JP2021129235A - Optical wireless communication system and control method of optical wireless communication system - Google Patents

Abstract

To provide an optical wireless communication system capable of easily re-establishing a communication route of the optical wireless communication when a communication route of the optical wireless communication in a movable body such as a flying body cannot be established.SOLUTION: An optical wireless communication system 1 performs communication by using an optical beam between a movable body 10 and a base station 100. When a first controller of the movable body determines that a communication route is not established with the base station, the first controller instructs to transmit next first transmission data to the base station on the basis of estimated position information contained in the first transmission data which has been sent to the base station at a time point where the communication route has been established. When a second controller of the base station determines that a communication route is not established with the movable body, the second controller adjusts an adjustment mechanism to re-establish the communication route on the basis of the estimated position information contained in the first transmission data which has been transmitted from the movable body and has been received by the base station at the time point where the communication route has been established.SELECTED DRAWING: Figure 7

Description

The present invention relates to an optical wireless communication system and a method for controlling an optical wireless communication system in a moving body such as a flying object.

In recent years, images and data have been transmitted and received using various media such as electromagnetic waves, visible light, invisible light, and sound waves.

In this regard, when the movement is performed by moving both or only one of the moving bodies, it is necessary that the mutual positions are continuously grasped without any problem and the communication is maintained. If the positions of both or one of the moving bodies cannot be grasped, it becomes difficult to maintain the transmission path, and the transmission may be interrupted.

Currently, in communication using radio waves and sound waves excluding high frequency bands that have characteristics equivalent to light, the direction of high intensity is automatically detected and the antenna is automatically directed in that direction, or for communication. By superimposing their own position information, the other party's position is specified to each other (or from the non-moving side) (Patent Document 1). When the communication path cannot be maintained by that method and the other party's position is lost, the transmission path is reestablished by using a radio wave different from the data communication for its own position information.

However, for example, in the case of communication using radio waves (light beams) in a high frequency band having characteristics equivalent to light or light, it does not have characteristics such as a relatively wide and large directional angle, diffraction, and reflection. Therefore, it is difficult to adopt the same method as radio waves and sound waves except for the high frequency band, which has the same characteristics as light.

JP-A-2017-139727

An object of the present disclosure is to provide an optical wireless communication system and a control method for an optical wireless communication system capable of facilitating reestablishment when a communication path for optical wireless communication in a mobile body such as a flying object is no longer established. It is to be.

An optical wireless communication system that uses an optical beam to communicate between a mobile body and a base station according to a certain aspect, and the mobile body is a first optical wireless communication that performs data communication with a base station via the optical beam. A unit, a position estimation unit that calculates estimated position information regarding the current position of the moving body and the estimated moving position corresponding to the time after the lapse of a plurality of first predetermined periods, and a movement control unit that controls the position of the moving body. , A first controller that controls a first optical radio communication unit and a mobile control unit. The first controller instructs the first optical wireless communication unit to transmit the main body information and the estimated position information as the first transmission data to the base station. The base station includes a second optical wireless communication unit that performs data communication with a mobile body via an optical beam, and a second controller that controls the second optical wireless communication unit. The second optical wireless communication unit has an adjustment mechanism for adjusting the transmission / reception direction and angle of the optical beam for data communication with the mobile body. When the second controller receives the first transmission data, the second controller instructs the second optical wireless communication unit to transmit the confirmation data to the mobile body. The first controller determines whether or not the communication path has been established by receiving the confirmation data from the base station, and if it determines that the communication path has not been established with the base station, immediately before The movement control unit is controlled based on the estimated position information included in the first transmission data transmitted from the mobile body to the base station when the communication path is established, and the next first transmission data is sent to the base station. Instruct the first optical wireless communication unit to transmit. The second controller determines whether or not the communication path has been established by receiving the first transmission data from the mobile body, and if it determines that the communication path has not been established with the mobile body, the second controller determines. , Adjusted so that the communication path is reestablished based on the estimated position information contained in the first transmission data received by the base station and transmitted from the mobile body to the base station when the communication path was established immediately before. Adjust the mechanism.

Preferably, when the second controller receives the first transmission data transmitted from the mobile body, the second controller transmits the confirmation data to the mobile body based on the current position of the mobile body included in the first transmission data. After adjusting the adjustment mechanism to and transmitting the confirmation data, to receive the next first transmission data from the moving body based on the estimated moving position corresponding to the next time of the moving body included in the first transmission data. Adjust the adjustment mechanism to.

Preferably, if the second controller does not receive the next first transmission data from the mobile after transmitting the confirmation data, it is transmitted from the mobile at the time when the communication path is established, and the base station The adjustment mechanism is adjusted so that the communication path is established based on the estimated movement position corresponding to the time after the lapse of the plurality of first predetermined periods included in the received first transmission data.

Preferably, the first optical wireless communication unit has a first half-value angle adjusting mechanism for adjusting the half-value angle of the optical beam, and the second optical wireless communication unit adjusts the half-value angle of the optical beam. It also has a mechanism. The first and second controllers determine whether or not the communication path is reestablished based on the estimated position information included in the first transmission data transmitted from the mobile body to the base station when the communication path is established. When the first controller determines that the communication path is not reestablished, the first controller adjusts the first half-value angle adjustment mechanism so as to be larger than the half-value angle of the optical beam at the time when the communication path is established. When the second controller determines that the communication path is not reestablished, the second controller adjusts the second half-value angle adjusting mechanism so as to be larger than the half-value angle of the light beam at the time when the communication path is established.

Preferably, when the first controller determines that the communication path is not reestablished, the first controller instructs the first optical wireless communication unit to transmit only the estimated position information as the second transmission data to the base station.

Preferably, when the first controller determines that the communication path is not reestablished, the estimated position information included in the first transmission data transmitted from the mobile body to the base station at the time when the communication path is established. The mobile control unit is controlled so that the communication path with the base station is reestablished based on the current position at the time of transmission, and the first optical radio is used to transmit the second transmission data to the base station. Instruct the communication department.

An optical wireless communication system that communicates between a first and a second mobile body according to a certain aspect by using an optical beam, wherein the first mobile body communicates data with a second mobile body via the light beam. 1 The optical radio communication unit, the first position estimation unit that calculates the first estimated position information regarding the current position of the first moving body and the estimated moving position corresponding to the time after the lapse of a plurality of first predetermined periods, and the first 1 Includes a first mobile control unit that controls the position of a mobile body, and a first controller that controls a first optical radio communication unit and a first mobile control unit. The first controller instructs the first optical wireless communication unit to transmit the first communication data including the first main body information and the first estimated position information to the second mobile body. The second mobile body includes a second optical wireless communication unit that communicates data with the first mobile body via an optical beam, the current position of the second mobile body, and the time after a plurality of first predetermined periods have elapsed. A second position estimation unit that calculates the second estimated position information regarding the estimated movement position corresponding to the above, a second movement control unit that controls the position of the second moving body, a second optical wireless communication unit, and a second movement control unit. Includes a second controller to control. The second controller instructs the second optical wireless communication unit to transmit the second communication data including the second main body information and the second estimated position information to the first mobile body. When the first controller receives the second communication data, the first controller instructs the first optical wireless communication unit to transmit the first confirmation data to the second mobile body.

The first controller determines whether or not the communication path has been established by receiving the second confirmation data from the second mobile body, and determines that the communication path has not been established with the second mobile body. If this is the case, the first movement control unit is set based on the first estimated position information included in the first communication data transmitted from the first mobile body to the second mobile body when the communication path is established immediately before. Based on the second estimated position information included in the second communication data transmitted from the second mobile body to the first mobile body and received by the first mobile body at the time when the communication path is established immediately before the control. Then, the first optical wireless communication unit is instructed to transmit the next first communication data to the second mobile body. The second controller determines whether or not the communication path has been established by receiving the first communication data from the first mobile body, and determines that the communication path has not been established with the first mobile body. If this is the case, the second movement control unit is set based on the second estimated position information included in the second communication data transmitted from the second mobile body to the first mobile body when the communication path is established immediately before. Based on the first estimated position information included in the first communication data transmitted from the first mobile body to the second mobile body and received by the second mobile body at the time when the communication path is established immediately before the control. Then, the second optical wireless communication unit is instructed to transmit the next second communication data to the first mobile body.

A control method for an optical wireless communication system that uses an optical beam to communicate between a mobile body and a base station according to a certain aspect, and is a step of data communication from the mobile body to the base station via the optical beam and movement. A step of calculating estimated position information about the current position of the body and an estimated moving position corresponding to a time after a plurality of first predetermined periods, a step of controlling the position of the moving body, and a base station via an optical beam. It is provided with a step of data communication from the mobile body to the mobile body. The step of data communication from the mobile body to the base station includes a step of transmitting the main body information and the estimated position information from the mobile body to the base station as the first transmission data. The step of data communication from the base station to the mobile body includes a step of transmitting confirmation data from the base station to the mobile body when the first transmission data is received. The step of controlling the position of the mobile body is the step of determining whether or not the communication path is established by receiving the confirmation data from the base station, and the step of determining whether or not the communication path is established, and the communication path is not established between the base station. If it is determined, it includes a step of controlling the position of the mobile body based on the estimated position information included in the first transmission data transmitted from the mobile body to the base station when the communication path is established. The step of transmitting confirmation data from the base station to the mobile body is a step of determining whether or not a communication path is established by receiving the first transmission data from the mobile body, and a communication path between the mobile body. If it is determined that is not established, it is transmitted from the mobile body to the base station at the time when the communication path was established immediately before, and is based on the estimated position information included in the first transmission data received by the base station. This includes adjusting the transmission / reception direction and angle of the optical beam for data communication with the mobile so that the communication path is reestablished.

A control method for an optical wireless communication system that uses an optical beam to communicate between a first and second mobile body according to a certain aspect, and data communication is performed from the first mobile body to the second mobile body via the optical beam. The step, the step of calculating the first estimated position information regarding the current position of the first moving body and the estimated moving position corresponding to the time after the lapse of a plurality of first predetermined periods, and the position of the first moving body are controlled. Estimates corresponding to the steps, the step of data communication from the second mobile body to the first mobile body via the light beam, the current position of the second mobile body, and the time after a plurality of first predetermined periods have elapsed. It includes a step of calculating the second estimated position information regarding the moving position and a step of controlling the position of the second moving body. The steps of data communication from the first mobile body to the second mobile body include a step of transmitting the first communication data including the first main body information and the first estimated position information to the second mobile body, and the second movement. When the data transmitted from the body is received, the step of transmitting the first confirmation data to the second mobile body is included. The steps of data communication from the second mobile body to the first mobile body include a step of transmitting second communication data including the second main body information and the second estimated position information to the first mobile body, and the first movement. When the data transmitted from the body is received, the step of transmitting the second confirmation data to the first mobile body is included. The step of controlling the position of the first mobile body is between the step of determining whether or not the communication path is established by receiving the second confirmation data from the second mobile body and the step of determining whether or not the communication path is established between the second mobile body. When it is determined that the communication path has not been established, the first estimated position information included in the first communication data transmitted from the first mobile body to the second mobile body at the time when the communication path was established immediately before. Includes a step of controlling the position of the first moving body based on. In the step of transmitting to the second mobile body, if it is determined that the communication path has not been established with the second mobile body, the first from the second mobile body at the time when the communication path has been established immediately before. The step includes a step of transmitting the next first communication data to the second mobile body based on the second estimated position information transmitted to the mobile body and included in the second communication data received by the first mobile body. The step of controlling the position of the second mobile body is between the step of determining whether or not the communication path is established by receiving the first communication data from the first mobile body and the step of determining whether or not the communication path is established between the first mobile body. When it is determined that the communication path has not been established, the second estimated position information included in the second communication data transmitted from the second mobile body to the first mobile body at the time when the communication path was established immediately before. Includes a step of controlling the position of the second moving body based on. In the step of transmitting to the first mobile body, if it is determined that the communication path has not been established with the first mobile body, the first mobile body to the second mobile body at the time when the communication path has been established immediately before. It includes a step of transmitting the next second communication data to the first mobile body based on the first estimated position information transmitted to the mobile body and included in the first communication data received by the second mobile body.

The optical wireless communication system and the control method of the optical wireless communication system of the present disclosure can facilitate re-establishment when the communication path of optical wireless communication in a mobile body such as a flying object is no longer established.

