JP3750605B2 - Mobile operation system and communication method thereof - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a moving body that feeds electric power in a non-contact manner from a feeding line laid along a guide rail, and drives a traveling motor with the fed electric power to run the moving body along the guide rail. More particularly, the present invention relates to a moving body operating system and a communication method thereof performed between the moving body and a ground station.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there has been proposed a moving body operation system in which a guide rail is provided on a ceiling and a plurality or one moving body travels along the guide rail. For example, the efficiency of physical distribution in a factory or a warehouse is achieved by transporting a load to the mobile body. In general, a traveling motor is used for traveling a moving body. The driving power of the travel motor is supplied via a power supply line (power trolley line) through which a 200-volt AC is laid on the guide rail.
[0003]
This power feeding method includes a trolley type and a non-contact type. The trolley type is a method in which power is supplied by bringing a current collector provided on the moving body side into contact with a power supply line. The non-contact method is a method of obtaining electric power by arranging a pickup coil provided on the moving body side in the vicinity of a feeder line and generating an induced electromotive force in the pickup coil. The trolley type has problems such as the necessity of maintenance due to wear of the current collector and the generation of dust and sparks, whereas the non-contact type does not have this. Therefore, the non-contact method is attracting attention in recent years because the non-contact method is superior to the trolley method.
[0004]
By the way, operation control of the moving body that travels along the guide rail is performed based on a command signal from an operation control device (a so-called ground station) installed on the ground. That is, the ground station performs communication necessary for operation with a moving body traveling on the guide rail. In this communication method, a radio device is installed in a ground station and a mobile unit, and communication is performed using the radio device. The mobile unit communicates with the ground station while traveling, and is controlled by the ground station.
[0005]
[Problems to be solved by the invention]
However, in the above communication method, the guide rail is installed in a wide range, and in order to be able to communicate reliably with respect to a moving body that travels over the wide range, a plurality of optimum radio devices on the ground station side are used. It must be installed in a safe place. Therefore, a communication cable connecting the radio device and the ground station has to be wired, and the work required labor and time. In addition, since each location where the radio equipment on the ground station side is installed needs to be able to reliably communicate with the moving body, the selection of the installation location requires labor and time.
[0006]
Therefore, a communication line connected to the ground station is laid along the guide rail in parallel with the feeder line. And it is possible that a mobile body communicates with a ground station via this communication line. However, since the communication line must be laid on the guide rail, the wiring work requires labor and time. Furthermore, since the collector is brought into contact with the communication line, the communication line and the collector are worn. As a result, communication failures frequently occur and replacement work must be performed periodically. Further, the guide rail is increased in size by the communication line. Furthermore, the structure of the communication line becomes complicated due to the wiring of the communication line, and the molding is very troublesome.
[0007]
It is an object of the present invention to eliminate the need for communication line installation, wiring work, and replacement work due to wear, etc., and to reduce the size of the guide rail and simplify its structure and make it easier to form. It is to provide an operation system and a communication method thereof.
[0008]
[Means for Solving the Problems]
The invention of claim 1 includes an AC line composed of a pair of power supply lines wired along a guide rail, and an induction coil positioned in the vicinity of the AC line, and an induced electromotive force generated in the induction coil. In a moving body operation system comprising a moving body that drives a traveling motor and travels on the guide rail, and an operation control device that controls the operation of the moving body by communicating with the moving body,
The mobile unit is configured to transmit and receive the operation controller that controls the operation of the mobile unit based on a communication signal transmitted to and received from the operation control device, and without being in contact with the pair of power supply lines. A modem connected to an antenna, the operation controller superimposes a communication signal on the AC power flowing through the AC line via the modem and the transmission antenna, and the modem is connected to the AC power on which the communication signal is superimposed. The gist of the present invention is to receive a power wave opposite to the power antenna via the receiving antenna, and to extract a communication signal from the power wave and transmit it to the operation controller.
The invention of claim 2 includes an AC line composed of a pair of feeders wired along the guide rail, and an induction coil positioned in the vicinity of the AC line, and an induced electromotive force generated in the induction coil. In a communication method of a moving body operation system comprising a moving body that drives a traveling motor and travels on a guide rail, and an operation control device that controls the operation of the moving body by communicating with the moving body, A communication signal transmitted and received between the mobile body and the operation control device via the transmission and reception antennas is arranged on the AC line in which the transmission and reception antennas are arranged without contacting between the pair of feeders. Superimposed on the flowing AC power, receives a power wave based on the AC power on which the communication signal is superimposed, extracts a communication signal from the received power wave, and connects the mobile unit and the operation control device. As its gist to carry out the communication.
