JP6647588B2 - Communication method and communication device - Google Patents

Description

  The present invention relates to wireless communication between devices.

  It is desired that communication between a plurality of devices be realized wirelessly, not by wire. Replacing wired communication with wireless communication is advantageous because wiring required for wired communication can be omitted.

  However, wired communication is often easy to obtain the advantages that cannot be obtained by wireless communication. For example, wired communication has more stable communication performance than wireless communication. In a field where high communication performance is required, wire communication is not necessarily replaced with wireless communication. For example, in an industrial machine such as an industrial robot, many devices such as an actuator, a sensor, and a controller are included, and the connection between them is still actually made by a wired cable. .

Japanese Patent No. 3314181 Japanese Patent No. 3234202 Japanese Patent No. 4406401 Patent No. 5131550

  Therefore, it is desired to ensure the stability of wireless communication between devices.

  One embodiment of the present invention is a method for wirelessly transmitting a transmission signal between devices. Another embodiment of the present invention is a communication device that wirelessly transmits a transmission signal between devices.

  In the embodiment, a spread signal is generated from a transmission signal to be transmitted between devices by using a spread code. The spreading code is preferably a chaotic spreading code.

  By using a plurality of different spreading codes, a plurality of spreading signals can be generated from one transmission signal. Preferably, a composite signal generated from the plurality of spread signals is wirelessly transmitted. By generating a plurality of spread signals from one transmission signal, signal redundancy is increased, and communication stability can be improved.

  The number of a plurality of spreading codes may be changed. By changing the number of spreading codes, the number of generated spread signals is changed, and the redundancy of the signal can be changed. It is desired that the redundancy of the signal be changed, for example, according to the communication status.

  The code length of the spreading code may be changed. Increasing the code length of the spreading code improves security. If the code length of the spread code is shortened, the data rate can be improved.

It is a schematic structure figure of an industrial robot. It is a connection diagram of a control device, an actuator, and a sensor. FIG. 3 is a diagram illustrating multiplex transmission (uplink) by CDMA. It is a figure which shows the multiplex transmission (downlink) by CDMA. It is a corresponding figure of a slave station, wired wiring, a wireless channel, uplink / downlink, spreading code / despreading code. FIG. 3 is a diagram illustrating multiplex transmission (uplink) by CDMA. It is a figure which shows the multiplex transmission (downlink) by CDMA. It is a corresponding figure of a slave station, wired wiring, a wireless channel, uplink / downlink, spreading code / despreading code. It is a flowchart of the processing procedure related to communication parameter change. It is a flowchart of a communication parameter change process.

[1. Overview of Embodiment]

(1) The method according to the embodiment is a method of transmitting a transmission signal output from a first device to a second device. A plurality of wireless channels are formed between the first device and the second device, and the plurality of wireless channels include a wireless channel for two-way communication and a wireless channel for one-way communication. The method , based on communication type information indicating the distinction between two-way communication or one-way communication, identifies a radio channel to perform a spreading process for generating a spread signal, identified that the spreading process should be performed In each of a plurality of wireless channels, using a plurality of different spreading codes, from the one transmission signal, performing the spreading process of generating a plurality of spread signals,
Generating a composite signal from the plurality of spread signals;
Wirelessly transmitting the synthesized signal;
Receiving the wirelessly transmitted composite signal;
Based on the communication type information, a radio channel to perform despreading processing for generating a despreading signal is identified, and in each of the plurality of radio channels identified to be subjected to the despreading processing, a plurality of different Using the replica of the spreading code, from the received synthesized signal, performing the despreading process to generate a plurality of despread signals,
Obtaining an output signal provided to the second device from the plurality of despread signals;
Providing the output signal as the transmission signal to the second device;
including.

(2) The method may further include changing a number of the plurality of spreading codes.

(3) It is preferable that changing the number of the plurality of spreading codes is performed based on the movement of at least one of the first device and the second device.

(4) It is preferable that changing the number of the plurality of spreading codes is performed based on information provided from a control device that controls the movement of at least one of the first device and the second device. .

(5) The method may further include changing a code length of at least one of the plurality of spreading codes. It is preferable that changing the code length of at least one of the plurality of spread codes is performed based on the movement of at least one of the first device and the second device.

(6) The method further includes changing a code length of at least one spreading code of the plurality of spreading codes, and changing the code length of at least one spreading code of the plurality of spreading codes is It is preferably performed based on information provided from a control device that controls the movement of at least one of the first device and the second device.

(7) Preferably, the plurality of spreading codes include at least one chaotic spreading code.
(8) It is preferable that the plurality of spreading codes include at least one chaos spreading code with constant power.
(9) Preferably, each of the plurality of spread codes is a chaotic spread code having a constant power.

(10) The communication device according to the embodiment is a communication device that transmits a transmission signal output from the first device to the second device. The communication device, using a plurality of different spreading codes, from one transmission signal, a spread processing unit that generates a plurality of spread signals,
A combining unit configured to generate a combined signal from the plurality of spread signals;
A first antenna for wirelessly transmitting the combined signal;
Equipped with a,
A plurality of wireless channels are formed between the first device and the second device;
The plurality of wireless channels include a wireless channel for two-way communication and a wireless channel for one-way communication,
The communication device, based on communication type information indicating the distinction between two-way communication or one-way communication, identifies a radio channel to perform a spreading process for generating a spread signal,
The spreading unit corresponding to the wireless channel identified to perform the spreading process executes the spreading process.