It is a figure explaining the optical wireless communication system 1 according to Embodiment 1. It is a figure explaining the movement of the moving body 10 according to Embodiment 1. FIG. It is a figure explaining the position information transmitted together with the image data from the moving body 10 according to Embodiment 1. FIG. It is a figure explaining another reconnection method of a mobile body 10 and a base station 100 according to Embodiment 1. FIG. It is a figure explaining the adjustment of the half-value angle of the light beam according to Embodiment 1. FIG. 5 is a diagram illustrating still another reconnection method between the mobile body 10 and the base station 100 according to the first embodiment. It is a figure explaining the functional block of the optical wireless communication system 1 according to Embodiment 1. It is a figure explaining the 1st transmission data according to Embodiment 1. FIG. It is a figure explaining the 2nd transmission data according to Embodiment 1. FIG. FIG. 5 is a conceptual diagram illustrating transmission / reception of data between the mobile body 10 and the base station 100 according to the first embodiment. It is a figure explaining the transmission log of the moving body 10 according to Embodiment 1. It is a flow diagram explaining the transmission process of the transmission data of the mobile body 10 according to Embodiment 1. It is a subflow diagram explaining the 1st transmission mode processing according to Embodiment 1. FIG. It is a subflow diagram explaining the 1st reconnection process according to Embodiment 1. FIG. It is a flow figure explaining the 2nd reconnection process according to Embodiment 1. FIG. It is a subflow diagram explaining the 2nd transmission mode processing according to Embodiment 1. FIG. It is a flow figure explaining the 3rd reconnection process according to Embodiment 1. FIG. It is a figure explaining the reception log of the base station 100 according to Embodiment 1. It is a flow diagram explaining the reception process of the transmission data of the mobile body 10 according to Embodiment 1. It is a figure explaining the optical wireless communication system 1 # according to Embodiment 2. It is a figure explaining another communication system between the mobile body 10A and the mobile body 10B according to Embodiment 2. FIG. It is a figure explaining the functional block of the optical wireless communication system 1 # according to Embodiment 2. FIG. 5 is a conceptual diagram illustrating transmission / reception of data between the mobile body 10A and the mobile body 10B according to the second embodiment.

The embodiment will be described in detail with reference to the drawings. The same or corresponding parts in the drawings are designated by the same reference numerals, and the description thereof will not be repeated.

(Embodiment 1)
FIG. 1 is a diagram illustrating an optical wireless communication system 1 according to the first embodiment.

As shown in FIG. 1, the optical wireless communication system 1 is a system that executes data transmission / reception by, for example, optical wireless communication between a mobile body 10 (for example, a helicopter) and a base station 100. The moving body 10 is not limited to a manned airplane, and may be an unmanned aerial vehicle (UAV: Unmanned Aerial Vehicles / UAS: Unmanned Aircraft Systems) such as a drone. In this example, optical wireless communication using light or a radio wave in a high frequency band having characteristics equivalent to light (hereinafter, also referred to as an optical beam) will be described.

The optical wireless communication system 1 according to the first embodiment transmits image data taken by a camera mounted on the mobile body 10 to the base station 100 by optical wireless communication using an optical beam.

The optical wireless communication system 1 according to the embodiment is configured by using, for example, an information processing device.
FIG. 2 is a diagram illustrating the movement of the moving body 10 according to the first embodiment.

With reference to FIG. 2, the moving body 10 acquires position information of each of the points while moving to a plurality of points. The mobile body 10 transmits image data to the base station 100 together with each position information.

FIG. 3 is a diagram illustrating position information transmitted together with image data from the moving body 10 according to the first embodiment.

As shown in FIG. 3, the moving body 10 predicts an estimated moving position after a lapse of a predetermined period. The mobile body 10 transmits the estimated position information including the predicted estimated moving position to the base station 100 together with the current position. As an example, the estimated moving position of the moving body 10 calculates the estimated moving position after a lapse of a predetermined period based on the current position, the moving direction, the speed, and the like of the moving body 10. In this example, the estimated movement position is calculated every 2 seconds from the current time to 10 seconds later.

The base station 100 can grasp the current position of the moving body 10 based on the estimated position information and predict the future moving position.

In the first embodiment, when the transmission path between the mobile body 10 and the base station 100 is not established, the first reconnection process is executed to reestablish the transmission path.

Specifically, the mobile body 10 moves using the estimated position information, and the base station 100 predicts the position of the mobile body 10 using the estimated position information and transmits by executing the reconnection process. Even if it becomes difficult to maintain the route, it becomes easy to reestablish the transmission route.

FIG. 4 is a diagram illustrating another reconnection method between the mobile body 10 and the base station 100 according to the first embodiment.

With reference to FIG. 4, when the transmission path between the mobile body 10 and the base station 100 is not reestablished by the first reconnection process, the second reconnection process is executed to reestablish the transmission path. .. Specifically, the half-value angle of the optical beam for optical wireless communication between the mobile body 10 and the base station 100 is adjusted.

FIG. 5 is a diagram illustrating the adjustment of the half-value angle of the light beam according to the first embodiment.
With reference to FIG. 5A, a case where the half-value angle of the light beam is small is shown. In this case, the receiving side must be included in the transmission circle in order for the transmission path to be established. While it has high directivity, it can send and receive large amounts of data such as high-quality video data.

With reference to FIG. 5B, a case where the half-value angle of the light beam is large is shown. In this case, the receiving side may be included in the transmission circle in order for the transmission route to be established.

When the half-value angle of the light beam is large, the directivity is low and the transmission performance of the beam is lowered. On the other hand, it is possible to transmit data while maintaining the distance of small volumes of data.

In the first embodiment, in the case of ordinary optical wireless communication, the half-value angle of the optical beam is reduced. This makes it possible to send and receive large amounts of data such as high-quality moving image data.

Then, when the transmission path between the mobile body 10 and the base station 100 is not reestablished by the first reconnection processing, the half-value angle of the optical beam is increased in the second reconnection processing. As will be described later, by using the data obtained by omitting the main body data from the transmission data as the transmission data, it is possible to reduce the data capacity and transmit the data over a wide range without shortening the transmittable distance. By executing the process of reconnecting the transmission path to and from the base station 100, it becomes easy to reestablish the transmission path even when it becomes difficult to maintain the transmission path.

FIG. 6 is a diagram illustrating still another reconnection method between the mobile body 10 and the base station 100 according to the first embodiment.

As shown in FIG. 6, when the transmission path between the mobile body 10 and the base station 100 is not reestablished by the second reconnection process, the third reconnection process is executed to reestablish the transmission path. do.

Specifically, the mobile body 10 moves to a position where communication has been established in the past. A transmission path by synchronizing the time when the mobile body 10 returns to the position where communication has been established between the mobile body 10 and the base station 100 in the past and the time when the base station directs the transmission / reception direction to the mobile body 10. Even if it becomes difficult to maintain the transmission path, it becomes easy to reestablish the transmission path.

FIG. 7 is a diagram illustrating a functional block of the optical wireless communication system 1 according to the first embodiment.

FIG. 7 shows a functional block of the mobile body 10 and the base station 100.
The mobile body 10 includes a memory 2, a GNSS (Global Navigation Satellite System) 3, a camera 4, an optical wireless communication unit 5, a mobile control unit 8, a position estimation unit 11, and a control unit 9.

The optical wireless communication unit 5 transmits / receives data to / from the base station 100 via an optical beam.

The optical wireless communication unit 5 includes a direction adjusting mechanism 6 and a half-value angle adjusting mechanism 7.
The direction adjusting mechanism 6 adjusts the direction for irradiating and receiving the light beam.

The half-value angle adjusting mechanism 7 adjusts the half-value angle of the light beam.
The memory 2 stores various data and programs.

The GNSS3 acquires the current position of the mobile body 10 by receiving a GPS signal emitted from a GPS satellite. In this example, the case where the current position of the moving body 10 is acquired by using GNSS3 will be described, but the present invention is not particularly limited to this, and other methods such as grasping the position and altitude by mapping the captured image are used. The current position of the moving body 10 may be acquired by the above method.

The camera 4 acquires a photographed image in the real space as image data. In this example, the acquired image data is transmitted to the base station 100 as transmission data.

The movement control unit 8 controls the movement of the moving body 10. The movement control unit 8 can move to the destination point by controlling the moving direction and speed of the moving body 10.

The position estimation unit 11 calculates the estimated movement position after the lapse of a predetermined period based on the current position, the movement direction, the speed, and the like of the moving body 10. In this example, the estimated movement position is calculated every 2 seconds from the current time to 10 seconds later. The position estimation unit 11 can adopt various methods, and is not limited to the case of calculating the estimated movement position from the current position. It is also possible to calculate the estimated movement position.

The control unit 9 controls the entire moving body 10.
The base station 100 includes a memory 102, an optical wireless communication unit 106, and a control unit 112.

The optical wireless communication unit 106 executes data transmission / reception with the mobile body 10 via an optical beam.

The optical wireless communication unit 106 includes a direction adjusting mechanism 108 and a half-value angle adjusting mechanism 110.
The direction adjusting mechanism 108 adjusts the transmission / reception direction for irradiating and receiving the light beam.

The half-value angle adjusting mechanism 110 adjusts the half-value angle of the irradiation of the light beam.
The memory 102 stores various data and programs.

The control unit 112 controls the entire base station 100.
FIG. 8 is a diagram illustrating the first transmission data according to the first embodiment.

As shown in FIG. 8A, the first transmission data is composed of a transmission ID that identifies the transmission data, estimated position information, and main body information.

The transmission ID is issued each time data is transmitted.
The estimated position information is information indicating the current position of the moving body 10 and the estimated moving position after a lapse of a predetermined period.

The main body information is image data captured by the camera 4. In this example, the main body information describes the image data captured by the camera 4, but the main body information is not particularly limited to the image data, and other data may be transmitted as the main body information.

As shown in FIG. 8B, in this example, the estimated position information includes the estimated moving position up to 10 seconds after every 2 seconds from the current time. Specifically, the estimated position information includes the position P0 with respect to the current time, the position P1 after 2 seconds, the position P2 after 4 seconds, the position P3 after 6 seconds, the position P4 after 8 seconds, and 10 Includes position P5 after seconds. In this example, the case where the estimated movement position every 2 seconds is included will be described, but the present invention is not particularly limited to this, and the estimated movement position every 1 second may be included, and the estimated movement position every arbitrary time can be included. Further, in this example, 10 seconds will be described as an example after the lapse of a predetermined period, but the time is not limited to this and can be set to any time.

FIG. 9 is a diagram illustrating the second transmission data according to the first embodiment.
With reference to FIG. 9, the second transmission data is data to be transmitted when establishing communication when the transmission path is interrupted.

In this example, the second transmission data includes the transmission ID and the estimated position information. That is, the second transmission data does not include the image data which is the main body information.

In the first embodiment, the half-value angle of the light beam is adjusted in the second reconnection process to transmit the second transmission data. By reducing the amount of data to be transmitted, it is possible to transmit data over a wide range without widening the half-value angle and shortening the transmission distance, and it is possible to facilitate the reestablishment of the transmission path.

FIG. 10 is a conceptual diagram illustrating data transmission / reception between the mobile body 10 and the base station 100 according to the first embodiment.

With reference to FIG. 10, data transfer between the mobile body 10 and the base station 100 is executed.
In this example, the first transmission data is transmitted from the mobile body 10 to the base station 100. When the base station 100 receives the first transmission data, the base station 100 transmits the confirmation data to the mobile body 10.

In this example, a case is shown in which three first transmission data of transmission IDs "001", "002", and "003" are transmitted to the base station 100 by an optical beam from the mobile body 10 every 2 seconds. There is. Further, since it is optical wireless communication, when the base station 100 receives the first transmission data from the mobile body 10, it is confirmed that the base station 100 has received the first transmission data from the base station 100 to the mobile body 10. Data ACK is transmitted with almost no delay.

The direction adjusting mechanism 6 of the optical wireless communication unit 5 of the mobile body 10 transmits and receives an optical beam for optical wireless communication based on the current position information acquired by GNSS 3 and the position information of the base station 100 acquired in advance. Adjust the direction.

The direction adjusting mechanism 108 of the optical wireless communication unit 106 of the base station 100 identifies the position of the moving body 10 based on the position information of the estimated position information included in the first transmission data with respect to the current time, and confirms the data ACK. Adjust the transmission direction of the optical beam to transmit.

Further, the direction adjusting mechanism 108 of the optical wireless communication unit 106 of the base station 100 predicts the position of the mobile body 10 based on the estimated position information included in the first transmission data, and an optical beam for optical wireless communication. Adjust the receiving direction of.

FIG. 11 is a diagram illustrating a transmission log of the mobile body 10 according to the first embodiment.
With reference to FIG. 11, it is assumed that the transmission log of the mobile body 10 is stored in the memory 2.

In this example, an establishment flag indicating whether or not a communication path has been established is stored as a transmission log.

Specifically, as a transmission log, a case where transmission data of transmission IDs "001", "002", and "003" is transmitted from the mobile body 10 is shown.

Further, when the mobile body 10 receives the confirmation data ACK, the mobile body 10 sets the establishment flag to on in association with the transmission data.

Further, as will be described later, the mobile body 10 transmits the transmission data with the mark at predetermined times. In this example, the transmission data with the transmission ID "003" is the marked transmission data.

When the mobile body 10 receives the confirmation data ACK for the transmission data, the moving body 10 sets the establishment flag of the marked transmission data to ON.

In the embodiment, when the first transmission data by the light beam is appropriately transmitted from the mobile body 10 to the base station 100, the confirmation data ACK by the light beam is transmitted from the base station 100 to the mobile body 10 with almost no delay. Will be sent.

Therefore, when the first transmission data by the light beam is appropriately transmitted from the mobile body 10 to the base station 100, the mobile body 10 is sure to receive the confirmation data ACK from the base station 100.

On the other hand, when a shield (building, tree, or other structure) exists between the mobile body 10 and the base station 100, the shield causes optical wireless by an optical beam from the mobile body 10 to the base station 100. The communication path of communication is blocked.

