information indicating the state of the mobile communication device moving by the mobile body in the space, and each of the plurality of fixed communication devices are arranged in the space. Determining means for determining an aperture angle of the transmission antenna using a recommended value of the aperture angle of the transmission antenna calculated from the position information;
Wireless communication means for setting the determined aperture angle to the transmission antenna and transmitting the wireless signal via the transmission antenna;
A mobile communication device comprising:   The program for functioning a computer as each means of the control apparatus of Claim 10.   The program for functioning a computer as each means of the mobile communication apparatus of Claim 11.

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