JP2985961B2 - Mobile vehicle operation control equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile station provided with a mobile communication device for performing wireless communication with a ground station communication device of a ground station so as to travel along a predetermined travel route. A control unit that controls traveling and controls a communication operation of the mobile vehicle communication device; and a communication position detection unit that performs communication with the ground station communication device and detects a communication position on the travel route. The present invention relates to a mobile-vehicle operation control device provided, wherein the control means is configured to operate the mobile-vehicle-side communication device based on a detection result of the communication position detection means.

[0002]

2. Description of the Related Art A moving vehicle of such a moving vehicle operation control equipment includes:
For example, the vehicle travels along a predetermined travel route by detecting a guide line laid on the travel road surface and traveling, or by autonomously traveling based on map information provided inside. Therefore, in such mobile vehicle operation control equipment, the mobile vehicle is configured to detect a communication position on a predetermined travel route, execute wireless communication with the ground station at the communication position, and travel. However, multipath fading due to changes in the communication field due to the addition or removal of various devices (interference between the received wave directly input to the antenna and the received wave input after phase inversion due to reflection from a wall or the like) In the past, a point where communication was good in the past may change to a point where communication is not possible or unstable due to the presence of an obstacle that blocks radio waves or a burst noise (jamming wave) from the device. . For this reason, conventionally, every time various devices are added or removed, or at regular intervals, an operator measures the reception intensity of radio waves from a base station at each communication position, for example. Was checking the communication status.
If the communication status is not good as a result of the check, the worker searches for a good communication position (good communication point) on the nearby traveling route, and determines the good communication position. (Re-adjustment) such as changing to.

[0003]

Therefore, in the prior art, each time an operator adds or removes various devices or periodically, an operator must check the communication status at each communication position. It took time and trouble to check, and improvement was desired. The present invention has been made in view of the above circumstances, and has as its object to operate a mobile vehicle capable of maintaining a good communication state between the mobile vehicle and the ground station even if a change occurs in a communication field. To provide control equipment.

[0004]

SUMMARY OF THE INVENTION A mobile vehicle operation control system according to the present invention provides a mobile vehicle equipped with a mobile vehicle communication device for performing wireless communication with a ground station communication device of a ground station. A control unit that controls traveling so as to travel along a route and controls a communication operation of the mobile vehicle-side communication device, and performs communication with the ground station-side communication device. Communication position detecting means for detecting, wherein the control means is configured to operate the mobile communication device on the basis of a detection result of the communication position detecting means. A characteristic configuration is that the mobile vehicle is provided with communication state determination means for determining whether the communication state with the ground station side communication device is good or not, and the control means determines the communication state at the communication position by the communication state determination means. If the result is bad The, while continuing the communication is that a determination result of the communication state determination means is configured to move the transport vehicle to communicate good point to reverse to better than poor. A second characteristic configuration is that the control means includes:
The point is that the position of the good communication point is stored, and the good communication point is used as the communication position for the next and subsequent runs. A third characteristic configuration is that the mobile-vehicle-side communication device and the ground-station-side communication device are configured by a spread spectrum communication method.

[0005]

According to the first characteristic configuration of the present invention, the mobile vehicle travels to a good communication point where the communication state is reversed from poor to good if the communication state with the ground station at the communication position on the traveling route is not good. It will move and execute communication with the ground station. According to the second feature configuration, the control means of the mobile vehicle stores the good communication point, and executes communication at the stored point (good communication point) at the time of next and subsequent traveling. According to the third feature configuration, communication between the mobile vehicle and the ground station is executed by wireless communication using a spread spectrum communication method. By the way, in the spread spectrum communication system, when transmitting information, a spread code is used to convert the signal into a signal having a wider bandwidth than the inherent bandwidth, that is, disperse the communication energy into a wide band. This is a special communication system in which the receiving side cannot demodulate without using a spreading code corresponding to the spreading code on the transmitting side. Therefore, it can be said that the spread spectrum communication system is a communication system that is resistant to interference resistance, burst noise, and multipath fading, and is excellent in signal confidentiality.