(11) Another communication device according to the embodiment receives, from one transmission signal output from the first device, a combined signal generated from a plurality of spread signals generated using a plurality of different spreading codes. A second antenna;
Using a plurality of different copies of the spreading code, from the received synthesized signal, a despreading processing unit that generates a plurality of despread signals,
An acquisition unit configured to obtain an output signal provided to the second device from the plurality of despread signals;
A communication device comprising:
A plurality of wireless channels are formed between the first device and the second device;
The plurality of wireless channels include a wireless channel for two-way communication and a wireless channel for one-way communication,
The communication device, based on the communication type information, identifies a radio channel to perform despreading processing to generate a despread signal,
The despreading unit corresponding to the wireless channel identified to perform the despreading process executes the despreading process.

(12) In another aspect, a method according to an embodiment is a method of transmitting a transmission signal output from a first device to a second device, wherein at least one of the first device and the second device is operated. Is a method for changing parameters for wireless transmission based on information provided from a control device that controls the wireless communication.

  In the embodiment, the device is a device that outputs a transmission signal or a device that receives a transmission signal. The devices include, for example, a control device, an actuator, and a sensor. The transmission signal includes, for example, an actuator control signal and a sensor output signal (including an image signal).

[2. Details of Embodiment]
FIG. 1 shows an industrial robot 1 to which the communication method according to the embodiment is applied. The industrial robot 1 includes a base unit 2 and movable units 4, 5, 6, and 7. The movable parts 4, 5, 6, 7 include arms 4, 5, and end effectors 6, 7, respectively. The arms 4 and 5 are connected to the base 2 and the end effectors 6 and 7. The arms 4 and 5 of the embodiment include a first arm 4 and a second arm 5. The end effectors 6 and 7 move to target positions by the operation of the arms 4 and 5.

  The arms 4 and 5 have a plurality of joints 8a, 8b and 8c for the operation. The plurality of joints 8a, 8b, 8c include a first joint 8a, a second joint 8b, and a third joint 8c. The first joint 8 a connects the end effector 6 and the first arm 4. The second joint 8b connects the first arm 4 and the second arm 5. The third joint 8c connects the second arm 5 and the support 3 provided on the base 2. Each of the joints 8a, 8b, 8c has, for example, one or a plurality of axes.

  The end effectors 6 and 7 are mechanisms that act on an object to be worked by the industrial robot 1. The end effectors 6 and 7 are, for example, a hand for holding an object, a welding machine, and a screw tightening machine. The end effectors 6 and 7 shown in FIG. 1 include an end effector main body 6 connected to the first arm 4 and a function unit 7 movable with respect to the end effector main body 6.

  The industrial robot 1 includes a functional unit 7 and a plurality of actuators 42a, 43a, 44a, 45a for driving a plurality of joints 8a, 8b, 8c. The actuator is constituted by, for example, a motor. In FIG. 1, a plurality of actuators 42a, 43a, 44a, and 45a are a first actuator 42a for operating the functional unit 7, a second actuator 43a for operating the first joint 8a, and a third actuator 44a for operating the second joint 8b. , And a fourth actuator 45a for operating the third joint 8c.

  The first actuator 42a is provided on the end effector main body 6, which is a movable portion. The second actuator 43a is provided on the first arm 4, which is a movable part. The third actuator 44a is provided on the second arm 5, which is a movable part. The fourth actuator 45a is provided on the base portion 2 which is a non-movable portion.

  The industrial robot 1 includes a plurality of sensors 41, 42b, 43b, 44b, 44c, 45b, 45c. The sensor is, for example, a sensor that detects a work target or a sensor that detects the state (posture, position, and the like) of the industrial robot 1. In FIG. 1, a plurality of sensors 41, 42b, 43b, 44b, 44c, 45b, and 45c are connected to a first sensor 41 provided in a functional unit 7 that is a movable unit and an end effector body 6 that is a movable unit. The second sensor 42b provided, the third sensor 43b provided on the first arm 4 as a movable part, the fourth sensor 44b and the fifth sensor 44c provided on the second arm 5 as a movable part, a non-movable part And a sixth sensor 45b and a seventh sensor 45c provided on the support portion 3 which is Hereinafter, it is assumed that the first sensor 41 is a camera and the other sensors 42b, 43b, 44b, 44c, 45b, 45c are position detection sensors.

  The industrial robot 1 includes a control device 10 that controls the operation of the industrial robot 1. The control device 10 transmits or receives a transmission signal between the plurality of actuators 42a, 43a, 44a, 45a and the plurality of sensors 41, 42b, 43b, 44b, 44c, 45b, 45c. The transmission signal is, for example, an output signal from a sensor or an actuator, an instruction signal to the actuator, or another signal to be transmitted for operation control of the robot 1.

  In FIG. 1, a control device 10 is provided on a base portion 2 which is a non-movable portion. The control device 10 may be provided in the movable units 4, 5, 6, and 7.

  Generally, the connection between the actuator and the sensor and the control device 10 is realized by a wired connection using wirings (signal lines) L1 to L14, for example, as shown in FIG. Note that one actuator or sensor may be connected to the control device 10 by one wire, or may be connected to the control device 10 by a plurality of wires. For example, in FIG. 2, the first sensor 42a is connected to the control device 10 by one wiring (signal line) L2, but the first actuator 42a is connected to the control device 10 by a plurality of wires. (Signal lines) L3 to L5. This is because even one device (here, an actuator or a sensor) may transmit and receive a plurality of types of transmission signals.