In the first embodiment, when the communication path of the optical wireless communication is cut off, the reconnection process for reestablishing the communication between the mobile body 10 and the base station 100 is executed.

The optical wireless communication unit 5 of the mobile body 10 determines whether or not the confirmation data ACK from the base station 100 has been received after the transmission of the first transmission data.

When the optical wireless communication unit 5 of the mobile body 10 determines that the confirmation data ACK from the base station 100 has been received, it determines that the communication path for the optical wireless communication has been established. In that case, the normal communication process for transmitting the first transmission data is continued.

When the optical wireless communication unit 5 of the mobile body 10 determines that the confirmation data ACK from the base station 100 is not received, it determines that the communication path for the optical wireless communication has not been established. In that case, the optical wireless communication unit 5 notifies the control unit 9. The control unit 9 executes a reconnection process for reestablishing the communication path of the optical wireless communication based on the notification from the optical wireless communication unit 5.

The optical wireless communication unit 106 of the base station 100 determines whether or not to periodically receive the first transmission data from the mobile body 10. Specifically, in this example, it is assumed that the first transmission data is transmitted from the moving body 10 every 2 seconds.

The optical wireless communication unit 106 of the base station 100 determines whether or not to receive the first transmission data from the mobile body 10 periodically (every 2 seconds). When the optical wireless communication unit 106 determines that the first transmission data is periodically (every 2 seconds) received from the mobile body 10, it determines that the communication path for optical wireless communication has been established. In that case, the normal communication process of transmitting confirmation data is continued.

When the optical wireless communication unit 106 of the base station 100 determines that the first transmission data is not received from the mobile body 10 periodically (every 2 seconds), it determines that the communication path for the optical wireless communication has not been established. .. The optical wireless communication unit 106 notifies the control unit 112. The control unit 112 executes a reconnection process for reestablishing the communication path of the optical wireless communication based on the notification from the optical wireless communication unit 106.

For example, in FIG. 10, the optical wireless communication unit 5 of the mobile body 10 transmits the first transmission data (ID001) at the time "10:00:00". In this case, the optical wireless communication unit 106 of the base station 100 transmits the confirmation data ACK. As a result, the optical wireless communication unit 5 of the mobile body 10 determines that the communication path for the optical wireless communication has been established.

Next, the optical wireless communication unit 5 of the mobile body 10 transmits the first transmission data (ID002) at the time "10:00:02". On the other hand, at that time, it is assumed that a shield exists between the mobile body 10 and the base station 100.

The optical wireless communication unit 106 of the base station 100 does not receive the first transmission data at the time "10:00:02". The optical wireless communication unit 106 of the base station 100 does not transmit the confirmation data ACK.

Since the optical wireless communication unit 5 of the mobile body 10 does not receive the confirmation data ACK from the base station 100, it determines that the communication path for the optical wireless communication has not been established. The optical wireless communication unit 5 of the mobile body 10 notifies the control unit 9 that the communication path has not been established.

The optical wireless communication unit 106 of the base station 100 does not receive the first transmission data at the time "10:00:02". As a result, the optical wireless communication unit 106 of the base station 100 determines that the communication path has not been established. The optical wireless communication unit 106 of the base station 100 notifies the control unit 112 that the communication path has not been established.

Therefore, it is possible for the optical wireless communication unit 5 of the mobile body 10 and the optical wireless communication unit 106 of the base station 100 to determine that the communication path has not been established at approximately the same time (time "10:00:02"). Is.

The control unit 9 of the mobile body 10 executes the first reconnection process based on the notification from the optical wireless communication unit 5.

Specifically, the control unit 9 instructs the movement control unit 8 to control the movement of the moving body 10. The control unit 9 instructs the movement control unit 8 to control the movement of the moving body 10 based on the first transmission data (ID001) immediately before the communication path has been established.

The movement control unit 8 controls the moving body 10 to move based on the estimated position information included in the first transmission data (ID001). The movement control unit 8 has a position C0 corresponding to the time "10:00:04", a position D0 corresponding to the time "10:00:06", a position E0 corresponding to the time "10:00:08", and a time " The movement of the moving body 10 is controlled so as to sequentially move to F0 corresponding to "10:00:10".

Further, the control unit 9 instructs the optical wireless communication unit 5 to set the time to "10:00:04", "10:00:06", "10:00:08", and "10:00:10". The first transmission data is transmitted to the base station 100.

The control unit 112 of the base station 100 instructs the optical wireless communication unit 106 to reestablish the communication path based on the notification from the optical wireless communication unit 106.

Specifically, the direction adjusting mechanism 108 of the optical wireless communication unit 106 moves to a position corresponding to the time based on the estimated position information included in the transmission data (ID001) immediately before the communication path was established. It is estimated that the body 10 is present, and the receiving direction of the optical beam for optical wireless communication is adjusted.

When there is no shield between the mobile body 10 and the base station 100 during the period, it is possible to easily reestablish the communication path of the optical wireless communication.

When the communication path of the optical wireless communication is reestablished, the transmission / reception of the first transmission data is restarted by the normal communication method.

When the communication path of optical wireless communication is interrupted in the mobile body 10 and the base station 100, both the mobile body 10 and the base station 100 specify each other's positions by using the estimated position information included in the transmission data. Is easy.

Further, in the mobile body 10 and the base station 100, when the communication path of the optical wireless communication is interrupted, the same estimated position information included in the transmission data is used, so that it is possible to specify the estimated position with high accuracy. Therefore, it is possible to increase the ease of reestablishing the communication path.

On the other hand, when a shield between the mobile body 10 and the base station 100 is continuously present, the communication path between the mobile body 10 and the base station 100 may be continuously blocked. ..

In the first embodiment, when the communication path is continuously cut off, the control unit 9 executes the second reconnection process based on the notification from the optical wireless communication unit 5.

Specifically, when the communication path of the optical wireless communication is continuously blocked for 10 seconds, the second reconnection process is executed.

In the first embodiment, the control unit 9 of the mobile body 10 performs a second reconnection process when the communication path of the optical wireless communication is continuously blocked for 10 seconds based on the notification from the optical wireless communication unit 5. To execute.

The control unit 9 of the mobile body 10 instructs the optical wireless communication unit 5 to transmit the second transmission data and adjust the half-value angle.

The second transmission data includes the transmission ID and the estimated position information. Image data, which is the main body information, is not included.

The half-value angle adjusting mechanism 7 of the optical wireless communication unit 5 of the mobile body 10 adjusts the half-value angle of the optical beam.
The optical wireless communication unit 5 adjusts the half-value angle of the optical beam and transmits the second transmission data over a wide range.

The control unit 112 of the base station 100 executes the second reconnection process when the communication path of the optical wireless communication is continuously blocked for 10 seconds based on the notification from the optical wireless communication unit 106.

The control unit 112 of the base station 100 adjusts the half-value angle of the optical beam of the optical wireless communication unit 106 based on the notification from the optical wireless communication unit 106.

The half-value angle adjusting mechanism 110 of the optical wireless communication unit 106 widens the half-value angle of the optical beam so that data can be received in a wide range.

By this processing, when a shield is continuously present between the moving body 10 and the base station 100, even if it becomes difficult to specify the position of the moving body 10, the amount of data is reduced to reduce the amount of data. By changing the range of transmission / reception, it becomes possible to easily reestablish the communication path of optical wireless communication.

When the communication path of the optical wireless communication is reestablished, the transmission / reception of the first transmission data is restarted by the normal communication method.

In the first embodiment, when the shield between the mobile body 10 and the base station 100 is further continuously present, the control unit 9 of the mobile body 10 is based on the notification from the optical wireless communication unit 5. The third reconnection process is executed.

Specifically, when the communication path of the optical wireless communication is continuously blocked for 10 minutes, the third reconnection process is executed. The time until the transition to the third reconnection process is common to the mobile body 10 and the base station 100, and can be set to an arbitrary time in advance.

In the first embodiment, the control unit 9 of the mobile body 10 performs a third reconnection process when the communication path of the optical wireless communication is continuously blocked for 10 minutes based on the notification from the optical wireless communication unit 5. To execute.

The control unit 9 of the mobile body 10 is based on the latest (last) first transmission data to which a predetermined mark for which a communication path has been established is added from the transmission log stored in the memory 2. In addition to instructing the movement control unit 8 to control the movement of the time, the timer that synchronizes with the moving body 10 and the base station 100 and shares the passage of time is initialized, and the time is counted. Start. As a series of timer initialization methods, various methods can be adopted, such as exchanging the GPS time at the time when the third reconnection process is started or performing programmatic processing.

In the movement control unit 8, the moving body 10 moves to a position corresponding to the current time at the time when the latest (last) first transmission data, which has been given a predetermined mark for which the communication path has been established, is recorded. Control to do. That is, the mobile body 10 has previously communicated with the mobile body 10 at a time when a predetermined time has elapsed from the starting point of the timer initialization or the third reconnection process which is set and shared in advance between the mobile body 10 and the base station 100. Return to the most recent (last) predetermined point that has been established. In addition, when returning to a predetermined point in consideration of time and physical error, it may be set in advance at the predetermined point and stay for a predetermined period shared by the mobile body 10 and the base station 100.

The control unit 9 of the mobile body 10 instructs the optical wireless communication unit 5 to transmit the second transmission data at a predetermined point where communication has been previously established.

Similarly, the control unit 112 of the base station 100 executes the third reconnection process when the communication path of the optical wireless communication is continuously blocked for 10 minutes based on the notification from the optical wireless communication unit 106. do.

The control unit 112 of the base station 100 first moves the mobile body 10 based on the last first transmission data to which a predetermined mark for which a communication path has been established is added from the reception log stored in the memory 102. The direction adjustment mechanism 108 is instructed to predict the destination and control the transmission / reception direction of the light beam, and the timer that shares the passage of time by synchronizing with the mobile body 10 and the base station 100 is initialized to set the time. Start counting.

When the control unit 112 of the base station 100 can receive the second transmission data transmitted from the mobile body 10, the base station 100 transmits the confirmation data to the mobile body 10. On the other hand, when the control unit 112 of the base station 100 cannot receive the second transmission data transmitted from the mobile body 10 even after the preset time has passed, the control unit 112 has 1 from the reception log stored in the memory 102. The direction adjustment mechanism 108 is instructed to predict the next destination of the moving body 10 based on the first transmission data retroactively by the mark and control the transmission / reception direction of the light beam.

If the mobile body 10 cannot receive the confirmation data from the base station 100 even after the preset time has passed, the control unit 9 of the mobile body 10 marks 1 mark from the transmission log stored in the memory 2. Minutes, the next movement destination is predicted based on the first transmission data retroactive to the past, and the movement control unit 8 is instructed to control the movement of the moving body 10.

By this process, the mobile body 10 can easily reestablish the communication path of the optical wireless communication by returning to a predetermined point where the communication has been established.

When the communication path of the optical wireless communication is reestablished, the transmission / reception of the first transmission data is restarted by the normal communication method.

Further, since the previous movement route may not be appropriate, it is possible to change the movement route and execute the transmission / reception of the first transmission data by a normal communication method.

If communication is not established even when returning to a predetermined point where communication has been established before, the movement is based on the first transmission data to which the previous predetermined mark has been added. The movement control unit 8 may be instructed to control the movement of the body 10. Further, the direction adjusting mechanism 108 may be instructed to control the transmission / reception direction of the base station 100 until the mark is exhausted (or a preset number of times or time).

(Transmission processing flow)
FIG. 12 is a flow chart illustrating a transmission process of transmission data of the mobile body 10 according to the first embodiment.

With reference to FIG. 12, the mobile body 10 executes the first transmission mode process (step S0).
The details of the first transmission mode processing will be described later.

Next, the mobile body 10 determines whether or not the confirmation data for the transmission data has been received from the base station 100 (step S2). Specifically, the optical wireless communication unit 5 determines whether or not the confirmation data ACK has been received from the base station 100.

Next, when the mobile body 10 receives the confirmation data for the transmission data from the base station 100 (YES in step S2), the mobile body 10 sets the transmission log establishment flag to ON (step S4). When the optical wireless communication unit 5 receives the confirmation data ACK, the optical wireless communication unit 5 sets the establishment flag of the corresponding transmission ID in the transmission log to ON. Further, when the optical wireless communication unit 5 receives the confirmation data ACK of the marked transmission data, the optical wireless communication unit 5 sets the establishment flag of the corresponding transmission ID in the transmission log to on (marked).

Next, the mobile body 10 determines whether or not the communication has ended (step S6).
In step S6, when it is determined that the communication is completed (YES in step S6), the mobile body 10 ends the process (end).

On the other hand, in step S6, when the mobile body 10 determines that the communication has not been completed (NO in step S6), the mobile body 10 returns to step S0 and repeats the above process.

On the other hand, if it is determined in step S2 that the mobile body 10 does not receive the confirmation data (NO in step S2), the first reconnection process is executed (step S8). When the optical wireless communication unit 5 determines that the confirmation data ACK is not received, the optical wireless communication unit 5 notifies the control unit 9 to that effect. The control unit 9 executes the first reconnection process based on the notification from the optical wireless communication unit 5.