[0006]

According to the first characteristic configuration of the present invention, the mobile vehicle can move to the good communication point where the communication state is reversed from poor to good and can communicate with the ground station. Thus, even if a change occurs in the communication field, a mobile vehicle operation control facility capable of maintaining a good communication state between the mobile vehicle and the ground station has been provided. According to the second feature configuration, the mobile vehicle can execute communication with the ground station at a good communication point when the vehicle travels next time, so it is not necessary to search for a good communication point again. Accordingly, it has been possible to provide more convenient mobile vehicle operation control equipment. Third
According to the characteristic configuration, the communication between the mobile vehicle and the ground station is a radio communication using a spread spectrum communication system which is a communication system which is resistant to interference resistance, burst noise, multipath fading, and excellent in signal concealment. Since the communication is performed by communication, even if the communication environment changes, each communication position hardly changes to a communication impossible point, and thus good communication can be performed at each communication position.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 2, the mobile vehicle operation control equipment according to the present invention includes a mobile vehicle A (A1, A2) traveling along a guidance zone L as a predetermined traveling route, and a plurality of stations ST for transferring articles. (ST1 to ST4), and a central management station C as a ground station, and is configured to perform an article transfer operation between the station ST and the mobile vehicle A stopped at the station ST. I have. FIG. 2 shows the layout of the actual equipment in a simplified manner. Each mobile vehicle A loads luggage at any one of the stations ST in response to a work command from the central control station C, and loads the load. It is assumed that the package is wholesaled to any other station ST.

[0010] As shown in FIG. 4, the induction band L has a rectangular cross section, a magnetic body magnetized to the N pole on the front side and the S pole on the back side is embedded in the running road surface, and the periphery is fixed with epoxy resin to reduce the road surface. It is configured to be flush. Then, the curved section (B1 to B4), the branching section (D1, D2), the merging section (E1, E2) of the guiding zone L, and the station ST (ST1 to S4)
As shown in FIG. 2, a storage medium T (T1 to T14) called an ID tag is buried in a position before T4), and further, a stop position of the moving vehicle A at the station ST (ST1 to ST4). Mark M (M1 to M
4) is provided at a position where the storage medium T has been detected and traveled the set distance d. These storage media T store traveling control information necessary for traveling of the mobile vehicle A at each installation location. For example, it is information such as the address of the station ST and the intersection (branch, junction), the distance to the stop mark M, and the traveling speed on the curve.

Next, the configuration of the moving vehicle A will be described. As shown in FIG. 3 and FIG.
In addition, a traveling wheel 3 serving as a steering wheel is provided, which is propelled and driven by a steering motor 2, and a pair of left and right idle wheels 4 is provided on the rear side of the vehicle body. A follow-up sensor 5 for detecting the above-mentioned guidance zone L and obtaining information for steering control is provided so as to be turned integrally with the traveling wheel 3. Further, the traveling wheel 3 is provided with a rotary encoder 6 for generating a signal of a pulse number proportional to the rotation speed in order to calculate a running distance from the rotation speed. A tag reader 7 for reading stored information of a storage medium T embedded in the above-described traveling road surface, and a mark sensor 8 for detecting stop marks M1 and M2 are provided at the front right portion of the vehicle body. An optical communication device 9 for exchanging information (for example, transfer start and end) with the station ST at the time of transfer work at the station ST is provided at the center of the left side surface of the vehicle body. I have.

Further, the mobile vehicle A is caused to travel along the guidance zone L and the mobile vehicle side communication device 10 for performing wireless communication with the ground station side communication device 20 of the central control station C as a ground station. As described above, the moving vehicle controller 11 is provided as control means for controlling traveling and controlling the communication operation of the moving vehicle communication device 10.
Is configured to operate the mobile-vehicle-side communication device 10 in order to perform communication between the central management station C and the other mobile vehicles A. That is, when traveling along the guidance zone L, the moving vehicle-side controller 11 receives input from the following sensor 5, the rotary encoder 6, the tag reader 7, the mark sensor 8, the optical communication device 9, the moving vehicle-side communication device 10, and the like. Motor drive circuit 1 based on the information
The start / stop and speed control of the moving vehicle A is performed by controlling the drive / stop and speed control of the traveling motor 1 through the steering motor 2. By controlling the reverse drive / stop, the moving vehicle A
The steering control along the guidance band L is performed.

As shown in FIG. 1, the station ST is provided with a station side communication device 30 for performing wireless communication with the ground station side communication device 20. Therefore, the station ST uses the mobile communication device 10, the ground station communication device 20, and the station communication device 30 to notify the central management station C of the luggage transport request information and the start of the transfer operation at the station. , End, etc., the mobile vehicle A transmits its own position information and information such as the end of the transfer operation to the central control station C, and the ground-side management means C transmits the information to the mobile vehicle A. The travel command information of the mobile vehicle A is transmitted based on the position information of the mobile vehicle A, the luggage transfer request information from the station ST, and the information such as the start and end of the transfer work at the station ST. ing.
In the figure, reference numeral 21 denotes a controller for operating the ground station communication device 20, and reference numeral 31 denotes a controller for operating the station communication device 30.