  The number of wirings as described above can be enormous. An enormous number of wirings may hinder the operation of the movable parts 4, 5, 6, and 7. In particular, the wiring straddling the joints 8a, 8b, 8c tends to restrict the operation of the movable parts 4, 5, 6, 7. Therefore, in the present embodiment, some of the wired connections L1 to L11 using the wirings L1 to L14 are replaced with wireless connections using wireless communication.

  In the present embodiment, a part L1 to L11 of the wirings L1 to L14 (connected to the actuators 42a, 43a, 44a and the sensors 41, 42b, 43b, 44b, 44c provided in the movable parts 4, 5, 6, 7). Wirings L1 to L11) are replaced with wireless communication. In the present embodiment, other wirings L12 to L14 (wirings L12 to L14 connected to actuators 45a and sensors 45b and 45c provided on non-movable parts 2 and 3) are connected to movable parts 4,5,6,7. Since it does not hinder operation, it is not replaced with wireless communication. However, the wirings L12 to L14 may be replaced with wireless communication. Even in the non-movable part, by replacing the wiring with the wireless communication, the wiring becomes unnecessary, and space saving and weight reduction can be achieved.

  FIG. 2B shows a wireless communication system for replacing the wirings L1 to L11 shown in FIG. 2A with wireless communication. The wireless communication system includes a master station 20 that is a communication device, and one or more slave stations 31, 32, 33, and 34 that are also communication devices.

  The master station 20 and the slave stations 31, 32, 33, and 34 perform wireless communication. As shown in FIG. 3, the master station 20 has an antenna 20a, a transceiver 20b, a control unit 20c, and a storage unit 20d. The transceiver 20b receives the transmission signal from the wired line and wirelessly transmits the transmission signal from the antenna 20a, and outputs the transmission signal received by the antenna 20a to the wired line. The control unit 20c controls the transceiver 20b. The control unit 20c changes, for example, communication parameters in the transceiver 20b. The control unit 20c also performs communication with the control device 10.

  Similarly, the first slave station 31 includes an antenna 31a, a transceiver 31b, a control unit 31c, and a storage unit 31d. The function of each section 31a, 31b, 31c, 31d in the first slave station 31 is the same as that of the master station 20. Although not shown in FIG. 3, the second to fourth slave stations 32, 33, and 34 have the same configuration as the first slave station 31. Further, the transceivers of the slave stations 31, 32, 33, and 34 may be configured as a transmitter having only a transmission function or a receiver having only a reception function.

  The transceiver 20b of the master station 20 is connected to the control device 10 by wire, and transmits and receives a transmission signal to and from the control device 10 by wire. As shown in FIG. 2, the master station 20 (the transceiver 20b of the master station 20) is connected to the control device 10 via wirings L11, L21, L31, L41, L51, L61, L71, L81, L91, L101, L111. It is connected to the. The wirings L11 to L111 connected to the control device 10 and the master station 20 are partial replacements of the functions of the wirings L1 to L11 connected to the control device in FIG. That is, the wirings L11 to L111 are transmission media (transmission signal lines) for transmission signals transmitted and received between the master station 20 and the slave stations 31, 32, 33, and 34.

  The control unit 20c of the master station 20 is connected to the control device 10 by a wire L100. Wiring L100 is not a transmission medium of a transmission signal, but a transmission medium for mutual communication between master station 20 and control device 10. The wiring L100 is used for transmitting a command or information given from the control device 10 to the master station 20, or used for sending a command / information given from the master station 20 to the control device 10.

  As described above, since the master station 20 and the control device 10 are connected by wire, the master station 20 is provided at a position where the relative position with respect to the control device 10 does not change even when the robot 1 operates, for example, a base unit. 2 is preferably provided.

  As shown in FIG. 1, the slave stations 31, 32, 33, 34 of the embodiment are provided corresponding to the movable parts 4, 5, 6, 7 of the robot 1. That is, the first slave station 31 is provided in the functional unit 7, the second slave station 32 is provided in the end effector main body 6, the third slave station 33 is provided in the first arm unit 4, and the fourth slave station 33 is provided in the first arm unit 4. The station 34 is provided on the second arm unit 5. However, a plurality of slave stations may be provided in one movable unit (for example, the first arm unit 4).

  Each of the slave stations 31, 32, 33, and 34 is connected to an actuator and a sensor provided in a movable unit provided with the slave stations 31, 31, 33, and 34. For example, a first sensor 41 provided in the function unit 41 is connected to a first slave station 31 provided in the function unit 7 via a wiring L12. The wiring L12 is a partial substitute for the function of the wiring L1 connected to the first sensor 41 in FIG.

  The first actuator 42a and the second sensor 42b provided on the end effector main body 6 are connected to the second slave station 32 provided on the end effector main body 6. The second sensor 42b is connected to the second slave station 32 via the wiring L22. The wiring L22 is a partial substitute for the function of the wiring L2 connected to the second sensor 42b in FIG. The first actuator 42a is connected to the second slave station 32 via the wirings L32, L43, L52. The wirings L32, L42, and L52 are part of the functions of the wirings L3, L4, and L5 connected to the first actuator 42a in FIG.

  The third slave station 33 provided on the first arm 4 is connected to the second actuator 43a and the third sensor 43b provided on the first arm 4. The third sensor 43b is connected to the third slave station 33 via the wiring L62. The wiring L62 is a partial substitute for the function of the wiring L6 connected to the third sensor 43b in FIG. The second actuator 43a is connected to the third slave station 33 via the wirings L72 and L82. The wirings L72 and L82 are a part of the function of the wirings L7 and L8 connected to the second actuator 43a in FIG.