Next, if the mobile body 10 can be reconnected by the first reconnection process, the moving body 10 returns to step S4. On the other hand, if the mobile body 10 cannot be reconnected by the first reconnection process, the mobile body 10 then executes the second reconnection process (step S9). The control unit 9 executes the second reconnection process based on the notification from the optical wireless communication unit 5.

Next, if the mobile body 10 can be reconnected by the second reconnection process, the moving body 10 returns to step S4. On the other hand, if the mobile body 10 cannot be reconnected by the second reconnection process, the mobile body 10 then executes the third reconnection process (step S10). The control unit 9 executes the third reconnection process based on the notification from the optical wireless communication unit 5.

Next, if the mobile body 10 can be reconnected by the third reconnection process, the moving body 10 returns to step S4. On the other hand, if the mobile body 10 cannot be reconnected by the third reconnection process, the process ends (end). The control unit 9 ends the process based on the notification from the optical wireless communication unit 5.

FIG. 13 is a subflow diagram illustrating the first transmission mode processing according to the first embodiment.

With reference to FIG. 13, the mobile body 10 acquires a transmission ID (step S11). A transmission ID is issued for each transmission process. The control unit 9 acquires the issued transmission ID.

Acquire main body information (step S12). Specifically, the control unit 9 acquires image data which is main body information from the camera 4.

Next, the moving body 10 acquires the estimated position information (step S14). Specifically, the control unit 9 acquires the estimated position information from the position estimation unit 11. The estimated position information includes the estimated moving position predicted up to 10 seconds after the current position.

Next, the moving body 10 adds a mark every predetermined number of transmissions (step S15). The control unit 9 adds an identifiable mark for each predetermined number of transmissions.

Next, the mobile body 10 generates the first transmission data (step S16). As described with reference to FIG. 8, the control unit 9 generates the first transmission data including the transmission ID for identifying the transmission data, the estimated position information, and the main body information. The control unit 9 outputs the generated first transmission data to the optical wireless communication unit 5.

Next, the moving body 10 sets the transmission direction (step S18). The direction adjusting mechanism 6 of the optical wireless communication unit 5 sets the transmission direction of the first transmission data. Specifically, the transmission direction is set based on the current position of the mobile body 10 and the position information of the base station 100 acquired in advance.

Next, the mobile body 10 transmits the first transmission data in the set transmission direction (step S20). The optical wireless communication unit 5 transmits the first transmission data in the set transmission direction.

Then, the moving body 10 ends the first transmission mode processing (return).
FIG. 14 is a subflow diagram illustrating the first reconnection process according to the first embodiment.

With reference to FIG. 14, the mobile body 10 confirms the communication log (step S30). Specifically, the control unit 9 confirms the communication log (transmission log) stored in the memory 2 based on the notification from the optical wireless communication unit 5.

Next, the moving body 10 acquires the estimated position information of the transmission data with the latest establishment flag turned on (step S32). Specifically, the control unit 9 acquires the estimated position information of the transmission data in which the latest establishment flag is turned on, which is included in the transmission log. The transmission data is stored in the memory 2, and the control unit 9 acquires the estimated position information included in the transmission data based on the transmission ID of the transmission log.

Next, the moving body 10 executes the moving body control based on the estimated position information (step S34). The control unit 9 instructs the movement control unit 8 to move the moving body 10 based on the acquired estimated position information.

Next, the mobile body 10 executes the first transmission mode process (step S36). The control unit 9 executes the first transmission mode process described with reference to FIG. Since the details of the first transmission mode processing have been described above, the detailed description thereof will not be repeated.

Next, the mobile body 10 determines whether or not the confirmation data for the first transmission data has been received from the base station 100 (step S38). The optical wireless communication unit 5 of the mobile body 10 determines whether or not the confirmation data ACK has been received.

Next, when the mobile body 10 determines that the confirmation data for the first transmission data has been received from the base station 100 (YES in step S38), the mobile body 10 returns to step S4 in FIG.

When the optical wireless communication unit 5 receives the confirmation data ACK of the transmission data, the optical wireless communication unit 5 sets the establishment flag of the corresponding transmission ID in the transmission log to ON, and repeats the above process.

On the other hand, in step S38, if the mobile body 10 determines that the confirmation data for the transmission data is not received from the base station (NO in step S38), then whether or not the Nth transmission of the first transmission data has failed. (Step S39).

When the optical wireless communication unit 5 determines that the confirmation data ACK is not received, the optical wireless communication unit 5 notifies the control unit 9 to that effect. The control unit 9 determines whether or not the transmission has failed N times (5 times as an example) based on the notification from the optical wireless communication unit 5.

In step S40, when the mobile body 10 determines that the Nth first transmission data transmission has failed (YES in step S39), the mobile body 10 ends (returns) the first reconnection process and the second reconnection process. To execute. When the control unit 9 determines that the transmission has failed N times (5 times as an example) based on the notification from the optical wireless communication unit 5, the control unit 9 executes the second reconnection process.

On the other hand, in step S39, when the mobile body 10 determines that the transmission of the Nth first transmission data has not failed (NO in step S39), the mobile body 10 returns to step S34 and repeats the above process. When the control unit 9 determines that the transmission has not failed N times (5 times as an example) based on the notification from the optical wireless communication unit 5, the control unit 9 returns to step S34 and repeats the above process.

In this example, 5 times is given as an example as N times, but the number of times is one example, and it is naturally possible to set other times. Further, the determination is not limited to the number of times, and the determination may be made based on, for example, a predetermined period (10 seconds as an example) after the communication path is cut off.

FIG. 15 is a flow chart for explaining the second reconnection process according to the first embodiment.
With reference to FIG. 15, in the second reconnection process, the moving body 10 adjusts the half-value angle of the light beam (step S40). The control unit 9 instructs the optical wireless communication unit 5 to adjust the half-value angle of the optical beam. The half-value angle adjusting mechanism 7 of the optical wireless communication unit 5 adjusts the half-value angle of the optical beam according to an instruction from the control unit 9.

Next, the mobile body 10 executes a second transmission mode process for transmitting the second transmission data (step S42). The details of the second transmission mode processing will be described later.

Next, the mobile body 10 determines whether or not the confirmation data for the second transmission data has been received from the base station 100 (step S44). The optical wireless communication unit 5 of the mobile body 10 determines whether or not the confirmation data ACK has been received.

Next, in step S44, when the mobile body 10 determines that the confirmation data for the second transmission data has been received from the base station 100 (YES in step S44), the process returns to step S4 in FIG. When the optical wireless communication unit 5 receives the confirmation data ACK of the transmission data, the optical wireless communication unit 5 sets the establishment flag of the corresponding transmission ID in the transmission log to ON, and repeats the above process.

On the other hand, in step S44, when the mobile body 10 determines that the confirmation data for the second transmission data is not received from the base station (NO in step S44), the transmission of the second transmission data M times fails next. Whether or not it is determined (step S46).

When the optical wireless communication unit 5 determines that the confirmation data ACK is not received, the optical wireless communication unit 5 notifies the control unit 9 to that effect. The control unit 9 determines whether or not the transmission has failed M times (300 times as an example) based on the notification from the optical wireless communication unit 5.

In step S46, when the mobile body 10 determines that the transmission of the second transmission data M times has failed (YES in step S46), the mobile body 10 ends (returns) the second reconnection process, and then the third Execute the reconnection process. When the control unit 9 determines that the transmission has failed M times (300 times as an example) based on the notification from the optical wireless communication unit 5, the control unit 9 executes the third reconnection process.

On the other hand, in step S46, when the mobile body 10 determines that the transmission of the M second transmission data has not failed (NO in step S46), the mobile body 10 returns to step S42 and repeats the above process. When the control unit 9 determines that the transmission has not failed M times (300 times as an example) based on the notification from the optical wireless communication unit 5, the control unit 9 returns to step S42 and repeats the above process.

In this example, 300 times is given as an example of M times, but the number of times is one example, and it is naturally possible to set other times. Further, the judgment is not limited to the number of times, and the judgment may be made based on, for example, a predetermined period (10 minutes as an example) after the communication path is cut off.

FIG. 16 is a subflow diagram illustrating the second transmission mode processing according to the first embodiment.

With reference to FIG. 16, the mobile body 10 acquires a transmission ID (step S51). A transmission ID is issued for each transmission process. The control unit 9 acquires the issued transmission ID.

The moving body 10 acquires the estimated position information (step S52). Specifically, the control unit 9 acquires the estimated position information from the position estimation unit 11. The estimated position information includes the estimated moving position predicted up to 10 seconds after the current position.

Next, the mobile body 10 generates the second transmission data (step S54). The control unit 9 generates the second transmission data including the transmission ID for identifying the transmission data and the estimated position information as described with reference to FIG. The control unit 9 outputs the generated second transmission data to the optical wireless communication unit 5.

Next, the moving body 10 sets the transmission direction (step S56). The direction adjusting mechanism 6 of the optical wireless communication unit 5 sets the transmission direction of the first transmission data. Specifically, the transmission direction is set based on the current position of the mobile body 10 and the position information of the base station 100 acquired in advance.

Next, the mobile body 10 transmits the second transmission data in the set transmission direction (step S58). The optical wireless communication unit 5 transmits the second transmission data in the set transmission direction.

Then, the mobile body 10 ends the second transmission mode process (return).
FIG. 17 is a flow chart illustrating a third reconnection process according to the first embodiment.

With reference to FIG. 17, the mobile body 10 confirms the communication log (step S60). Specifically, the control unit 9 confirms the communication log (transmission log) stored in the memory 2 based on the notification from the optical wireless communication unit 5.

Next, the moving body 10 acquires the estimated position information of the transmission data in which the establishment flag with the latest mark is on (step S61). Specifically, the control unit 9 acquires the estimated position information of the transmission data in which the most recently marked establishment flag included in the transmission log is on. The transmission data is stored in the memory 2, and the control unit 9 acquires the estimated position information included in the transmission data based on the transmission ID of the transmission log.

Next, the moving body 10 executes the moving body control based on the estimated position information (step S62). The control unit 9 instructs the movement control unit 8 to move the moving body 10 to the current position at the time of recording included in the acquired estimated position information.

Next, the mobile body 10 instructs the control unit 9 to reset and start the timer that is used synchronously with the base station 100, and the mobile control unit 10 stays at the position acquired in the previous section at a preset time. Instruct 8. Here, it is also possible to stay at that position for a predetermined time as needed.

Next, the mobile body 10 executes the second transmission mode process of transmitting the second transmission data for a time commonly set in advance with the base station 100 (step S62). The control unit 9 executes the second transmission mode process described with reference to FIG. Since the details of the second transmission mode processing have been described above, the detailed description thereof will not be repeated.

Next, the mobile body 10 determines whether or not the confirmation data for the second transmission data has been received from the base station 100 (step S64). The optical wireless communication unit 5 of the mobile body 10 determines whether or not the confirmation data ACK has been received.

Next, in step S64, when the mobile body 10 determines that the confirmation data for the second transmission data has been received from the base station 100 (YES in step S64), the process returns to step S4 in FIG. When the optical wireless communication unit 5 receives the confirmation data ACK of the transmission data, the optical wireless communication unit 5 sets the establishment flag of the corresponding transmission ID in the transmission log to ON, and repeats the above process.

On the other hand, in step S64, when it is determined that the mobile body 10 does not receive confirmation data for the second transmission data from the base station for a time commonly set in advance with the base station 100 (NO in step S64). Acquire the estimated position information of the transmission data marked with the previous establishment flag turned on (step S66). Specifically, the control unit 9 acquires the estimated position information of the transmission data in which the previous marked establishment flag included in the transmission log is on. The transmission data is stored in the memory 2, and the control unit 9 acquires the estimated position information included in the transmission data based on the transmission ID of the transmission log.

Then, the process returns to step S63 and the above process is repeated.
(Reception processing flow)
FIG. 18 is a diagram illustrating a reception log of the base station 100 according to the first embodiment.

The reception log will be described with reference to FIG.
It is assumed that the reception log of the base station 100 is stored in the memory 102.

In this example, an establishment flag indicating whether or not a communication path is established is stored as a reception log.

Specifically, as the reception log, the case where the transmission data of the transmission IDs "001", "002", and "003" from the mobile body 10 is received is shown.

Further, when the base station 100 receives the transmission data corresponding to the transmission ID, the base station 100 sets the establishment flag to ON in association with the transmission data.

Further, as described above, the marked transmission data is transmitted at predetermined times. In this example, the transmission data with the transmission ID "003" is the marked transmission data.

When the base station 100 receives the transmission data, the base station 100 sets the mark transmission data establishment flag to on.

FIG. 19 is a flow chart illustrating a process of receiving transmission data of the mobile body 10 according to the first embodiment.

With reference to FIG. 19, the base station 100 determines whether or not the first transmission data has been received (step S70). Specifically, the optical wireless communication unit 106 determines whether or not the first transmission data has been received from the mobile body 10.

In step S70, when the base station 100 determines that the first transmission data has been received (YES in step S70), the base station 100 turns on the establishment flag (step S72). When the optical wireless communication unit 106 receives the first transmission data, the optical wireless communication unit 106 sets the establishment flag of the corresponding transmission ID in the reception log to on. Further, when the optical wireless communication unit 106 receives the marked transmission data, the optical wireless communication unit 106 sets the establishment flag of the corresponding transmission ID in the reception log to on (marked).