[0009]
According to a third aspect of the present invention, there is provided a communication method for a mobile operation system according to the second aspect, wherein the mobile unit and the operation control device are connected via a modem connected to a transmission and reception antenna for transmitting and receiving communication signals. The gist is to extract a communication signal from the power wave.
[0010]
According to a fourth aspect of the present invention, in the communication method for a moving body operating system according to the third aspect, the moving body is controlled based on the communication signal via an operating controller, and the receiving antenna is received from an AC line. A power wave opposite to the AC power on which the communication signal is superimposed is transmitted as an analog signal to the modem, and the modem extracts the communication signal from the analog signal from the receiving antenna and converts it into a digital signal to perform the operation. It is transmitted to a controller, and the operation controller performs operation control of the moving body according to the digital signal.
[0011]
(Function)
According to the invention of each claim, when a communication signal is superimposed using a power wave flowing through the AC line as a carrier wave, the superimposed communication signal propagates through the AC line wired to the guide rail. By extracting this superimposed communication signal, communication between the moving body and the operation control device becomes possible. As a result, a communication line for communication is not necessary, and communication can be reliably performed via an AC line wherever a moving body is present.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment in which the present invention is embodied in an unmanned transport system in which a transport carriage travels on a guide rail installed on a ceiling will be described with reference to the drawings. FIG. 4 shows the layout of this transport system, and FIG. 1 shows the construction state of the guide rail. The travel route 2 of the transport system 1 is formed in a closed loop shape by the guide rail 3 installed on the ceiling 2 a, and transport carts 4 </ b> A to 4 </ b> C as a plurality of moving bodies travel around the guide rail 3. A plurality of stations 5 </ b> A to 5 </ b> C are installed along the guide rail 3. Each of the stations 5A to 5C is provided with a conveyor (not shown), and the transport carts 4A to 4C deliver the cargo at the stations 5A to 5C. The travel and delivery control of each of the transport carts 4A to 4C is collectively controlled by an operation control device 6 installed on the ground as shown in FIG.
[0013]
The transport carts 4A to 4C include a drive wheel 7 and a driven wheel 8 that roll on the guide rail 3, and a guide wheel 9 that sandwiches a flange side surface of the guide rail 3, and is supported by the guide rail 3 in a suspended state. Yes. As shown in FIG. 2, a traveling motor 10 including a three-phase induction motor is mounted on the transport carts 4 </ b> A to 4 </ b> C, and the driving wheels 7 are driven by the travel motor 10 to transport the transport carts 4 </ b> A to 4 </ b> C. Travels on the guide rail 3.
[0014]
On the side surface of the guide rail 3, feed lines 11 as AC lines made of litz wires are wired at regular intervals. As shown in FIG. 5, the feeder line 11 wired at regular intervals in the vertical direction is a round trip line, and the feeder line 11 disposed on the upper side is defined as the forward path 11a, and the feeder line 11 disposed on the lower side is defined as the return path 11b. . The starting end and the terminal end of the feeder line 11 are connected to a power supply device 12 installed on the ground. Then, when the power supply device 12 supplies AC power to the starting end of the power supply line 11, the AC power returns after flowing through the upper power supply line 11 (forward path 11a) and terminates via the lower power supply line 11 (return path 11b). Will flow into. In the present embodiment, the AC power supplied from the power supply device 12 is a power supply having a high frequency sine waveform of 200 volts and 10 kilohertz.
[0015]
As shown in FIG. 2, the feed line 11 that forms the round trip line is supported by a pair of upper and lower support arms 13 disposed on the side surface of the guide rail 3. The pair of upper and lower support arms 13 keeps a predetermined distance between the upper power supply line 11 (outward path 11a) and the lower power supply line 11 (return path 11b).
[0016]
A pair of front and rear ferrite cores 15 having a substantially E-shaped cross section are disposed on each of the transport carriages 4A to 4C so as to face the power supply line 11 (the forward path 11a and the return path 11b). The pair of front and rear ferrite cores 15 are supported and fixed to support brackets 16 extending from the transport carriage main body.