The mobile-vehicle communication device 10, the ground-station-side communication device 20, and the station-side communication device 30 are spread-spectrum communication systems using spread codes (hereinafter referred to as PN codes), and are shown in FIG. Thus, the transmission / reception modem e and the antenna f are provided. The ground station side communication device 20 has two modems e (e ₁ , e ₁ ,
e ₂ ) and two antennas f (f ₁ , f ₂ ) are provided. The modem e ₁ and the antenna f ₁ execute communication between the mobile communication device 10 and the modem e ₂ . Antenna f ₂
Is configured to execute communication with the station-side communication device 30.

The configuration of the transmitting side modem and the type of the receiving side modem in the spread spectrum communication system using the PN code will be described below with reference to FIG. In the modem e at the time of transmission, the transmission information signal 100 is subjected to the same modulation (primary modulation 102 by the carrier generator 101) as in the conventional communication system (frequency modulation, phase modulation system or the like) and then to PN. Spread modulation 104 of the direct spreading method using the noise-like PN code generated by the code generator 103 is performed, and further, the transmission power (power) of the spread modulated signal is adjusted 105 and transmitted. Is configured.

At the time of reception of the modem e, the PN code generator 1
10 (PN of the modem e on the transmitting side)
The spread spectrum is reduced to the frequency spectrum of the primary modulation (despread 111) by correlating and demodulating the received signal using the PN code corresponding to the code (the PN code corresponding to the PN code), and the signal is demodulated in the same manner as the conventional communication system (Carrier generator 1
The information 114 is obtained by performing demodulation 113) by the information processing unit 12. The PN code generator 110 is configured to generate a PN code (that is, a PN code having a high correlation value) corresponding to the PN code of the modem e on the transmitting side and to correlate and demodulate the received signal. A signal that has been spread-modulated and transmitted with a PN code of the type (that is, a low correlation value) cannot be demodulated.

Note that P generated by the PN code generator 103 is
The N code is composed of ten types of PN codes of channels 0 to 9. The transmitting modem e selects a communication destination channel (channel selection 106) and switches the PN code to transmit. It is configured. Further, the adjustment 105 of the transmission power (power) is performed in three levels 0-2.
The transmission power is selected from the types of transmission power (transmission power selection 107).
0% output), level 1 is 13% output, and level 0 is 1% output.

However, in this embodiment, channel 0 is for communication from the mobile vehicle A to the central management station C, and channel 1 is
Channels 2 and 3 for communication from the station ST to the central management station C are respectively provided by the mobile vehicles A1 and A2 from the central management station C.
Channels 4 to 7 are respectively allocated for communication from the central management station C to the stations ST1 to ST4, and channels 8 and 9 are allocated for communication between mobile vehicles at the junctions E1 and E2, respectively. I have. That is, the modem e of the mobile-vehicle communication device 10 corresponds to the channel (2 or 3) allocated to the own mobile vehicle A or the channel (8 or 9) allocated to communication at each of the junctions E1 and E2. Demodulated only the received radio waves having the PN codes corresponding to the channels 8 and 9 (however, the demodulation of the received radio waves having the PN codes corresponding to the channels 8 and 9 is performed only at the junctions E1 and E2), and the modem e of the ground station side communication device 20 is demodulated. _{In 1} , PN corresponding to channel 0
The modem e _{2 of} the ground station-side communication device 20 demodulates only the received radio wave having the PN code corresponding to channel 1, and the modem e of the station-side communication device 30 demodulates only its own radio wave. It is configured to demodulate only received radio waves having PN codes corresponding to the channels (4 to 7) allocated to the stations.

Accordingly, the controller 21 of the central management station C
Replaces the PN code of the ground station communication device 20 with the PN of the communication destination.
PN code corresponding to the code (any of channels 2 to 7)
And transmission is performed at level 2 transmission power (transmission power is not selected). That is, for example, when the central control station C transmits to the mobile vehicle A1 stopped at the station ST2 transmits using a modem e ₁ and the antenna f ₁ on channel 2 at level 2, the station When transmitting to ST1, the modem e ₂ and the antenna f ₂ are used on channel 4 at level 2 and when transmitting to station ST4, the modem is on channel 2 at level 2 It sent using e ₂ and the antenna f _2. On the other hand, since the controller 31 of the station ST is configured to execute only communication with the ground station side communication device 20, it is configured to always transmit on the channel 1 at the level 2 transmission power. I have. Therefore, the modem e of the ground station side communication device 20 does not have the function of adjusting the transmission power 105, and the station side communication device 30
The function of performing channel selection 106 and transmission power adjustment 105 is omitted in the modem e.