Next, the base station 100 sets the transmission direction (step S74). The direction adjusting mechanism 108 of the optical wireless communication unit 106 sets the transmission direction of the confirmation data ACK. Specifically, the transmission direction is set based on the current position of the mobile body 10 and the position information of the base station 100. As the current position of the moving body 10, it is possible to use the current position included in the estimated position information of the first transmission data.

Next, the base station 100 transmits confirmation data (step S76). The optical wireless communication unit 106 transmits the confirmation data ACK in the set transmission direction.

Next, the base station 100 determines whether or not to terminate the communication (step S78).
If the base station 100 determines in step S78 to end the communication (YES in step S78), the base station 100 ends the process (end).

On the other hand, if the base station 100 determines in step S78 that the communication is not terminated (NO in step S78), the process returns to step S70 and the above process is repeated.

On the other hand, when it is determined in step S70 that the first transmission data is not received (NO in step S70), the communication log is confirmed (step S80). When the optical wireless communication unit 106 determines that the first transmission data is not received, the optical wireless communication unit 106 notifies the control unit 112 to that effect. The control unit 112 executes the first reconnection process on the base station side based on the notification from the optical wireless communication unit 106.

Specifically, the control unit 112 confirms the communication log (reception log) stored in the memory 2 based on the notification from the optical wireless communication unit 106.

Next, the base station 100 acquires the estimated position information of the transmission data with the latest establishment flag turned on (step S82). Specifically, the control unit 112 acquires the estimated position information of the transmission data in which the latest establishment flag included in the reception log is on. The received transmission data is stored in the memory 2, and the control unit 112 acquires the estimated position information included in the received transmission data based on the transmission ID of the reception log.

Next, the base station 100 adjusts the reception direction based on the estimated position information (step S84). The control unit 112 instructs the direction adjusting mechanism 108 to adjust the receiving direction based on the estimated position information.

Next, the base station 100 determines whether or not the first transmission data has been received (step S86). Specifically, the optical wireless communication unit 106 determines whether or not the first transmission data has been received from the mobile body 10.

Next, in step S86, if the base station 100 determines that the first transmission data has been received (YES in step S86), the process proceeds to step S74. The direction adjusting mechanism 108 of the optical wireless communication unit 106 sets the transmission direction of the confirmation data ACK. Specifically, the transmission direction is set based on the current position of the mobile body 10 and the position information of the base station 100. Then, the optical wireless communication unit 106 transmits the confirmation data ACK in the set transmission direction.

On the other hand, in step S86, when the base station 100 determines that the first transmission data is not received (NO in step S86), it determines whether or not the reception of the Nth first transmission data has failed (step S86). S88). The control unit 112 determines whether or not the reception has failed N times (5 times as an example) based on the notification from the optical wireless communication unit 106.

If the base station 100 determines in step S88 that the reception of the Nth first transmission data has not failed (NO in step S88), the base station 100 returns to step S84 and repeats the above process. When the control unit 112 determines that the reception has not failed N times (5 times as an example) based on the notification from the optical wireless communication unit 106, the control unit 112 returns to step S84 and repeats the above process.

On the other hand, in step S88, when the base station 100 determines that the reception of the Nth first transmission data has failed (YES in step S88), the base station 100 adjusts the half-value angle (step S90). When the control unit 112 determines that the transmission has failed N times (5 times as an example) based on the notification from the optical wireless communication unit 106, the control unit 112 executes the second reconnection process on the base station side.

Specifically, the control unit 112 instructs the optical wireless communication unit 106 to adjust the half-value angle of the optical beam based on the notification from the optical wireless communication unit 106. The half-value angle adjusting mechanism 110 of the optical wireless communication unit 106 adjusts the half-value angle of the optical beam according to an instruction from the control unit 112.

Next, the base station 100 determines whether or not the second transmission data has been received (step S92). Specifically, the optical wireless communication unit 106 determines whether or not the second transmission data has been received from the mobile body 10.

Next, in step S92, if the base station 100 determines that the second transmission data has been received (YES in step S92), the process proceeds to step S74. The direction adjusting mechanism 108 of the optical wireless communication unit 106 sets the transmission direction of the confirmation data ACK. Specifically, the transmission direction is set based on the current position of the mobile body 10 and the position information of the base station 100. Then, the optical wireless communication unit 106 transmits the confirmation data ACK in the set transmission direction.

On the other hand, in step S92, when the base station 100 determines that the second transmission data is not received (NO in step S92), it determines whether or not the reception of the second transmission data M times has failed (step S92). S94). The control unit 112 determines whether or not the reception has failed M times (300 times as an example) based on the notification from the optical wireless communication unit 106.

If the base station 100 determines in step S94 that the reception of the M second transmission data has not failed (NO in step S94), the base station 100 returns to step S92 and repeats the above process. When the control unit 112 determines that the reception has not failed M times (200 times as an example) based on the notification from the optical wireless communication unit 106, the control unit 112 returns to step S92 and repeats the above process.

On the other hand, in step S94, when the base station 100 determines that the reception of the M second transmission data has failed (YES in step S94), the base station 100 confirms the communication log (step S96). When the control unit 112 determines that the transmission has failed M times (200 times as an example) based on the notification from the optical wireless communication unit 106, the control unit 112 executes the third reconnection process on the base station side.

Specifically, the control unit 112 confirms the communication log (reception log) stored in the memory 2 based on the notification from the optical wireless communication unit 106.

Next, the base station 100 acquires the estimated position information of the transmission data in which the most recently marked establishment flag is on (step S98). Specifically, the control unit 112 acquires the estimated position information of the transmission data in which the most recently marked establishment flag included in the reception log is on. The received transmission data is stored in the memory 2, and the control unit 112 acquires the estimated position information included in the received transmission data based on the transmission ID of the reception log.

Next, the base station 100 adjusts the reception direction based on the estimated position information (step S100). The control unit 112 instructs the direction adjusting mechanism 108 to adjust the receiving direction based on the estimated position information (position with respect to the current time). Further, the base station 100 instructs the control unit 112 to reset and start the timer that is used synchronously with the mobile body 10, and the beam antenna is directed to the position acquired in the previous section at the time when the preset time has elapsed. Instruct the direction adjusting mechanism 108. Here, it is also possible to maintain the direction for a predetermined time as needed.

Next, the base station 100 determines whether or not the second transmission data has been received (step S102). Specifically, the optical wireless communication unit 106 determines whether or not the second transmission data has been received from the mobile body 10. Further, the base station 100 waits for the reception of the second transmission data transmitted from the mobile body 10 for a time set in common with the mobile body 10, and if it can be received, instructs the control unit 112 to transmit the confirmation data. ..

Next, in step S102, if the base station 100 determines that the second transmission data has been received (YES in step S102), the process proceeds to step S74. The direction adjusting mechanism 108 of the optical wireless communication unit 106 sets the transmission direction of the confirmation data ACK. Specifically, the transmission direction is set based on the current position of the mobile body 10 and the position information of the base station 100. Then, the optical wireless communication unit 106 transmits the confirmation data ACK in the set transmission direction.

On the other hand, in step S102, when the base station 100 determines that the second transmission data is not received (NO in step S102), the base station 100 acquires the estimated position information of the transmission data in which the previous marked establishment flag is on. (Step S104). Specifically, the control unit 112 acquires the estimated position information of the transmission data in which the previous marked establishment flag included in the reception log is on. The received transmission data is stored in the memory 2, and the control unit 112 acquires the estimated position information included in the received transmission data based on the transmission ID of the reception log.

Then, returning to step S100, the base station 100 adjusts the reception direction based on the estimated position information (position with respect to the current time).

The base station 100 repeats the process until it receives the second transmission data. In this case, the mobile body 10 has a second reconnection process by adjusting the half-value angle of the light beam, a timer sharing between the base station 100 and the mobile body 10, and a third reconnection process by synchronous control using the timer. To execute. As the method of initializing the series of timers, any method can be used, such as exchanging the GPS time at the time point through the third reconnection process or programmatic processing.

If the situation in which the second transmission data is not received continues for a long period of time, the process may be terminated.

Specifically, the control unit 112 determines whether or not reception has failed for a long period of time based on the notification from the optical wireless communication unit 106, and ends the communication process if reception has failed for a long period of time. You may.

By this process, it is possible to facilitate re-establishment when the communication path of optical wireless communication in a mobile body such as an air vehicle is no longer established.

(Embodiment 2)
In the second embodiment, optical wireless communication between mobile bodies will be described. For optical wireless communication between mobiles, it becomes easy to reestablish the transmission path by the above reconnection process.

FIG. 20 is a diagram illustrating an optical wireless communication system 1 # according to the second embodiment.
With reference to FIG. 20, the optical wireless communication system 1 # transmits / receives data between, for example, a mobile body 10A (a helicopter as an example) and a mobile body 10B (a helicopter as an example) by optical wireless communication using an optical beam. Is a system that executes. The moving objects 10A and 10B are not limited to manned airplanes, but may be unmanned aerial vehicles such as drones (UAV: Unmanned Aerial Vehicles / UAS: Unmanned Aircraft Systems), one is a manned airplane, and the other is an unmanned aerial vehicle. There may be.

The optical wireless communication system 1 # according to the second embodiment transmits image data taken by a camera mounted on the mobile body 10A to another mobile body 10B by optical wireless communication using an optical beam.

The optical wireless communication system 1 # according to the embodiment is configured by using, for example, an information processing device. It is also possible to realize it as a plurality of devices via a network. For example, it may be realized by cloud computing, and may be realized by one server connected via a network (Internet) or a plurality of servers operating in cooperation with each other.

In the second embodiment, when the transmission path between the mobile body 10A and the mobile body 10B is not established, the first reconnection process is executed to reestablish the transmission path.

Specifically, the moving bodies 10A and 10B move using the estimated position information as described in the first embodiment, and predict the positions of the moving bodies 10A and 10B using the estimated position information. Even if it becomes difficult to maintain the transmission path by executing the reconnection process, it becomes easy to reestablish the transmission path.

FIG. 21 is a diagram illustrating another communication method between the mobile body 10A and the mobile body 10B according to the second embodiment.

As shown in FIG. 21, when the transmission path between the mobile body 10A and the mobile body 10B is not established by the first reconnection process, the second reconnection process is performed to reestablish the transmission path. To execute. Specifically, the half-value angle of the optical beam of the optical wireless communication between the mobile body 10A and the mobile body 10B is adjusted in the same manner as described in the first embodiment.

When the transmission path between the mobile body 10A and the mobile body 10B is not reestablished by the first reconnection process, the half-value angle of the light beam is increased in the second reconnection process. It is possible to send and receive data over a wide range, and even if it becomes difficult to maintain the transmission path by executing the reconnection processing of the transmission path between the mobile body 10A and the mobile body 10B, the transmission path is reestablished. Becomes easier.

If the transmission path between the mobile body 10A and the mobile body 10B is not reestablished by the second reconnection process, the third reconnection process is executed to reestablish the transmission path. The time until the transition to the third reconnection process starts from the time when it is determined that the transmission cannot be reestablished by the second reconnection process in each of the mobile body 10A and the mobile body 10B (hereinafter, the third reconnection process). The time is common to the moving body 10A and the moving body 10B, and can be set to an arbitrary time in advance.

Specifically, the mobile body 10A and the mobile body 10B may move in synchronization with the time from the starting point of the third reconnection process to the position where communication has been established in the past as described in the first embodiment. good. Specifically, the first and second communication data marked with the establishment flag turned on may be used to move to the respective current positions at the time when the communication was established in the past.

The mobile body 10A and the mobile body 10B return to the transmission and reception positions (hereinafter, also referred to as synchronous transmission / reception positions) of the first and second communication data marked with the latest establishment flag turned on while synchronizing the times, and are reconnected. The process may be executed. In addition, it may stay at the position for a predetermined period of time. Further, by repeating the process of returning to the previous synchronous transmission / reception position, it becomes easy to reestablish the transmission path even if it becomes difficult to maintain the transmission path.

FIG. 22 is a diagram illustrating a functional block of the optical wireless communication system 1 # according to the second embodiment.

FIG. 22 shows the functional blocks of the moving body 10A and the moving body 10B.
The configurations of the functional blocks of the mobile body 10A and the mobile body 10B are the same.

The mobile body 10A includes a memory 2, a GNSS (Global Navigation Satellite System) 3, a camera 4, an optical wireless communication unit 5, a mobile control unit 8, a position estimation unit 11, and a control unit 9.

The optical wireless communication unit 5 transmits / receives data to / from the mobile body 10A via the optical beam.

The optical wireless communication unit 5 includes a direction adjusting mechanism 6 and a half-value angle adjusting mechanism 7.
The direction adjusting mechanism 6 adjusts the direction for irradiating and receiving the light beam.

The half-value angle adjusting mechanism 7 adjusts the half-value angle of the light beam.
The memory 2 stores various data and programs.