[0017]
The ferrite core 15 has an upper power supply line 11 (outward path 11a) between the upper protrusion 15a and the central protrusion 15b, and a lower power supply line between the central protrusion 15b and the lower protrusion 15c. 11 (return path 11b) is supported and fixed to the support bracket 16 so as to pass therethrough. A pickup coil 17 as an induction coil is wound around the central protrusion 15 b of the ferrite core 15. Therefore, an induced electromotive force is generated in the pickup coil 17 by the magnetic flux generated in the power supply line 11 (the forward path 11a and the return path 11b) by the electric power of the high-frequency sine waveform of 200 volts and 10 kilohertz flowing in the power supply line 11 (the forward path 11a and the return path 11b). Occurs. The induced electromotive force generated in the pickup coil 17 is supplied to a power supply device 18 which will be described later, which is mounted on the transport carriage, and becomes a driving power source for the traveling motor 10, and an operation controller 19 mounted on the transport trucks 4A to 4C. Drive power source. The pickup coils 17 wound around the pair of front and rear ferrite cores 15 are connected in series with each other.
[0018]
As shown in FIG. 3, support arms 20 and 21 are provided on both sides of the support bracket 16 that supports the ferrite core 15 (here, only the front ferrite core). In FIG. 3, a transmission antenna 23 is attached to the tip of the left support arm 20. A receiving antenna 24 is attached to the tip of the right support arm 21. The transmitting and receiving antennas 23 and 24 attached to the support arms 20 and 21, respectively, are arranged without contact between the upper feeding line 11 (outward path 11a) and the lower feeding line 11 (return path 11b). . The transmitting and receiving antennas 23 and 24 have a coil shape in the present embodiment, and are arranged in the same direction as the pickup coil 17.
[0019]
A control box 25 that houses various control circuits such as the operation controller 19 is disposed on the back surface of the support bracket 16 (the surface opposite to the surface on which the ferrite core 15 is fixed). The transmission and reception antennas 23 and 24 are connected to a modem 26 which will be described later, which is housed in the control box 25. The operation control device 6 installed on the ground includes a ground modem 30, to which a ground transmission antenna 31 and a ground reception antenna 32 are connected. The ground-side transmitting and receiving antennas 31 and 32 have a coil shape, and are wound around the feeder 11 (the forward path 11a and the return path 11b) extending from the power supply device 12.
[0020]
FIG. 6 shows an electric circuit of a power supply device 12 for supplying high-frequency power to the feeder line 11 and a power supply device 18 mounted on the transport carriages 4A to 4C.
The ground-side power supply device 12 includes an AC / DC conversion circuit 40 that converts a 200-volt, 60-hertz three-phase AC power supply 41 into a 200-volt DC power supply. The direct current power converted by the AC / DC conversion circuit 40 is supplied to the DC / AC conversion circuit 42.
[0021]
The DC / AC conversion circuit 42 includes a first drive circuit unit 42a and a second drive circuit unit 42b. The first and second drive circuit units 42 a and 42 b are connected in parallel to the AC / DC conversion circuit 40. The output terminal of the first drive circuit section 42 a is connected to the starting end of the feeder line 11 via a resonance capacitor 43. The output terminal of the second drive circuit unit 42 b is connected to the terminal end of the feeder line 11.
[0022]
The first drive circuit section 42a is composed of two upper transistors T1 and T2 and two lower transistors T3 and T4, and the collectors of the upper transistors T1 and T2 are on the positive pole side of the AC / DC conversion circuit 40. The emitters of the lower transistors T3 and T4 are connected to the negative pole side of the AC / DC conversion circuit 40. A connection point between the emitters of the upper transistors T1 and T2 and the collectors of the lower transistors T3 and T4 is an output terminal of the first drive circuit unit 42a.
[0023]
The second drive circuit section 42b is composed of two upper transistors T5, T6 and two lower transistors T7, T8, and the collectors of the upper transistors T5, T6 are on the positive pole side of the AC / DC conversion circuit 40. The emitters of the lower transistors T7 and T8 are connected to the negative pole side of the AC / DC conversion circuit 40. A connection point between the emitters of the upper transistors T5 and T6 and the collectors of the lower transistors T7 and T8 is an output terminal of the second drive circuit unit 42b.