  The third actuator 44a, the fourth sensor 44b, and the fifth sensor 44c provided on the second arm 5 are connected to the fourth slave station 34 provided on the second arm 5. The fourth sensor 44b is connected to the fourth slave station 34 via the wiring L102. The wiring L102 is a partial substitute for the function of the wiring L10 connected to the fourth sensor 44b in FIG. The fifth sensor 44c is connected to the fourth slave station 34 via the wiring L92. The wiring L92 is a partial substitute for the function of the wiring L9 connected to the fifth sensor 44c in FIG. The third actuator 44a is connected to the fourth slave station 34 via the wiring L112. The wiring L112 is a partial substitute for the function of the wiring L11 connected to the third actuator 44a in FIG.

  In the present embodiment, the wirings L12, L22, L32, L42, L52, L62, L72, L82, L92, L102, L112 connected to the slave stations 31, 32, 33, 34 straddle the joints 8a, 8b, 8c. Therefore, the movement of the movable parts 4, 5, 6, 7 is not restricted. However, for one slave station 32 provided in any of the movable parts (for example, the end effector main body 6), an actuator or a sensor 41 provided in another movable part (for example, the functional part 7) has a wiring. May be connected via the Internet.

  As shown in FIG. 2B, the master station 20 and the slave stations 31, 32, 33, and 34 form wireless channels C1 to C11 instead of the wirings L1 to L11 in FIG. For example, the first wireless channel C1 partially replaces the function of the wiring L1. The function of the wiring L1 in FIG. 2A is replaced by the wiring L11, the first wireless channel C1, and the wiring L12 in FIG. 2B. Similarly, the second wireless channel C2 to the eleventh wireless channel C11 partially substitute for the functions of the wirings L2 to L11.

  The master station 20 forms a first wireless channel C1 with the first slave station 31 as a part of the first wiring L1. The master station 20 forms, with the second slave station 32, a second wireless channel C2 to a fifth wireless channel C5 that are partially substituted for the second wiring L2 to the fifth wiring L5. The master station 20 forms, with the third slave station 33, sixth to eighth wireless channels C6 to C8, which are a part of the sixth to eighth wires L6 to L8. The master station 20 forms the ninth wireless channel C9 to the eleventh wireless channel C11 with the fourth slave station 34 as a part of the ninth wiring L9 to the eleventh wiring L11. In FIG. 2B, only the wireless channel between the master station and the slave station is shown, but a wireless channel may be formed between a plurality of slave stations.

  When the wireless channels C1 to C11 as shown in FIG. 2B are formed, the long wirings L1 to L11 as shown in FIG. 2A become unnecessary, so that the wiring can be reduced in weight. Further, in the embodiment, since there is no wiring that straddles the joints 8a, 8b, and 8c, it is possible to prevent the wirings L1 to L11 from being consumed by repeated bending of the wiring due to the movement of the movable parts 4, 5, 6, and 7. it can.

  Moreover, when the wireless channels C1 to C11 corresponding to the wirings L1 to L11 shown in FIG. 2A are formed, the control device 10, the actuator, and the sensor transmit transmission signals in the same manner as those connected by the wirings L1 to L11. Can send and receive. Therefore, even if the wired connection is replaced by the wireless connection, no change is required on the control device 10, the actuator, and the sensor side, or the change is reduced.

  The master station 20 and the slave stations 31, 32, 33, and 34 of the embodiment perform communication by a code division multiple access (CDMA). CDAM divides the same frequency into multiple radio channels with multiple different codes. Codes used for CDMA are called spreading codes. Since CDMA is a communication method that can easily maintain a stable communication state even when a communication device moves, it is used for communication with slave stations 31, 32, 33, and 34 provided in movable units 3, 4, 5, and 6. This is a suitable communication method.

  In the embodiment, a chaotic spreading code is used as the spreading code. The chaotic spreading code is sometimes simply referred to as a chaotic code. The chaos spreading code is disclosed in Patent Documents 1, 2, 3, and 4. The chaotic spreading code is preferably a constant power chaotic spreading code. The chaotic spreading code having a constant power is advantageous because there is no chaotic fluctuation of the signal power due to the chaotic nature of the spreading code, and the signal power can be kept constant. Patent Documents 3 and 4 disclose a constant-power chaotic spreading code. The constant-power chaotic spreading code includes, for example, a primitive root chaotic code, a two-dimensional solvable chaotic code, and a code based on a substantially periodic function. The chaotic spreading code is preferably a constant power chaotic spreading code. CDMA using a chaotic spreading code as a spreading code is called chaotic CDMA. Communication by the chaos CDMA method is performed by the transceivers 20b and 31b. The control units 20c and 31c control communication parameters (code length, number of channels) in the chaos CDMA system. In this embodiment, a chaotic spreading code is used for all of a plurality of spreading codes for a plurality of wireless channels, but at least one of the plurality of spreading codes is a chaotic spreading code. Other spreading codes may be codes other than chaotic spreading codes such as PN codes and Gold codes.

  Since chaotic CDMA can dramatically increase the number of wireless channels compared to CDMA using PN codes and Gold codes, it is suitable for replacing an enormous number of wires with wireless channels. In addition, since the chaos spreading code functions cryptographically, communication by chaos CDMA is excellent in security.