The GNSS3 acquires the current position of the mobile body 10A by receiving a GPS signal emitted from a GPS satellite. In this example, the case where the current position of the moving body 10A is acquired by using GNSS will be described, but the present invention is not particularly limited to this, and the current position of the moving body 10A may be acquired by another method.

The camera 4 acquires a photographed image in the real space as image data. In this example, the acquired image data is included in the transmission data and transmitted.

The movement control unit 8 controls the movement of the moving body 10A. The movement control unit 8 can move to the destination point by controlling the movement direction and speed of the moving body 10A.

The position estimation unit 11 calculates the estimated movement position after the elapse of a predetermined period based on the current position, the movement direction, the speed, and the like. In this example, the estimated movement position is calculated every 2 seconds from the current time to 14 seconds later.

The control unit 9 controls the entire moving body 10A.
The mobile body 10B includes a memory 12, a GNSS (Global Navigation Satellite System) 13, a camera 14, an optical wireless communication unit 15, a mobile control unit 18, a position estimation unit 21, and a control unit 19.

The optical wireless communication unit 15 includes a direction adjusting mechanism 16 and a half-value angle adjusting mechanism 17.
Since each functional block of the mobile body 10B is the same as each functional block of the mobile body 10A, the detailed description thereof will not be repeated.

FIG. 23 is a conceptual diagram illustrating transmission / reception of data between the mobile body 10A and the mobile body 10B according to the second embodiment.

With reference to FIG. 23, data transfer between the mobile body 10A and the mobile body 10B is executed.
In this example, the mobile body 10A transmits the first communication data to the mobile body 10B.

The mobile body 10B transmits the second communication data to the mobile body 10A.
In the normal time, the first and second communication data include the first transmission data described in the first embodiment. That is, the first and second communication data include the transmission IDs of the mobile bodies 10A and 10B, the estimated position information, and the main body information.

When the mobile body 10A receives the second communication data from the mobile body 10B, the mobile body 10A transmits the first confirmation data to the mobile body 10B.

When the mobile body 10B receives the first communication data from the mobile body 10A, the mobile body 10B transmits the second confirmation data to the mobile body 10A.

In this example, the mobile body 10A transmits the first communication data to the mobile body 10B every 4 seconds. Specifically, the case where the three first transmission data of the transmission IDs "001", "002", and "003" are transmitted to the mobile body 10B by the light beam from the mobile body 10A is shown. Further, since it is optical wireless communication, when the mobile body 10B receives the first communication data from the mobile body 10A, it indicates that the mobile body 10B has received the first communication data from the mobile body 10B to the mobile body 10A. 2 Confirmation data ACK2 is transmitted with almost no delay.
In this example, the mobile body 10B transmits the second communication data to the mobile body 10A every 4 seconds. Specifically, the case where the three first transmission data of the transmission IDs "101", "102", and "103" are transmitted to the moving body 10A by the light beam from the moving body 10B is shown. Further, since it is optical wireless communication, when the mobile body 10A receives the second communication data from the mobile body 10B, it indicates that the mobile body 10A has received the second communication data from the mobile body 10A to the mobile body 10B. 1 Confirmation data ACK1 is transmitted with almost no delay.

The direction adjusting mechanism 6 of the optical wireless communication unit 5 of the mobile body 10A adjusts the transmission / reception direction of the optical beam for optical wireless communication based on the current position information acquired by GNSS3 and the position information of the mobile body 10B.

The direction adjusting mechanism 16 of the optical wireless communication unit 15 of the mobile body 10B adjusts the transmission / reception direction of the optical beam for optical wireless communication based on the current position information acquired by the GNSS 13 and the position information of the mobile body 10A.

Specifically, the direction adjusting mechanism 6 of the optical radio communication unit 5 of the mobile body 10A predicts the position of the mobile body 10B based on the estimated position information included in the second communication data transmitted from the mobile body 10B. Then, the transmission direction of the optical beam for optical wireless communication is adjusted based on the current position information acquired by the GNSS 3 and the predicted position information of the mobile body 10B.

The direction adjusting mechanism 6 of the optical wireless communication unit 5 of the mobile body 10A predicts the position of the mobile body 10B based on the estimated position information included in the second communication data transmitted from the mobile body 10B, and the prediction is made. The light receiving direction of the light beam for optical wireless communication from the moving body 10B from the position is adjusted.

Similarly, the direction adjusting mechanism 16 of the optical wireless communication unit 15 of the mobile body 10B predicts the position of the mobile body 10A based on the estimated position information included in the first communication data transmitted from the mobile body 10A. , The transmission direction of the optical beam for optical wireless communication is adjusted based on the current position information acquired by the GNSS 13 and the predicted position information of the mobile body 10A.

The direction adjusting mechanism 16 of the optical wireless communication unit 15 of the mobile body 10B predicts the position of the mobile body 10A based on the estimated position information included in the first communication data transmitted from the mobile body 10A, and the prediction is made. The light receiving direction of the light beam for optical wireless communication from the moving body 10A from the position is adjusted.

The transmission log and the reception log described in the first embodiment are stored in the memory 2 of the mobile body 10A. Similarly, the memory 12 of the mobile body 10B stores the transmission log and the reception log described in the first embodiment.

In this example, the establishment flag indicating whether or not the communication path is established is stored as the transmission log and the reception log.

When the mobile body 10A receives the second confirmation data ACK2, the mobile body 10A turns on the establishment flag associated with the transmission of the first communication data with respect to the transmission log.

When the mobile body 10A receives the second communication data, the mobile body 10A turns on the establishment flag associated with the reception of the second communication data with respect to the reception log.

When the mobile body 10B receives the first confirmation data ACK1, the mobile body 10B turns on the establishment flag associated with the transmission of the second communication data with respect to the transmission log.

When the mobile body 10B receives the first communication data, the mobile body 10B turns on the establishment flag associated with the reception of the first communication data with respect to the reception log.

The mobile bodies 10A and 10B transmit the marked first and second communication data at predetermined times, respectively.

When the mobile units 10A and 10B receive the first confirmation data ACK1 and the second confirmation data ACK2 for the transmission data in the transmission log, the mobile bodies 10A and 10B turn on the establishment flags of the marked first and second communication data. Set.

When the mobile bodies 10A and 10B receive the first and second communication data with respect to the reception log, the mobile bodies 10A and 10B set the establishment flag of the marked first and second communication data to on.

In the second embodiment, when the first communication data by the light beam is appropriately transmitted from the moving body 10A to the moving body 10B, the second confirmation data ACK2 by the light beam moves from the moving body 10B with almost no delay. It is transmitted to the body 10A.

Further, when the second communication data by the light beam is appropriately transmitted from the moving body 10B to the moving body 10A, the first confirmation data ACK1 by the light beam is transmitted from the moving body 10A to the moving body 10B with almost no delay. Will be done.

Therefore, when the first communication data by the light beam is appropriately transmitted between the mobile body 10A and the mobile body 10B, the mobile body 10A reliably receives the second confirmation data ACK2 from the mobile body 10B. It shall be. Further, when the second communication data by the light beam is appropriately transmitted between the mobile body 10B and the mobile body 10A, the mobile body 10B reliably receives the first confirmation data ACK1 from the mobile body 10A. It shall be.

On the other hand, when a shield (building, tree, or other structure) exists between the moving body 10A and the moving body 10B, the shield causes the light beam between the moving body 10A and the moving body 10B. The communication path of optical wireless communication is cut off.

In the second embodiment, when the communication path of the optical wireless communication is cut off, the reconnection process for reestablishing the mutual communication between the mobile body 10A and the mobile body 10B is executed.

The optical wireless communication unit 5 of the mobile body 10A determines whether or not the second confirmation data ACK2 from the mobile body 10B has been received after the transmission of the first communication data.

When the optical wireless communication unit 5 of the mobile body 10A determines that the second confirmation data ACK2 from the mobile body 10B has been received, it determines that the communication path for the optical wireless communication has been established. In that case, the normal communication process for transmitting the next first communication data is continued.

Similarly, the optical wireless communication unit 15 of the mobile body 10B determines whether or not the first confirmation data ACK1 from the mobile body 10A has been received after the transmission of the second communication data.

When the optical wireless communication unit 15 of the mobile body 10B determines that the first confirmation data ACK1 from the mobile body 10A has been received, it determines that the communication path for the optical wireless communication has been established. In that case, the normal communication process for transmitting the next second communication data is continued.

On the other hand, when the optical wireless communication unit 5 of the mobile body 10A determines that the second confirmation data ACK2 from the mobile body 10B is not received, it determines that the communication path for the optical wireless communication has not been established. In that case, the optical wireless communication unit 5 notifies the control unit 9. The control unit 9 executes a reconnection process for reestablishing the communication path of the optical wireless communication based on the notification from the optical wireless communication unit 5.

Further, when the optical wireless communication unit 5 of the mobile body 10A determines that the second communication data transmitted periodically (every 4 seconds) from the mobile body 10B is not received, the communication path of the optical wireless communication is established. Judge that it has not been done. In that case, the optical wireless communication unit 5 notifies the control unit 9. The control unit 9 executes a reconnection process for reestablishing the communication path of the optical wireless communication based on the notification from the optical wireless communication unit 5.

Similarly, when the optical wireless communication unit 15 of the mobile body 10B determines that the first confirmation data ACK1 from the mobile body 10A is not received, it determines that the communication path for the optical wireless communication has not been established. In that case, the optical wireless communication unit 15 notifies the control unit 19. The control unit 19 executes a reconnection process for reestablishing the communication path of the optical wireless communication based on the notification from the optical wireless communication unit 15.

Further, when the optical wireless communication unit 15 of the mobile body 10B determines that the first communication data transmitted periodically (every 4 seconds) from the mobile body 10A is not received, the communication path of the optical wireless communication is established. Judge that it has not been done. In that case, the optical wireless communication unit 15 notifies the control unit 19. The control unit 19 executes a reconnection process for reestablishing the communication path of the optical wireless communication based on the notification from the optical wireless communication unit 15.

The mobile bodies 10A and 10B periodically transmit the first and second communication data from one of the mobile bodies 10A and 10B to the other. In this example, the mobile body 10A transmits the first communication data to the mobile body 10B every 4 seconds. Further, the mobile body 10B transmits the second communication data to the mobile body 10A every 4 seconds.

Therefore, the mobile bodies 10A and 10B determine whether or not to receive the first and second communication data every 4 seconds.

(1: When the first communication data from the mobile body 10A is not received by the mobile body 10B)
For example, in FIG. 23, it is assumed that the optical wireless communication unit 5 of the mobile body 10A transmits the first communication data (ID001) to the mobile body 10B at the time "10:00:00" and normally receives the first communication data (ID001) in the mobile body 10B. .. In this case, the optical wireless communication unit 15 of the mobile body 10B transmits the second confirmation data ACK2. As a result, the optical wireless communication unit 5 of the mobile body 10A determines that the communication path for the optical wireless communication has been established.

It is assumed that the optical wireless communication unit 15 of the mobile body 10B transmits the second communication data (ID101) to the mobile body 10A at the time "10:00:02" and normally receives the second communication data (ID101) in the mobile body 10A. In this case, the optical wireless communication unit 5 of the mobile body 10A transmits the first confirmation data ACK1. As a result, the optical wireless communication unit 15 of the mobile body 10B determines that the communication path for the optical wireless communication has been established.

Next, the optical wireless communication unit 5 of the mobile body 10A transmits the first communication data (ID002) at the time "10:00:04".

On the other hand, at that time, it is assumed that a shield exists between the moving body 10A and the moving body 10B.

The optical wireless communication unit 15 of the mobile body 10B does not receive the first communication data at the time "10:00:04". The optical wireless communication unit 15 of the mobile body 10B does not transmit the second confirmation data ACK2.

The optical wireless communication unit 5 of the mobile body 10A determines that the communication path for the optical wireless communication has not been established because the second confirmation data ACK2 from the mobile body 10B is not received. The optical wireless communication unit 5 of the mobile body 10A notifies the control unit 9 that the communication path has not been established.

The optical wireless communication unit 15 of the mobile body 10B does not receive the first communication data at the time "10:00:04". As a result, the optical wireless communication unit 15 of the mobile body 10B determines that the communication path has not been established. The optical wireless communication unit 15 of the mobile body 10B notifies the control unit 19 that the communication path has not been established.

Therefore, it is possible for the optical wireless communication unit 5 of the mobile body 10A and the optical wireless communication unit 15 of the mobile body 10B to determine that the communication path has not been established at approximately the same time (time "10:00:04"). Is.

The control unit 9 of the mobile body 10A executes the first reconnection process based on the notification from the optical wireless communication unit 5.

Specifically, the control unit 9 instructs the movement control unit 8 to control the movement of the moving body 10. The control unit 9 instructs the movement control unit 8 to control the movement of the mobile body 10A based on the first communication data (ID001) immediately before the communication route was established immediately before.

The movement control unit 8 controls the moving body 10 to move based on the estimated position information included in the first communication data (ID001). The movement control unit 8 has a position D0 corresponding to the time "10:00:06", a position E0 corresponding to the time "10:00:08", a position F0 corresponding to the time "10:00:10", and a time " The movement of the moving body 10A is controlled so as to sequentially move to the position G0 corresponding to "10:00:12" and the position H0 corresponding to the time "10:00:14".