Further, the controller 11 on the moving vehicle side of the moving vehicle A
Is based on the detection results of the rotary encoder 6, the tag reader 7, and the mark sensor 8,
0 or other communication of the mobile vehicle A with the mobile vehicle side communication device 10 to detect a communication position on the guidance band L,
Based on the detection result, the PN of the mobile communication device 10
The code is switched to a PN code (channel 0) corresponding to the PN code of the central control station C or a PN code (channel 8 or 9) used for communication with other mobile vehicles, and is switched to the position of the mobile vehicle A. The communication distance with the communication destination is determined based on the communication power, and the transmission power of the mobile communication device 10 is switched (selected from the levels 0 to 2) to perform communication. That is, for example, in the station ST4,
The moving vehicle A stops upon detecting the stop mark M provided at the station ST4, and transmits the position as a communication position to the central control station C on channel 0 at level 2. For example, at the junction E1, the junction E
1 is detected as a communication position from a position at which the storage medium T provided at the front of the vehicle 1 is detected to a point at which the vehicle travels a predetermined distance a. 0, and at the junction E2, the signal is transmitted at level 0 on the channel 9 as in the junction E1.

The communication between the moving vehicles at the junctions E1 and E2 is performed to prevent the collision between the moving vehicles at the junctions E1 and E2. For example, the details are as follows. Moving car A
Detects the storage medium T provided in front of the junction E1, every time the vehicle travels the set distance d from the position where the storage medium T is detected, at level 0 on the channel 8, the mobile vehicle identification information Send After the storage medium T is detected and before the vehicle travels the set distance b, the channel 8
If no radio wave corresponding to the channel 8 is received, it is determined that there is no other mobile vehicle A traveling at the junction E1, and the channel 8
The vehicle travels the junction E1 while transmitting (level 0) radio waves every time the vehicle travels the set distance d. If, after detecting the storage medium T and traveling the set distance b, the channel 8
Is received, it is determined that there is another mobile vehicle A traveling at the junction E1, and after detecting the storage medium T, the vehicle travels the set distance b and moves to a position (a position before the junction E1). The operation is stopped until the radio wave corresponding to channel 8 is no longer received. However, a>b> d. When the two moving vehicles A enter the junction E1 almost at the same time, they stop at the position where they travel the set distance b after detecting the storage medium T, respectively. The order is determined, and the running is started according to the order.

As described above, the mobile-vehicle-side controller 11 operates between the mobile-vehicle-side communication device 10 and the ground-station-side communication device 20 at each station ST (at the position where the stop mark M is detected and stopped). The communication is performed, and the communication between the mobile-vehicle-side communication device 10 and the ground-station-side communication device 20 is also performed at the branching unit D (D1, D2) and the merging unit E (E1, E2). It is configured. That is, for example, the moving vehicle A1 is moved from the station ST1 to the station ST3.
To travel to the station ST
When the transfer operation is being performed in Step 3, the ground station-side controller 21 moves the mobile vehicle A1 from the station ST1 to a position in front of the branch portion D2 (the position where the storage medium T7 has been detected and the set distance b has been traveled). A travel command is transmitted so that the vehicle travels up to. When the mobile vehicle controller 11 causes the mobile vehicle A to travel to the position before the branching portion D2 (the position where the storage medium T7 is detected and travels the set distance b) and stops, the stop position information is transmitted to the central management station C. Send. Therefore, the position traveled by the set distance b from each storage medium T is set as the communication position on the derivative L.

Therefore, the mobile vehicle controller 11, the rotary encoder 6, the tag reader 7, and the mark sensor 8 execute communication with the ground station communication device 20 or another mobile vehicle communication device 10 of the mobile vehicle A. Guidance line L
The vehicle controller 11 functions as a communication position detecting means Q for detecting a communication position on the traveling path of the mobile vehicle A (i.e., the traveling route of the mobile vehicle A). The device 10 is configured to operate.

The ground station side communication device 20 of the central control station C is provided with _two antennas f ₁ and f ₂ as described above, and between the antennas f ₁ and f ₂ , FIG. As shown, a shielding plate 22 is provided. This shielding plate 22
To prevent radio waves transmitted by one antenna f from directly acting on the other antenna f and becoming interfering radio waves (noise), that is, to prevent radio waves with high power from entering the other antenna f, both antennas f This shields the radio wave between f. The shielding plate 22 is made of a material (for example, a conductor) that blocks (or reflects) radio waves.