  FIG. 4 shows multiplex transmission in uplink communication from the slave stations 31, 32, 33, and 34 to the master station 20, and FIG. 5 shows multiplex transmission in downlink communication from the master station 20 to the slave stations 31, 32, 33, and. The transmission is shown. FIG. 6 shows correspondence between the wireless channels C1 to C11 formed by the slave stations 31, 32, 33 and 34 and the wired lines L1 to L11, and bidirectional communication in the lines L1 to L11 and the wireless channels C1 to C11. Alternatively, the table shows a distinction between one-way communication and a list of spreading codes and despreading codes used in each of the wireless channels C1 to C11. Note that the bidirectional communication means that the slave station performs both transmission and reception, and the one-way communication means that the slave station performs only one of transmission and reception. In addition, transmitting by the slave station is called up (up), and receiving by the slave station is called down (down).

As shown in FIG. 6, the wireless channel C1 corresponding to the wiring L1 is a bidirectional communication (up / down) channel. In the radio channel C1, the spreading code SC1 is used, and the despreading code DC1 is used. The despreading code DC1 is a copy of the spreading code SC1, and so on. Also, as shown in FIG. 4, an uplink transmission signal transmitted by the wireless channel C1 (wiring L1) is represented by "D _U1 ", and as shown in FIG. 5, a downlink transmission signal transmitted by the wireless channel C1 (wiring L1). The signal is represented by "D _D1 ".

Similarly, the radio channel C2 is an uplink communication (up) channel, and uses a spreading code SC2 and a despreading code DC2. The uplink transmission signal transmitted by the wireless channel C2 (wiring L2) is represented by " _DU2 ". The wireless channel C3 is a two-way communication (up / down) channel, and uses a spreading code SC3 and a despreading code DC3. The upstream transmission signal transmitted by the wireless channel C3 (wiring L3) is represented by "D _U3 ", and the downstream signal transmitted by the wireless channel C3 (wiring L3) is represented by " _DD3 ". The radio channel C4 is a downlink communication (down) channel, and uses a spreading code SC4 and a despreading code DC4. The downlink transmission signal transmitted by the wireless channel C4 (wiring L4) is represented by “ _DD4 ”. The wireless channel C5 is an uplink communication (up) channel, and uses a spreading code SC5 and a despreading code DC5. The uplink transmission signal transmitted by the wireless channel C5 (wiring L5) is represented by " _DU5 ".

The radio channel C6 is an uplink communication (up) channel, and uses a spreading code SC6 and a despreading code DC6. The uplink transmission signal transmitted by the wireless channel C6 (wiring L6) is represented by " _DU6 ". The wireless channel C7 is a downlink communication (down) channel, and uses a spreading code SC7 and a despreading code DC7. The downlink transmission signal transmitted by the wireless channel C7 (line L7) is represented by “D _D7 ”. The radio channel C8 is a downlink communication (down) channel, and uses a spreading code SC8 and a despreading code DC8. The downlink transmission signal transmitted by the wireless channel C8 (wiring L8) is represented by “ _DD8 ”.

The radio channel C9 is an uplink communication (up) channel, and uses a spreading code SC9 and a despreading code DC9. The uplink transmission signal transmitted by the wireless channel C9 (line L9) is represented by " _DU9 ". The radio channel C10 is an uplink communication (up) channel, and uses a spreading code SC10 and a despreading code DC10. The uplink transmission signal transmitted by the wireless channel C10 (wiring L10) is represented by “ _DU10 ”. The wireless channel C1 is a two-way communication (up / down) channel, and uses a spreading code SC11 and a despreading code DC11. The upstream transmission signal transmitted by the wireless channel C11 (wiring L11) is represented by “D _U11 ”, and the downstream signal transmitted by the wireless channel C11 (wiring L11) is represented by “D _D11 ”.

  Each of the master station 20 and the slave stations 31, 32, 33, and 34 (transmitter / receiver) includes a spread processing unit that generates a spread signal from a transmission signal using a spread code. Further, the master station 20 and the slave stations 31, 32, 33, and 34 (transceivers thereof) each include a despreading processing unit that demodulates a transmission signal using a despreading code. The master station 20 and the slave stations 31, 32, 33, and 34 (transceivers thereof) each include a combining unit that combines a plurality of generated spread signals to generate a combined signal. However, FIGS. 4 and 5 show the spreading processing unit, the despreading processing unit, and the combining unit actually used for signal processing. As shown in FIG. 6, the communication by the wired lines L1 to L11 includes a mixture of two-way communication, one-way downlink communication, and one-way uplink communication. Therefore, also in the wireless communication shown in FIGS. 4 and 5, a wireless channel for two-way communication, a wireless channel for downlink one-way communication, and a wireless channel for uplink one-way communication are mixed.

In uplink communication, as illustrated in FIG. 4, the spreading processing unit 301 of the first slave station 31 converts the first spread signal from the first transmission signal _DU1 output from the first sensor 41 using the spreading code SC1. Generate. The generated first spread signal is transmitted from the antenna 31a.

Diffusion processing unit 302 of the second child station 32 from the second transmission signal _{D U2} output from the second sensor 42b, using a spreading code SC2, generates a second spread signal. The spread processing unit 303 of the second slave station 32 generates a third spread signal from the third transmission signal _DU3 output from the first actuator 42a using the spread code SC3. The spread processing unit 305 of the second slave station 32 uses the spread code SC5 to convert the fifth spread signal from the fifth transmission signal _DU5 output from the first actuator 42a. The second spread signal, the third spread signal, and the fifth spread signal are combined by the combining unit 322 to generate a combined signal. The composite signal is transmitted from the antenna 32a.