Further, the control unit 9 instructs the optical wireless communication unit 5 to transmit the next first communication data to the mobile body 10B at the times "10:00:08" and "10:00:12".

Further, the control unit 19 of the mobile body 10B executes the first reconnection process based on the notification from the optical wireless communication unit 15.

Specifically, the control unit 19 instructs the movement control unit 18 to control the movement of the moving body 10B. The control unit 19 instructs the movement control unit 18 to control the movement of the mobile body 10B based on the previous second communication data (ID101) for which the communication path has been established immediately before.

The movement control unit 18 controls the moving body 10B to move based on the estimated position information included in the first communication data (ID101). The movement control unit 18 has a position XC0 corresponding to the time "10:00:06", a position XD0 corresponding to the time "10:00:08", a position XE0 corresponding to the time "10:00:10", and a time " Movement of the moving body 10B so as to sequentially move to the position XF0 corresponding to "10:00:12", the position XG0 corresponding to the time "10:00:14", and the position XH0 corresponding to the time "10:00:16". To control.

Further, the control unit 19 instructs the optical wireless communication unit 15 to transfer the second communication data to the moving body 10A at the times "10:00:06", "10:00:10", and "10:00:14". Send to.

Specifically, the direction adjusting mechanism 16 of the optical wireless communication unit 15 corresponds to the time based on the estimated position information included in the first communication data (ID001) immediately before the communication path was established immediately before. It is estimated that the moving body 10A is at the position where the moving body 10A is to be used, and the receiving direction of the optical beam for optical wireless communication is adjusted.

For example, the mobile body 10B estimates that the mobile body 10A is included in the estimated position information (D0) included in the first communication data (ID001) at the time "10:00:06", and transmits the second communication data. ..

When there is no shield between the mobile body 10A and the mobile body 10B during the period, the communication path of the optical wireless communication can be easily reestablished.

When the communication path of the optical wireless communication is reestablished, the transmission / reception of the first and second communication data is restarted by the usual communication method.

When the communication path of optical wireless communication between the mobile body 10A and the mobile body 10B is interrupted, both the mobile body 10A and the mobile body 10B use the estimated position information included in the transmission data to determine the mutual position. Easy to identify.

Further, when the communication path of the optical wireless communication is interrupted between the mobile body 10A and the mobile body 10B, the same estimated position information included in the transmission data is used, so that the estimated position with high accuracy is specified. It is possible to increase the ease of reestablishing the communication path.

In the above, the case where the first communication data from the mobile body 10A to the mobile body 10B is not transmitted by the shield has been described, but conversely, the second communication data from the mobile body 10B to the mobile body 10A is not transmitted by the shield. The same applies to the case.

(2: When the second communication data from the mobile body 10B is not received by the mobile body 10A)
For example, in FIG. 23, it is assumed that the optical wireless communication unit 5 of the mobile body 10A transmits the first communication data (ID002) to the mobile body 10B at the time "10:00:04" and normally receives the first communication data (ID002) in the mobile body 10B. .. In this case, the optical wireless communication unit 15 of the mobile body 10B transmits the second confirmation data ACK2. As a result, the optical wireless communication unit 5 of the mobile body 10A determines that the communication path for the optical wireless communication has been established.

Next, the optical wireless communication unit 15 of the mobile body 10B transmits the second communication data (ID102) at the time "10:00:06".

On the other hand, at that time, it is assumed that a shield exists between the moving body 10A and the moving body 10B.

The optical wireless communication unit 5 of the mobile body 10A does not receive the second communication data at the time "10:00:06". The optical wireless communication unit 5 of the mobile body 10A does not transmit the first confirmation data ACK1.

Since the optical wireless communication unit 15 of the mobile body 10B does not receive the first confirmation data ACK1 from the mobile body 10A, it determines that the communication path for the optical wireless communication has not been established. The optical wireless communication unit 15 of the mobile body 10B notifies the control unit 19 that the communication path has not been established.

The optical wireless communication unit 5 of the mobile body 10A does not receive the second communication data at the time "10:00:06". As a result, the optical wireless communication unit 5 of the mobile body 10A determines that the communication path has not been established. The optical wireless communication unit 5 of the mobile body 10A notifies the control unit 9 that the communication path has not been established.

Therefore, it is possible for the optical wireless communication unit 5 of the mobile body 10A and the optical wireless communication unit 15 of the mobile body 10B to determine that the communication path has not been established at approximately the same time (time "10:00:06"). Is.

The control unit 9 of the mobile body 10A executes the first reconnection process based on the notification from the optical wireless communication unit 5.

Specifically, the control unit 9 instructs the movement control unit 8 to control the movement of the moving body 10. The control unit 9 instructs the movement control unit 8 to control the movement of the mobile body 10A based on the first communication data (ID002) immediately before the communication route was established immediately before.

The movement control unit 8 controls the moving body 10A to move based on the estimated position information included in the first communication data (ID002). The movement control unit 8 has a position E1 corresponding to the time "10:00:08", a position F1 corresponding to the time "10:00:10", a G1 corresponding to the time "10:00:12", and a time "10". Move the moving body 10A so as to sequentially move to the position H1 corresponding to ": 00:14", the position I1 corresponding to the time "10:00:16", and the position J1 corresponding to the time "10:00:18". Control.

Further, the control unit 9 instructs the optical wireless communication unit 5 to transfer the first communication data to the moving body 10B at the times "10:00:08", "10:00:12", and "10:00:16". Send to.

Further, the control unit 19 of the mobile body 10B executes the first reconnection process based on the notification from the optical wireless communication unit 15.

Specifically, the control unit 19 instructs the movement control unit 18 to control the movement of the moving body 10B. The control unit 19 instructs the movement control unit 18 to control the movement of the mobile body 10B based on the previous second communication data (ID101) for which the communication path has been established immediately before.

The movement control unit 18 controls the moving body 10B to move based on the estimated position information included in the second communication data (ID101). The movement control unit 18 has a position XD0 corresponding to the time "10:00:08", a position XE0 corresponding to the time "10:00:10", a position XF0 corresponding to the time "10:00:12", and a time " The movement of the moving body 10B is controlled so as to sequentially move to the position XG0 corresponding to "10:00:14" and the position XH0 corresponding to the time "10:00:16".

Further, the control unit 19 instructs the optical wireless communication unit 15 to transmit the second communication data to the mobile body 10A at "10:00:10" and "10:00:14".

Specifically, the direction adjusting mechanism 6 of the optical wireless communication unit 5 is a position corresponding to the time based on the estimated position information included in the second communication data (ID101) immediately before the communication path was established. It is estimated that the mobile body 10B is present in the mobile body, and the receiving direction of the optical beam for optical wireless communication is adjusted.

For example, the mobile body 10A estimates that the mobile body 10A is in the estimated position information (position XD0) included in the second communication data (ID101) at the time "10:00:08", and transmits the first communication data. do.

When there is no shield between the mobile body 10A and the mobile body 10B during the period, the communication path of the optical wireless communication can be easily reestablished.

On the other hand, when a shield between the mobile body 10A and the mobile body 10B is continuously present, the communication path between the mobile body 10A and the mobile body 10B may be continuously blocked. ..

In the second embodiment, when the communication path is continuously cut off, the control unit 9 of the mobile body 10A executes the second reconnection process based on the notification from the optical wireless communication unit 5. Further, the control unit 19 of the mobile body 10B executes the second reconnection process based on the notification from the optical wireless communication unit 15.

Specifically, when a shield between the mobile body 10A and the mobile body 10B is continuously present, and when the communication path of the optical wireless communication is continuously blocked for 10 seconds, the second re-operation is performed. Execute connection processing.

In the second embodiment, the control unit 9 of the mobile body 10A performs a second reconnection process when the communication path of the optical wireless communication is continuously blocked for 10 seconds based on the notification from the optical wireless communication unit 5. To execute.

The control unit 9 of the mobile body 10A instructs the optical wireless communication unit 5 to transmit another first communication data and adjust the half-value angle.

Another first communication data includes the second transmission data described in the first embodiment. That is, the other first communication data includes the transmission ID and the estimated position information, and does not include the image data which is the main body information.

In the second embodiment, the control unit 19 of the mobile body 10B reconnects second when the communication path of the optical wireless communication is continuously blocked for 10 seconds based on the notification from the optical wireless communication unit 15. Execute the process.

The control unit 19 of the mobile body 10B instructs the optical wireless communication unit 15 to transmit another second communication data and adjust the half-value angle.

Another second communication data includes the second transmission data described in the first embodiment. That is, the other second communication data includes the transmission ID and the estimated position information, and does not include the image data which is the main body information.

The half-value angle adjusting mechanism 7 of the optical wireless communication unit 5 of the mobile body 10A adjusts the half-value angle of the optical beam.
The optical wireless communication unit 5 adjusts the half-value angle of the optical beam to enable transmission / reception of another first communication data and another second communication data in a wide range.

The control unit 19 of the mobile body 10B adjusts the half-value angle of the optical beam of the optical wireless communication unit 15 based on the notification from the optical wireless communication unit 15.

The half-value angle adjusting mechanism 17 of the optical wireless communication unit 15 widens the half-value angle of the optical beam to enable transmission / reception of another first communication data and another second communication data in a wide range.

Even if it becomes difficult to identify the positions of the moving bodies 10A and 10B when a shield is continuously present between the moving body 10A and the moving body 10B by the processing, another first and second By changing to communication data to reduce the amount of data and changing the range of data transmission / reception, it is possible to facilitate the reestablishment of the communication path of optical wireless communication.

When the communication path of the optical wireless communication is reestablished, the transmission / reception of the first and second communication data is restarted by the usual communication method.

In the second embodiment, when the shield between the mobile body 10A and the mobile body 10B is further continuously present, the control unit 9 of the mobile body 10A is based on the notification from the optical wireless communication unit 5. The third reconnection process is executed. Further, the control unit 19 of the mobile body 10B executes the third connection process based on the notification from the optical wireless communication unit 15.

Specifically, when the shield between the mobile body 10A and the mobile body 10B is continuously present and the communication path of the optical wireless communication is continuously blocked for 10 minutes, the third re-operation is performed. Execute connection processing.

In the second embodiment, the control unit 9 of the mobile body 10A performs a third reconnection process when the communication path of the optical wireless communication is continuously blocked for 10 minutes based on the notification from the optical wireless communication unit 5. To execute.

The control unit 9 of the mobile body 10A instructs the mobile control unit 8 to control the movement of the mobile body 10A based on the first and second communication data to which the predetermined mark for which the communication path has been established is given. At the same time, the timer for sharing the passage of time is initialized in synchronization with the moving body 10A and the moving body 10B, and the counting of time is started.

For example, the movement control unit 8 of the mobile body 10A moves the mobile body 10A to a position corresponding to the current time at the time of recording the first communication data to which a predetermined mark for which a communication path has been established most recently has been added. Controls to move. That is, the mobile body 10A has previously established communication at a time when a predetermined time has elapsed from the starting point of the timer initialization or the third reconnection process that is set and shared in advance between the mobile body 10A and the mobile body 10B. Each returns to the designated point where it was. In addition, when returning to a predetermined point in consideration of time and physical error, it may be possible to stay at the predetermined point for a predetermined period set in advance and shared by the moving body 10A and the moving body B.

The control unit 9 of the mobile body 10A instructs the optical wireless communication unit 5 to transmit another first communication data at a predetermined point where communication has been previously established.

Further, the control unit 19 of the mobile body 10B executes the third reconnection process when the communication path of the optical wireless communication is continuously cut off for 10 minutes based on the notification from the optical wireless communication unit 15.

The control unit 19 of the mobile body 10B instructs the mobile control unit 18 to control the movement of the mobile body 10B based on the first and second communication data to which the predetermined mark for which the communication path has been established is given. At the same time, the timer for sharing the passage of time is initialized in synchronization with the moving body 10B and the moving body 10A, and the counting of time is started.

For example, the movement control unit 18 of the mobile body 10B moves the mobile body 10B to a position corresponding to the current time at the time of recording the first communication data to which a predetermined mark for which a communication path has been established most recently has been added. Controls to move. That is, the mobile body 10B has previously established communication at a time when a predetermined time has elapsed from the starting point of the timer initialization or the third reconnection process that is set and shared in advance between the mobile body 10B and the mobile body 10A. Each returns to the designated point where it was. In addition, when returning to a predetermined point in consideration of time and physical error, it may be possible to stay at the predetermined point for a predetermined period set in advance and shared by the moving body 10A and the moving body B.

The control unit 19 of the mobile body 10B instructs the optical wireless communication unit 15 to transmit another second communication data at a predetermined point where communication has been previously established.

By this process, the mobile bodies 10A and 10B can easily reestablish the communication path of the optical wireless communication by returning to the predetermined points where the communication has been established.

Not limited to this, the movement control unit 8 of the mobile body 10A so that the mobile body 10A moves to the reception position of the second communication data to which the predetermined mark for which the communication path has been established most recently has been added. Controlled so that the movement control unit 18 of the mobile body 10B controls the mobile body 10B to move to the transmission position of the second communication data to which the predetermined mark for which the communication path has been established most recently has been given. You may. That is, the mobile body 10A returns to a predetermined point where communication has been previously established.