The following sensor 5 is, as shown in FIG.
It consists of four magnetic sensing elements arranged side by side in the left-right direction of the vehicle body. In a state where the position of the moving vehicle A in the left-right direction is at an appropriate position with respect to the guidance band L, that is, in a state where the center of the following sensor 5 in the left-right direction is located at the center of the guidance band L,
The inner two of the four magnetic sensing elements sense the magnetism of the induction band L and are turned on, and the outer two are off, which do not sense the magnetism. Therefore, when the moving vehicle A is deviated to the left and right with respect to the guidance band L, one of the two outer magnetic sensing elements is in a state of sensing the magnetism of the guidance band L.
Based on the detection information, steering control is performed to return the vehicle body to an appropriate position with respect to the guidance zone L.

The tag reader 7 performs close proximity wireless communication by electromagnetic induction with the storage medium T, reads out the information stored in the storage medium T, and passes the information to the mobile vehicle controller 11. The storage medium T is a casing in which a rewritable semiconductor memory (EEPROM), a loop antenna, a signal processing circuit, a control circuit, and the like for performing proximity wireless communication by electromagnetic induction with an external device are integrally formed. With such a configuration, the above-described traveling control information can be written or read out of the storage medium T in a non-contact manner.

While the mobile vehicle A is traveling, the tag reader 7 transmits a response request signal to the unspecified storage medium T at a constant cycle. On the other hand, the storage medium T is maintained in a state in which the response request signal from the tag reader 7 can be received.
Therefore, the moving vehicle A approaches the installation location of the storage medium T,
When the distance between the storage medium T and the tag reader 7 approaches the communicable distance, the storage medium T receives a response request signal from the tag reader 7 and returns a response. Storage medium T and tag reader 7
When the communication between them is established, the information stored in the storage medium T is read by the tag reader 7.

Further, as shown in FIGS. 1 and 4, the monitoring device 14 for detecting the reception level (a scale indicating the reception state) of the radio wave transmitted from the ground station side communication device 20 is provided in the mobile vehicle A. And the moving vehicle-side controller 11
Is the ground station side communication device 20 by the monitoring device 14
The communication status with the ground station communication device 20 is determined based on the reception level of the transmission radio wave from the terrestrial station communication device 20. If the determination result is bad, the communication is continued while the ground station communication device It is configured to move the mobile vehicle A to a good communication point where the communication state with the communication device 20 is reversed from poor to good. Further, the mobile-vehicle controller 11 is configured to store the position of the good communication point in the internal memory 16 and set the good communication point as a communication position for the next and subsequent runs. Therefore, the mobile vehicle-side controller 11 functions as a communication state determination unit R that determines whether the communication state with the ground station-side communication device 20 is good.

Next, a communication operation state between the mobile communication device 10 and the ground station communication device 20 will be described with reference to the flowcharts of FIGS. First, the mobile vehicle controller 11 stops the mobile vehicle A at the communication position (the position where the storage medium T is detected and travels the set distance d), and transmits an ENQ signal (inquiry signal) to the central management station C. When a response signal from the central management station C is received in response to the ENQ signal, the response signal reception level and the communication position are stored in the internal memory 16 as a pair, and
If the reception level at that time is equal to or less than the adjustment reference value (set value), when the number of past histories Kn (the number of communication at each communication position) equal to or less than the reference value continuously reaches a predetermined number L, the value at that point is When it is determined that the communication state is not good (deteriorated), the search flag is turned on to execute a search process for searching for a good communication point. If there is no response signal from the central management station C, the transmission of the ENQ signal to the central management station C is repeated until the response signal from the central management station C is received. If the response signal from the central management station C is not received even after the repetition of the number of times, it is determined that some temporary radio interference has occurred and the communication state has deteriorated, and the search processing is performed without turning on the search flag. Execute.

When a good communication point is found, a response signal A
After confirming whether it is a CK signal (acknowledge signal) or not, the data is transmitted to the central management station C, and then the E from the central management station C is transmitted.
Upon receiving the OT signal (transmission end signal), the communication between the mobile vehicle A and the central management station C is ended. If the response signal is AC
If the signal is not a K signal (a negative acknowledgment (NAK) signal), the ENQ signal is repeatedly transmitted until the response signal from the central management station C becomes an ACK signal. The adjustment reference value indicates a value at which communication can be performed with a reception level lower than this, but a reception level higher than this is desirable.