The spread processing unit 306 of the third slave station 33 generates a sixth spread signal from the sixth transmission signal _DU6 output from the third sensor 43b using the spread code SC6. The generated sixth spread signal is transmitted from the antenna 33a.

Diffusion processing section 309 of the fourth slave station 33, the ninth transmission signal _{D U9} output from the fifth sensor 44c, using a spreading code SC9, to generate a ninth spread signal. The spread processing unit 310 of the fourth slave station 33 generates a tenth spread signal from the tenth transmission signal _DU10 output from the fourth sensor 44b using the spread code SC10. The spread processing unit 311 of the fourth slave station 33 generates an eleventh spread signal from the eleventh transmission signal _DU11 output from the third actuator 44a using the spread code SC11. The ninth spread signal, the tenth spread signal, and the eleventh spread signal are combined by the combining unit 324 to generate a combined signal. The composite signal is transmitted from the antenna 34a.

The composite signal transmitted from each of the slave stations 31, 32, 33, and 34 is received by the antenna 20a of the master station 20. The signal received by the master station 20 is a signal obtained by combining the signals transmitted from the slave stations 31, 32, 33, and 34. Each of the despreading processing units 201, 202, 203, 205, 206, 20, 9, 210, 211 of the master station 20 performs a despreading code DC1, DC2, DC3, DC5, DC6, DC9, DC10 which is a copy of a spreading code. , using a DC11, to restore the transmission signal _{D U1, D U2, D U3} , D U5, D U6, D U9, D U10, D U11. Transmission signal _D U1 to _{restored, D U2, D U3, D} U5, D U6, D U9, D U10, D U11 is the output signal supplied to the controller 10.

In the downlink communication, as shown in FIG. 5, the spread processing units 251, 253, 354, 257, 258, 261 of the master station 20 transmit the transmission signals D _D1 , D _D3 , D _D4 , D D output from the control device 20. _D7, the _{D D8, D D11,} using a spreading code SC1, SC3, SC4, SC7, SC8, SC11, and generates a plurality of spread signals. The plurality of spread signals are combined by the combining unit 270 to generate a combined signal. The composite signal is transmitted from antenna 20a.

The combined signal transmitted from master station 20 is received by antenna 31a of first slave station 31. Despreading process unit 351 of the first child station 31 by using the despreading code DC1 is a replica of the spreading code SC1, to restore the transmission signal _{D D1.} The restored transmission signal _DD1 is an output signal provided to the first sensor 41.

The composite signal transmitted from master station 20 is also received by antenna 32 a of second slave station 32. Despreaders 353 and 354 of the second child station 32 uses the inverse spreading code DC3, DC4 is a replica of the spreading code SC3, SC4, to restore the transmission signal _{D D3, D D4.} The restored transmission signals D _D4 and D _D4 are output signals provided to the first actuator 42a.

The composite signal transmitted from the master station 20 is also received by the antenna 33a of the third slave station 33. Despreaders 357 and 358 of the third slave station 33, using a despreading code DC7, DC8 is a replica of the spreading code SC7, SC8, to restore the transmission signal _{D D7, D D8.} The restored transmission signals D _D7 and D _D8 are output signals provided to the second actuator 43a.

The combined signal transmitted from master station 20 is also received by antenna 34a of fourth slave station 34. Despreading process unit 361 of the fourth slave station 34 uses a despreading code DC11 is a replica of the spreading code SC11, to restore the transmission signal _{D D11.} The restored transmission signal _DD11 is an output signal provided to the third actuator 44a.

  In a wireless channel of bidirectional communication such as the wireless channel C1 corresponding to the wiring L1, spreading processing and despreading processing are performed in uplink communication and downlink communication, respectively. On the other hand, in a wireless channel of one-way communication such as a wireless channel C2 corresponding to the wiring L2, a spreading process and a despreading process for communication in a necessary direction (upward direction in the wireless channel C2) are necessary. Spreading processing and despreading processing for communication in the direction (downward direction in the wireless channel C2) are unnecessary. Therefore, in order to avoid unnecessary processing being performed in the master station or the slave station, when the wirings L1 to L11 are replaced with the wireless channels C1 to C11, bidirectional communication or unidirectional communication in the wireless channels C1 to C11 is performed. Communication type information indicating the distinction (for example, up / down information in FIG. 6) is set in the storage unit 20d of the master station 20. The communication type information may be set in the storage unit 31d of the slave station 31. In the communication type information, information indicating one-way communication also includes information indicating a communication direction (down or up) in one-way communication. The communication type information is set according to the communication direction in the wirings L1 to L11. Based on the communication type information, the master station 20 identifies a radio channel on which the master station 20 is to perform the spreading process and the despreading process, and performs necessary spreading and despreading processes (see FIGS. 4 and 5). Further, the slave stations 31, 32, 33, and 34 also determine the master stations 31, 32 based on the instruction from the master station 20 based on the communication type information or the communication type information set for the slave stations 31, 32, 33, and. , 33, and 34 identify the wireless channel on which the spreading process and the despreading process are to be performed, and perform the necessary spreading and despreading processes (see FIGS. 4 and 5).

  In the examples shown in FIGS. 4 to 6, one wire in FIG. 2A is replaced by one wireless channel. That is, one spread signal is generated from one transmission signal. In order to further enhance the stability of communication, it is preferable to replace one wire in FIG. 2A with a plurality of wireless channels. 7 and 8 show examples in which one wiring is replaced by a plurality of wireless channels. In the present embodiment, a chaotic spreading code is used for all of a plurality of spreading codes for a plurality of wireless channels replacing one wiring, but at least one of the plurality of spreading codes is a chaotic spreading code. The other spreading codes may be codes other than chaotic spreading codes such as PN codes and Gold codes.