Further, the mobile body 10A and the mobile body 10B return to the transmission and reception positions (hereinafter, referred to as synchronous transmission / reception positions) of the first and second communication data marked with the latest establishment flag turned on while synchronizing the times. The reconnection process may be executed. In addition, it may stay at the position for a predetermined period of time. By repeating the process by returning to the previous synchronous transmission / reception position, it becomes easy to reestablish the transmission path even if it becomes difficult to maintain the transmission path.

When the communication path of the optical wireless communication is reestablished, the transmission / reception of the first and second communication data is restarted by the usual communication method.

Further, since the previous movement route may not be appropriate, it is possible to change the movement route and execute the transmission / reception of the first and second communication data by the usual communication method.

If communication is not established even when returning to a predetermined point where communication was previously established, the first and second communication data to which the previous predetermined mark has been added are added. Based on this, the movement control units 8 and 18 may be instructed to control the movement of the moving bodies 10A and 10B.

In this example, the cases where the moving bodies 10A and 10B transmit and receive the first and second communication data including the image data to and from each other have been described, but the case is not particularly limited to this, and the first one including the image data is not particularly limited to this. The communication data may be transmitted, and the second communication data that does not include the image data may be transmitted from the other side.

The method described in each of the above embodiments stores a magnetic disk (hard disk, etc.), an optical disk (CDROM, DVD, etc.), an optical magnetic disk (MO), a semiconductor memory, etc. as a program that can be executed by a computer. It can also be stored on a medium and distributed. Further, the storage medium may be in any form as long as it is a storage medium capable of storing a program and readable by a computer.

Further, in order for the OS (operating system) running on the computer based on the instructions of the program installed on the computer from the storage medium, the database management software, the MW (middleware) such as the network software, and the like to realize the above embodiment. You may execute a part of each process of.

Further, the storage medium in each embodiment is not limited to a medium independent of the computer, but also includes a storage medium in which a program transmitted by a LAN, the Internet, or the like is downloaded and stored or temporarily stored.

Further, the storage medium is not limited to one, and the case where the processing in each of the above embodiments is executed from a plurality of media is also included in the storage medium in the present invention, and the medium configuration may be any configuration.

The computer in each embodiment executes each process in each of the above embodiments based on the program stored in the storage medium, and is composed of one device such as a personal computer and a plurality of devices in a network. Any configuration such as a connected system may be used.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present disclosure is shown by the scope of claims, not the above description, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 Optical wireless communication system, 2,12,102 memory, 4,14 camera, 5,15,106 optical wireless communication unit, 6,16,108 direction adjustment mechanism, 7,17,110 half-value angle adjustment mechanism, 8,18 Mobile control unit, 9,19,112 control unit, 10,10A, 10B mobile body, 11,21 position estimation unit, 100 base stations.

Claims (9)

An optical wireless communication system that uses an optical beam to communicate between a mobile body and a base station.
The moving body is
A first optical wireless communication unit that performs data communication with the base station via the optical beam,
A position estimation unit that calculates estimated position information regarding the current position of the moving body and the estimated moving position corresponding to the time after the lapse of a plurality of first predetermined periods.
A movement control unit that controls the position of the moving body,
Including the first optical wireless communication unit and the first controller that controls the movement control unit.
The first controller instructs the first optical wireless communication unit to transmit the main body information and the estimated position information as the first transmission data to the base station.
The base station
A second optical wireless communication unit that performs data communication with the moving body via the optical beam,
Includes a second controller that controls the second optical wireless communication unit.
The second optical wireless communication unit has an adjusting mechanism for adjusting the transmission / reception direction and angle of the optical beam for data communication with the moving body.
When the second controller receives the first transmission data, the second controller instructs the second optical wireless communication unit to transmit the confirmation data to the mobile body.
The first controller is
By receiving the confirmation data from the base station, it is determined whether or not the communication path is established, and the communication path is determined.
When it is determined that the communication path has not been established with the base station, the first transmission data already transmitted from the mobile body to the base station at the time when the communication path was established immediately before. The mobile control unit is controlled based on the estimated position information included in the above, and the first optical wireless communication unit is instructed to transmit the next first transmission data to the base station.
The second controller is
By receiving the first transmission data from the mobile body, it is determined whether or not the communication path is established, and the communication path is determined.
When it is determined that the communication path has not been established with the mobile body, it is transmitted from the mobile body to the base station at the time when the communication path is established immediately before, and is received by the base station. An optical wireless communication system that adjusts the adjustment mechanism so that the communication path is reestablished based on the estimated position information included in the first transmission data. The second controller is
When the first transmission data transmitted from the moving body is received, the confirmation data is transmitted to the moving body based on the current position of the moving body included in the first transmission data. Adjust the adjustment mechanism,
After transmitting the confirmation data, in order to receive the next first transmission data from the moving body based on the estimated moving position corresponding to the next time of the moving body included in the first transmitting data. The optical wireless communication system according to claim 1, wherein the adjustment mechanism is adjusted. The second controller is
When the next first transmission data is not received from the mobile body after the confirmation data is transmitted, the data is transmitted from the mobile body when the communication path is established and has already been received by the base station. The adjustment mechanism according to claim 2, wherein the adjustment mechanism is adjusted so that the communication path is established based on the estimated movement position corresponding to the time after the lapse of the plurality of first predetermined periods included in the first transmission data. Optical wireless communication system. The first optical wireless communication unit has a first half-value angle adjusting mechanism for adjusting the half-value angle of the optical beam.
The second optical wireless communication unit further includes a second half-value angle adjusting mechanism for adjusting the half-value angle of the optical beam.
The first and second controllers are
When the communication path is established, it is determined whether or not the communication path is reestablished based on the estimated position information included in the first transmission data transmitted from the mobile body to the base station. ,
When the first controller determines that the communication path is not reestablished, the first controller adjusts the first half-value angle adjustment mechanism so as to be larger than the half-value angle of the light beam at the time when the communication path is established. Adjust and
When the second controller determines that the communication path is not reestablished, the second controller adjusts the second half-value angle adjustment mechanism so as to be larger than the half-value angle of the optical beam at the time when the communication path is established. The optical wireless communication system according to claim 1, which is adjusted. When the first controller determines that the communication path is not reestablished, the first controller instructs the first optical wireless communication unit to transmit only the estimated position information as the second transmission data to the base station. The optical wireless communication system according to claim 4. When the first controller determines that the communication path is not reestablished, it is estimated to be included in the first transmission data already transmitted from the mobile body to the base station when the communication path is established. The mobile control unit is controlled so that the communication path is reestablished with the base station based on the current position at the time of transmission of the position information, and the second transmission data is transmitted to the base station. The optical wireless communication system according to claim 5, wherein the first optical wireless communication unit is instructed to transmit data. An optical wireless communication system that communicates between a first and second mobile body using an optical beam.
The first moving body is
A first optical wireless communication unit that performs data communication with the second mobile body via the optical beam, and
A first position estimation unit that calculates first estimated position information regarding the current position of the first moving body and the estimated moving position corresponding to the time after the lapse of a plurality of first predetermined periods.
A first movement control unit that controls the position of the first moving body,
Includes the first optical wireless communication unit and the first controller that controls the first movement control unit.
The first controller instructs the first optical wireless communication unit to transmit the first communication data including the first main body information and the first estimated position information to the second mobile body.
The second moving body is
A second optical wireless communication unit that performs data communication with the first mobile body via the optical beam, and
A second position estimation unit that calculates the second estimated position information regarding the current position of the second moving body and the estimated moving position corresponding to the time after the lapse of the plurality of first predetermined periods.
A second movement control unit that controls the position of the second moving body,
Includes the second optical wireless communication unit and the second controller that controls the second mobile control unit.
The second controller instructs the second optical wireless communication unit to transmit the second communication data including the second main body information and the second estimated position information to the first mobile body.
When the first controller receives the second communication data, the first controller instructs the first optical wireless communication unit to transmit the first confirmation data to the second mobile body.
When the second controller receives the first communication data, the second controller instructs the second optical wireless communication unit to transmit the second confirmation data to the first mobile body.
The first controller is
By receiving the second confirmation data from the second mobile body, it is determined whether or not the communication path is established, and it is determined.
When it is determined that the communication path has not been established with the second mobile body, the first mobile body has already transmitted the communication path to the second mobile body at the time when the communication path was established immediately before. The first movement control unit is controlled based on the first estimated position information included in the first communication data, and at the time when the communication path is established immediately before, the second moving body to the first moving body. The next first communication data is transmitted to the second mobile body based on the second estimated position information transmitted to the mobile body and included in the second communication data received by the first mobile body. Instructed the first optical wireless communication unit to
The second controller is
By receiving the first communication data from the first mobile body, it is determined whether or not the communication path is established, and it is determined.
When it is determined that the communication path has not been established with the first mobile body, the second mobile body has already transmitted the communication path to the first mobile body at the time when the communication path was established immediately before. The second movement control unit is controlled based on the second estimated position information included in the second communication data, and at the time when the communication path is established immediately before, the first moving body to the second moving body. The next second communication data is transmitted to the first mobile body based on the first estimated position information transmitted to the mobile body and included in the first communication data received by the second mobile body. An optical wireless communication system instructing the second optical wireless communication unit. It is a control method of an optical wireless communication system that communicates between a mobile body and a base station using an optical beam.
A step of data communication from the mobile body to the base station via the light beam,
A step of calculating estimated position information regarding the current position of the moving body and the estimated moving position corresponding to the time after the lapse of a plurality of first predetermined periods, and
The step of controlling the position of the moving body and
A step of data communication from the base station to the mobile body via the light beam is provided.
The step of data communication from the mobile body to the base station includes a step of transmitting the main body information and the estimated position information from the mobile body to the base station as first transmission data.
The step of data communication from the base station to the mobile body includes a step of transmitting confirmation data from the base station to the mobile body when the first transmission data is received.
The step of controlling the position of the moving body is
A step of determining whether or not a communication path has been established by receiving the confirmation data from the base station, and
When it is determined that the communication path has not been established with the base station, the first transmission data already transmitted from the mobile body to the base station at the time when the communication path was established immediately before. Including a step of controlling the position of the moving body based on the estimated position information included in the above.
The step of transmitting confirmation data from the base station to the mobile body is
A step of determining whether or not a communication path has been established by receiving the first transmission data from the mobile body, and
When it is determined that the communication path has not been established with the mobile body, it is transmitted from the mobile body to the base station at the time when the communication path is established immediately before, and is received by the base station. The transmission / reception direction and angle of the optical beam for data communication with the mobile body are adjusted so that the communication path is reestablished based on the estimated position information included in the first transmission data. A method of controlling an optical wireless communication system, including steps. A control method for an optical wireless communication system that communicates between a first and second mobile body using an optical beam.
A step of data communication from the first mobile body to the second mobile body via the light beam, and
A step of calculating the first estimated position information regarding the current position of the first moving body and the estimated moving position corresponding to the time after the lapse of a plurality of first predetermined periods, and
The step of controlling the position of the first moving body and
A step of data communication from the second mobile body to the first mobile body via the light beam, and
A step of calculating the second estimated position information regarding the current position of the second moving body and the estimated moving position corresponding to the time after the lapse of the plurality of first predetermined periods, and
A step of controlling the position of the second moving body is provided.
The step of data communication from the first mobile body to the second mobile body is
A step of transmitting first communication data including the first main body information and the first estimated position information to the second mobile body, and
When the data transmitted from the second mobile body is received, the step of transmitting the first confirmation data to the second mobile body is included.
The step of data communication from the second mobile body to the first mobile body is
A step of transmitting second communication data including the second main body information and the second estimated position information to the first mobile body, and
When the data transmitted from the first mobile body is received, the step of transmitting the second confirmation data to the first mobile body is included.
The step of controlling the position of the first moving body is
A step of determining whether or not a communication path has been established by receiving the second confirmation data from the second mobile body, and
When it is determined that the communication path has not been established with the second mobile body, it has been transmitted from the first mobile body to the second mobile body at the time when the communication path was established immediately before. Including a step of controlling the position of the first mobile body based on the first estimated position information included in the first communication data of the above.
In the step of transmitting to the second mobile body, if it is determined that the communication path has not been established with the second mobile body, the second step occurs at the time when the communication path has been established immediately before. Based on the second estimated position information transmitted from the mobile body to the first mobile body and included in the second communication data received by the first mobile body, the next first communication data is transferred to the second communication data. Includes steps to send to the mobile
The step of controlling the position of the second moving body is
A step of determining whether or not a communication path is established by receiving the first communication data from the first mobile body, and
When it is determined that the communication path has not been established with the first mobile body, it has been transmitted from the second mobile body to the first mobile body at the time when the communication path was established immediately before. Including a step of controlling the position of the second moving body based on the second estimated position information included in the second communication data of the above.
In the step of transmitting to the first mobile body, if it is determined that the communication path has not been established with the first mobile body, the first step is when the communication path is established immediately before. Based on the first estimated position information transmitted from the mobile body to the second mobile body and included in the first communication data received by the second mobile body, the next second communication data is transferred to the first communication data. A method of controlling an optical wireless communication system, including a step of transmitting to a mobile body.

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