[0024]
Then, the transistors T1 to T8 are turned on / off by a controller (not shown) to supply power of a high-frequency sine waveform of 200 volts and 10 kilohertz to the feeder line 11. Incidentally, the upper transistors T1 and T2 of the first drive circuit unit 42a and the lower transistors T7 and T8 of the second drive circuit unit 42b are controlled on and off in synchronization, and the first drive circuit unit 42a The lower transistors T3 and T4 and the upper transistors T5 and T6 of the second drive circuit unit 42b are on / off controlled in synchronization. When the upper transistors T1, T2 and the lower transistors T7, T8 are turned on, the lower transistors T3, T4 and the upper transistors T5, T6 are turned off. On the contrary, the upper transistors T1, T2 and the lower transistors T7, T8 are turned off. When is turned off, the lower transistors T3 and T4 and the upper transistors T5 and T6 are controlled to be turned on.
[0025]
Next, the power supply device 18 mounted on the transport carts 4A to 4C will be described.
The rectifier circuit 45 is connected at its input terminal to a series circuit of a pair of the pickup coil 17 and the output adjusting capacitor 46. The rectifier circuit 45 receives the induced electromotive force induced in the pickup coil 17, rectifies it, and outputs it to the inverter 48 via the smoothing capacitor 47. Then, the three-phase AC power that has been subjected to voltage and frequency conversion by the inverter 48 is supplied to the traveling motor 10.
[0026]
Next, the structure of the communication performed between the operation control apparatus 6 in the unmanned conveyance system comprised as mentioned above and the operation controller 19 of each conveyance trolley | bogie 4A-4C is demonstrated.
[0027]
In FIG. 7, the operation control device 6 creates a control command for traveling and delivery of the transport carts 4A to 4C and outputs it as a command signal. The command signal is output to a modem (hereinafter referred to as a ground side modem) 30 provided in the operation control device 6. The ground side modem 30 converts the digital command signal into an analog signal of 200 to 300 MHz and outputs it to the ground side transmission antenna 31 as a communication signal SG. The modem 30 is connected to a ground-side receiving antenna 32 so as to receive communication signals SG from the carriages 4A to 4C.
[0028]
Therefore, when the communication signal SG is output from the ground-side modem 30 to the ground-side transmission antenna 31, the communication signal SG of 200 to 300 MHz is superimposed on the waveform PS of 10 kilohertz flowing through the feeder line 11. . FIG. 8 is an explanatory diagram for explaining the superposition. The power waveform PSmix on which the communication signal SG is superimposed is propagated to the feeder line 11.
[0029]
The receiving antennas 24 of the transport carts 4A to 4C generate an induced electromotive force relative to the power waveform PSmix on which the communication signal SG is superimposed. This weak induced electromotive force is output to the modem 26 provided in the transport carts 4A to 4C. The modem 26 extracts the communication signal SG from the induced electromotive force on which the communication signal SG is superimposed, converts the extracted communication signal SG into a digital signal, and outputs the digital signal to the operation controller 19 as a command signal from the operation control device 6. . The operation controller 19 determines whether the command signal is a command signal for itself based on the command signal from the modem 26, and in the case of its own command signal, for example, drives the traveling motor 10 based on the command signal. Control. That is, the operation controller 19 controls the rotation of the motor 10 by outputting a control signal to the inverter 48 that constitutes the motor drive circuit when the travel motor 10 is controlled.
[0030]
Further, the operation controller 19 mounted on each of the transport carts 4A to 4c outputs a signal indicating the operation status of the transport carts 4A to 4C thereof to the modem 26. The modem 26 converts the signal from a digital signal to an analog signal of 200 to 300 megahertz and outputs the signal to the transmission antenna 23 as a communication signal SG. Therefore, when the communication signal SG is output from the modem 26 to the transmission antenna 23, the communication signal SG of 200 to 300 MHz is superimposed on the waveform PS of the power of 10 kilohertz flowing through the feeder line 11. Then, the power waveform PSmix on which the communication signal SG is superimposed is transmitted to the feeder line 11 as described above.