FIG. 7 shows a configuration for forming a plurality of wireless channels C1-1, C1-2, and C1-3 corresponding to the first wiring L1 shown in FIG. As shown in FIG. 7A, regarding the uplink communication, the first slave station 31 does not include one spreading processing unit 301 for spreading processing of one first transmission signal _DU1 , but performs one spreading processing. for diffusion treatment of the first transmission signal _{D U1,} it comprises a plurality of spread processing section 301-1,301-2,301-3. Further, the first slave station 31, a first transmission signal _{D U1} outputted from the first sensor 41, includes a distributor 345 for distributing the plurality of spread processing section 301-1,301-2,301-3 I have.

The three first transmission signals _DU1 distributed by the distribution unit 345 are spread by a plurality of different spreading codes SC11, SC12, and SC13. That is, the first diffusion processing unit 301-1 for the first transmission signal _{D U1} from the first transmission signal _{D U1,} using a spreading code SC11, generates a spread signal for the radio channel C1-1. Further, the second diffusion processing section 301-2 for the first transmission signal _{D U1} from the first transmission signal _{D U1,} using a spreading code SC12, generates a spread signal for the radio channel C1-2. Further, the third diffusion processing unit 301-3 for the first transmission signal _{D U1} from the first transmission signal _{D U1,} using a spreading code SC13, generates a spread signal for the radio channel C1-3. These three spread signals are combined by the combining unit 321 to generate a combined signal. The composite signal is output from antenna 31a.

As a result, the first transmission signal _{D U1} has three radio channels C1-1, C1-2, sent by C1-3. Therefore, the wireless channel is made redundant. For example, even if a communication failure occurs in one of the three wireless channels C1-1, C1-2, and C1-3, communication on the remaining wireless channels is maintained. Therefore, communication stability is improved.

The synthesized signal transmitted from the slave station 31 is a signal synthesized with the signals transmitted from the other slave stations 32, 33, and 34, and is received by the master station 20. The master station 20, for the despreading processing to restore the first transmission signal _{D U1} one, comprises a plurality of despreaders 201-1,201-2,201-3. The signal received by the master station 20 is despread by despreading codes DC11, DC12, DC13, which are duplicates of the plurality of spreading codes SC11, SC12, SC13. That is, the first despreading processing unit 201-1 for the first transmission signal _{D U1} from the received signal, using the despread signal DC11, to produce a first despread signal. The second despreading section 201-2 for the first transmission signal _{D U1} from the received signal, using the despread signal DC12, to produce a second despread signal. Further, the third despreading processing unit 201-3 for the first transmission signal _{D U1} from the received signal, using the despread signal DC13, to produce a third despread signal.

If the radio signals C1-1, C1-2, and C1-3 can be received without any problem, the first despread signal, the second despread signal, and the third despread signal are all the first transmission signal _DU1. Is the restored signal. On the other hand, if there is a problem with any of the radio channels C1-1, C1-2, and C1-3, a signal obtained by restoring the first transmission signal _DU1 cannot be obtained from the problematic radio channel. A signal obtained by restoring the first transmission signal _DU1 is obtained from a wireless channel having no problem.

The acquisition unit 245 of the master station 20 acquires a signal obtained by restoring the first transmission signal _DU1 from the plurality of despread signals, and _supplies the signal obtained by restoring the first transmission signal _DU1 to the control device 10 as an output signal. .

Acquisition unit 245, if correctly restored signal of the first transmission signal D _U1 is obtained only one may be the output signal of the signal. The correctness of the restoration is determined by, for example, an error detection process. Acquisition unit 245, if the signal correctly restore the first transmission signal D _U1 is obtained a plurality, may be the one signal is appropriately selected from a plurality of signals and output signals.

Regarding downlink communication, the master station 20 does not include one spreading processing unit 251 for spreading processing of one first transmission signal D _D1 , but as shown in FIG. for diffusion treatment of the transmission signal _{D D1,} it comprises a plurality of spread processing section 251-1,251-2,251-3. Furthermore, the master station 20, the first transmission signal _{D D1} outputted from the control unit 10, a distribution unit 345 distributes the plurality of spread processing section 251-1,251-2,251-3.

The three first transmission signals D _D1 distributed by the distributor 285 are spread by a plurality of different spreading codes SC11, SC12, SC13. That is, the first diffusion processing unit 251-1 for the first transmission signal _{D D1} from first transmission signal _{D D1,} using a spreading code SC11, generates a spread signal for the radio channel C1-1. Further, the second diffusion processing section 251-2 for the first transmission signal _{D D1} from first transmission signal _{D D1,} using a spreading code SC12, generates a spread signal for the radio channel C1-2. Further, the third diffusion processing unit 301-3 for the first transmission signal _{D U1} from the first transmission signal _{D U1,} using a spreading code SC13, generates a spread signal for the radio channel C1-3. These three spread signals are combined by the combining unit 270 to generate a combined signal. The combined signal is output from antenna 20a.