In the search processing, an operation of moving (running) a predetermined distance j and transmitting an ENQ signal to the central management station C is described as follows.
The process is repeatedly executed until the reception level of the response signal from the central management station C becomes equal to or higher than the adjustment reference value. If the reception level of the response signal from the central management station C becomes equal to or higher than the adjustment reference value, communication with the central management station C is executed at that point (communication good point) as described above. If it is ON, that point is stored in the internal memory 16 and set as the communication position for the next and subsequent runs (communication position change). If the search flag is not ON, it is determined that the radio wave is temporarily interrupted, and the communication position is not changed.
By the way, spread spectrum communication is legally 2.4 kHz.
Since it is a wireless band, the wavelength is as short as about 125 mm, so that if it moves several cm, the communication state will also change.

Accordingly, when the transfer operation is completed at the station ST, the mobile vehicle A usually transmits its position information and information on the end of the transfer operation to the central management station C, and transmits the transmission position (communication position). ), The system waits until the next traveling command is issued. However, if the communication state at the communication position is not good, the mobile station moves to a good communication point and enters the central management station C.
, And wait at that point.

[Alternative Embodiment] In the above embodiment, the mobile vehicle A is configured to travel along the guide zone L as a predetermined traveling route. Autonomous driving may be performed based on map information provided inside. Also in this case, similarly to the above embodiment, it is possible to control the traveling of the mobile vehicle A and the operation of the mobile vehicle communication device 10. In the above embodiment, the communication between the mobile vehicle A and the station ST is configured to be performed by the optical communication device 9.
Communication (spread spectrum communication) may be performed between the mobile vehicle communication device 10 and the station communication device 30. In the above embodiment, the ground station-side communication device 20 and the station-side communication device 30 transmit at a constant transmission power regardless of the distance to the transmission partner.
Communication may be performed by switching the transmission power according to the distance to the transmission partner. In the above embodiment, each communication device is configured by the spread spectrum communication system. However, another communication system, for example, a wireless communication such as a frequency modulation system or a phase modulation system may be used. In this case, each communication device can be operated in the same manner as in the above-described embodiment. In the spread spectrum communication system of the above embodiment, spread modulation of the direct spread system is performed, but spread modulation of another system, for example, spread modulation such as the frequency whipping system or the time whipping system may be performed.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a mobile vehicle operation control facility.

FIG. 2 is a plan view showing a layout of a mobile vehicle travel control facility.

FIG. 3 is a perspective plan view showing a schematic configuration of a mobile vehicle.

FIG. 4 is a block diagram showing a configuration of a control device for a mobile vehicle.

FIG. 5 is a block diagram illustrating a configuration of a communication device.

FIG. 6 is a perspective view showing a configuration of an antenna.

FIG. 7 is a flowchart showing a communication operation state;

FIG. 8 is a flowchart showing a communication operation state;

[Explanation of symbols]

 C ground station L traveling route Q communication position detecting means R communication state determining means 10 mobile vehicle side communication device 11 control means 20 ground station side communication device

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) H04B 7/24-7/26 H04Q 7/00-7/38

Claims (3)

(57) [Claims] A ground station side communication device (2) of a ground station (C).
Mobile communication device (10) for performing wireless communication with (0)
Control means (11) for controlling traveling so that a mobile vehicle having a vehicle travels along a predetermined traveling route (L) and controlling a communication operation of the mobile vehicle communication device (10); Communication position detecting means (Q) for detecting a communication position on the travel route (L) for performing communication with the station side communication device (20); and the control means (11) Detection means (Q)
The mobile vehicle operation control equipment configured to operate the mobile vehicle communication device (10) based on the detection result of the above, wherein the mobile vehicle is connected to the ground station communication device (20). Communication state determination means (R) for determining whether the communication state is good or bad; and the control means (11) performs communication if the determination result of the communication state determination means (R) at the communication position is bad. Moving vehicle operation control equipment configured to move the mobile vehicle to a good communication point where the determination result of the communication state determining means (R) reverses from poor to good while continuing. 2. The control means (11) is configured to store the position of the good communication point, and to use the good communication point as the communication position in the next and subsequent runs. Mobile vehicle operation control equipment as described. 3. The mobile vehicle operation control equipment according to claim 1, wherein the mobile vehicle side communication device (10) and the ground station side communication device (20) are configured by a spread spectrum communication system.