[0031]
The ground-side receiving antenna 32 wound around the feeder line 11 generates an induced electromotive force relative to the power waveform PSmix on which the communication signal SG is superimposed. This weak induced electromotive force is output to the ground modem 30. The ground-side modem 30 extracts the communication signal SG from the induced electromotive force on which the communication signal SG is superimposed, converts the extracted communication signal SG into a digital signal, and operates the operation control device 6 as a signal from the transport carts 4A to 4C. Output to. The operation control device 6 grasps the operation status of each of the transfer carriages 4A to 4C based on the signals from the transfer carriages 4A to 4C, creates a new command signal, and outputs it to each of the transfer carriages 4A to 4C.
[0032]
Next, the characteristics of the unmanned conveyance system configured as described above will be described below.
(1) In the present embodiment, for communication between the carriages 4A to 4C and the operation control device 6, a waveform PS of high-frequency power flowing in the feeder line 11 is used as a carrier wave and a communication signal SG is superimposed on the waveform PS. I let you. Then, the power waveform PSmix on which the communication signal SG is superimposed is received by the receiving antennas 24 and 32, the communication signals SG are extracted by the modems 26 and 30, and converted into digital signals to be converted into the operation controller 19 and the operation control device 6 respectively. Output to. Therefore, a communication line for communication is not necessary, and the work of wiring a trolley line for communication on the side surface of the guide rail 3 is eliminated.
[0033]
(2) Since the transmission and reception antennas 23 and 24 provided in the transport carts 4A to 4C are not in contact with the power supply line 11, the power supply line 11 and the transmission and reception antennas 23 and 24 are not worn. As a result, there is no replacement work due to wear.
[0034]
(3) Further, since the communication line is unnecessary, the guide rail 3 and the transport carts 4A to 4C can be reduced in size and the structure can be simplified correspondingly to the disappearance.
(4) Since the communication signal SG is superimposed on the power supply line 11, communication between the transport carriages 4A to 4C and the operation control device 6 is surely performed regardless of the position of the transport carriages 4A to 4C on the travel route. be able to.
[0035]
(5) The receiving antenna 24 and the transmitting antenna 23 are arranged so as to be between the forward path 11a and the return path 11b. Therefore, the receiving antenna 24 can receive with high sensitivity, and the transmitting antenna 23 can perform efficient superimposition.
[0036]
In addition, this invention is not limited to the said embodiment, You may implement with the following aspects.
In the above embodiment, the present invention is embodied in the unmanned transport system that travels on the guide rail 3 installed on the ceiling 2a. However, the present invention is embodied in the unmanned transport system and the automatic warehouse system that travel on the guide rail disposed on the ground. Also good.
[0037]
○ The number of transport carts may be changed as appropriate.
In the above embodiment, each antenna 23, 24, 31, 32 has a coil shape. However, the shape is not limited to this, and the antenna 23, 24, 31, 32 may be changed to a rod shape or a plate shape according to the installation space. May be implemented.
[0038]
In the above embodiment, the receiving antenna 24 and the transmitting antenna 23 are provided separately, but either one may be shared as the receiving and transmitting antennas. Similarly, on the ground side, the transmitting antenna 31 and the receiving antenna 32 are separately provided, but either one may be shared as the receiving and transmitting antennas.
[0039]
Next, technical ideas that can be grasped from the above embodiments are described below together with their effects.
(1) A moving body that travels on a guide rail by generating an induced electromotive force in an induction coil arranged in the vicinity of an AC line wired along the guide rail and driving a traveling motor with the induced electromotive force; In a moving body operation system provided with an operation control device that is provided at a position separated from the guide rail and communicates with the moving body to control operation of the moving body, the operation is provided in the operation control device. A ground-side modem that converts a digital command signal from the control device into an analog communication signal, a ground-side transmitting antenna that superimposes the communication signal from the ground-side modem on the power waveform of the AC line, and the AC provided in the moving body A receiving antenna for receiving a power waveform superimposed with a communication signal from an operation control device arranged so as to face the line, and the power waveform received by the receiving antenna from the power waveform Mobile side modem and the mobile navigation system including a navigation controller for driving and controlling the travel motor in accordance with a command signal from the mobile side modem for converting the extracted digital command signal signal signal. Therefore, the command signal transmitted from the operation control device to the moving body can be transmitted without using the communication trolley wire. As a result, wiring work for communication lines is eliminated.
[0040]
(2) In the moving body operation system according to (1), the communication signal converted from the signal indicating the operation state of the moving body from the operation controller by the moving body side modem is used for the moving body. A transmission antenna to be superimposed on the ground, and the operation control device includes a ground side reception antenna that receives a power waveform superimposed with a communication signal from the mobile body and extracts a signal indicating the operation status by the ground side modem. A mobile navigation system equipped. Therefore, in addition to the effect of the mobile operation system of (1), a signal indicating the operation status transmitted from the mobile to the operation control device can be transmitted without using a communication trolley line.
[0041]
【The invention's effect】
According to the invention of each claim, it is not necessary to perform installation work such as installation of communication lines, wiring work and wear, and the guide rail can be miniaturized and its structure can be simplified and molding can be made easier. There is an effect that it is possible.
[Brief description of the drawings]
FIG. 1 is a side view showing an arrangement state of a transport carriage.
FIG. 2 is a front view of a transport carriage for explaining a pickup coil and a power supply line.
FIG. 3 is a perspective view for explaining the arrangement of transmission and reception antennas and feeder lines.
FIG. 4 is an explanatory diagram for explaining a layout of an unmanned conveyance system.
FIG. 5 is an explanatory diagram for explaining that a feeder line is a round-trip line.
FIG. 6 is a circuit diagram for explaining a power supply device;
FIG. 7 is a block circuit diagram for explaining a communication method between the transport carriage and the operation control device.
FIG. 8 is an explanatory diagram for explaining superposition of a power waveform and a communication signal.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 3 ... Guide rail, 4A-4C ... Conveyance cart, 6 ... Operation control apparatus, 10 ... Motor for driving, 11 ... Feeding line, 11a ... Outward path, 11b ... Return path, 12 ... Power supply device, 15 ... Ferrite core, 16 ... Pickup Coil, 18 ... power supply, 19 ... operation controller, 23 ... transmitting antenna, 24 ... receiving antenna, 26 ... modem, 30 ... ground side modem, 31 ... ground side transmitting antenna, 32 ... ground side receiving antenna, SG ... communication signal , PS ... waveform, PSmix ... waveform.

Claims (4)

An AC line consisting of a pair of feeders wired along the guide rail, and an induction coil located in the vicinity of the AC line, and the driving motor is driven by the induced electromotive force generated in the induction coil In a moving body operation system comprising a moving body that travels on the guide rail and an operation control device that performs communication between the moving body and controls the operation of the moving body,
The mobile unit is configured to transmit and receive the operation controller that controls the operation of the mobile unit based on a communication signal transmitted to and received from the operation control device, and without being in contact with the pair of power supply lines. A modem connected to an antenna, the operation controller superimposes a communication signal on the AC power flowing through the AC line via the modem and the transmission antenna, and the modem is connected to the AC power on which the communication signal is superimposed. A mobile operating system characterized by receiving a power wave opposite to the power antenna via the receiving antenna, and extracting a communication signal from the power wave and transmitting it to the operating controller. An AC line consisting of a pair of feeders wired along the guide rail, and an induction coil located in the vicinity of the AC line, and the driving motor is driven by the induced electromotive force generated in the induction coil In a communication method of a mobile body operation system comprising a mobile body that travels on a guide rail and an operation control device that performs communication between the mobile body and controls the operation of the mobile body,
The AC line in which the transmission and reception antennas are arranged without contacting a communication signal transmitted and received between the mobile body and the operation control device via the transmission and reception antennas between the pair of feeders. Superimposed on the AC power flowing through
A mobile body that receives a power wave based on AC power on which the communication signal is superimposed, and that performs communication between the mobile body and an operation control device by extracting a communication signal from the received power wave. The communication method of the navigation system. The mobile unit according to claim 2, wherein the mobile unit and the operation control device extract a communication signal from the power wave via a modem connected to a transmission and reception antenna that performs transmission and reception of a communication signal. The communication method of the navigation system. The mobile body is controlled for operation based on the communication signal via an operation controller, and the receiving antenna is supplied to the modem as an analog signal with a power wave opposite to the AC power superimposed with the communication signal received from an AC line. The modem extracts the communication signal from the analog signal from the receiving antenna and converts it into a digital signal and transmits it to the operation controller, and the operation controller controls the operation of the moving body according to the digital signal. The communication method of the moving body operation system of Claim 3 characterized by these.

Images