As a result, the first transmission signal _{D D1} has three radio channels C1-1, C1-2, sent by C1-3. The combined signal transmitted from master station 20 is received by first slave station 31. The first child station 31, for the despreading processing to restore the one first transmission signal _{D D1,} comprises a plurality of despreaders 351-1,351-2,351-3. The signal received by the first slave station 31 is despread by despreading codes DC11, DC12, and DC13, which are copies of the plurality of spreading codes SC11, SC12, and SC13. That is, the first despreading processing unit 351-1 for the first transmission signal _{D D1} is from the received signal, using the despread signal DC11, to produce a first despread signal. The third despreading processing unit 351-2 for the first transmission signal _{D D1} is from the received signal, using the despread signal DC12, to produce a second despread signal. Further, the third despreading processing unit 351-3 for the first transmission signal _{D D1} is from the received signal, using the despread signal DC13, to produce a third despread signal.

The acquisition unit 375 of the first slave station 31 acquires a signal obtained by restoring the first transmission signal D _D1 from the plurality of despread signals, uses the signal obtained by restoring the first transmission signal D _D1 as an output signal, and outputs the first sensor Give to 41.

As described above, between the master station 20 and the first slave station 31, one transmission signal is transmitted on three wireless channels C1-1, C1-2, and C1-3. Between the two slave stations 32, one transmission signal is transmitted on two wireless channels. As shown in FIG. 8, for example, the second transmission signal _{D U2} is the radio channel C2-1, sent by C2-2, third transmission signal _{D U3, D D3} is a radio channel C3-1, C3-2 in transmitted, the fourth transmission signal _{D D4} is a radio channel C4-1, sent by C4-2, the fifth transmission signal _{D U5} is a radio channel C5-1, sent by C5-2.

  Note that FIG. 8 shows a state where one transmission signal is transmitted on one wireless channel for the third slave station 33 and the fourth slave station 34. Alternatively, one transmission signal may be transmitted on a plurality of wireless channels.

  As shown in FIG. 8, by increasing the number of wireless channels through which one transmission signal is transmitted for each of the slave stations 31, 32, 33, and 34, it is possible to suppress an increase in the total number of wireless channels. For example, the first slave station 31 and the second slave station 32 provided in the end effectors 6 and 7 may move at a higher speed than the fourth slave station 34 provided in the second arm 5, and communication may be performed. Is more likely to lose stability. In such a case, if the number of wireless channels through which one transmission signal is transmitted is adjusted in all the slave stations 31, 32, 33, and 34, the total number of wireless channels increases. However, when the number of wireless channels through which one transmission signal is transmitted is different for each of the slave stations 31, 32, 33, and 34, the number of wireless channels for the slave stations 31, 32 in which communication stability is likely to be impaired. Since it is sufficient to increase the number, an increase in the total number of wireless channels is suppressed.

  The number of wireless channels through which one transmission signal is transmitted may be fixed or may be changed according to the situation. The number of wireless channels (communication parameters) through which one transmission signal is transmitted is changed by the control units 20c and 31c of the master station 20 and the slave stations 31, 32, 33 and 34.

  The control unit 20c of the master station 20 feeds back the communication quality information measured by the slave stations 31, 32, 33, and 34 from the slave stations 32, 32, 33, and 34, and performs one transmission based on the communication quality information. The number of communication channels (communication parameters) through which signals are transmitted is adjusted for each of the slave stations 31, 32, 33, 33, and 34. The number of wireless channels (communication parameters) used for transmitting one transmission signal may be adjusted for each transmission signal.

  The control unit 20c according to the embodiment uses not only the communication quality information (feedback information) measured by the slave stations 31, 32, 33, and 34 but also the control information of the robot 1 provided from the control device 10 of the robot 1. The number of communication channels (communication parameters) used for one transmission signal is adjusted.

  The communication environment of the master station 20 and the slave stations 31, 32, 33, 34 provided in the robot 1 depends on the movement of the robot 1. Since the movement of the robot 1 is controlled by the control device 10, the control unit 20 c acquires information indicating the movement of the robot 1 from the control device 10, so that even if there is no feedback information from the slave station, the control unit 20 c We can grasp change. In particular, by acquiring information indicating a change in the operation of the robot 1 before the change in the operation of the robot 1, the control unit 20c can predict a change in the communication environment in advance. As described above, the control unit 20c uses the information from the control device 10 to appropriately change the communication parameters rather than relying only on the feedback information from the slave stations 31, 32, 33, and 34. Can be changed, and communication can be stabilized.

  FIG. 9 shows an example of a procedure for changing communication parameters by cooperation between the control device 10 and the master station 20. The change of the communication parameter is performed, for example, between the first operation control of the robot 1 (step S11) and the second operation control of the robot 1 (step S16). Here, the first operation control and the second operation control indicate different operation states of the robot 1. For example, under the first operation control, it is assumed that the actuator 44a that operates the second joint 8b illustrated in FIG. 1 is stopped, and the fourth arm 4 is stopped. On the other hand, in the second operation control, it is assumed that the actuator 44a operates and the first arm 4 operates at high speed. Note that the second arm 5 does not operate under the second operation control.

  When the operation control of the robot 1 is switched from the first operation control to the second operation control, the first arm 4 operates at a high speed. Therefore, the first arm 4 and the first arm 4 provided on the distal end side with respect to the first arm 4. The slave station 31, the second slave station 32, and the third slave station 33 also move at high speed, and the communication environment deteriorates.

  Therefore, before switching from the first operation control to the second operation control, control device 10 transmits a communication parameter change instruction to control unit 20c of master station 20 via line L100 (step 12). The communication parameter change instruction can include control information indicating a current movement or a future movement of the robot 1. Here, the control information is information indicating the motion of the robot 1 in the second motion control as a future motion.

  The control information can include, for example, an actuator ID for identifying the actuator 43a, 44a, 45a, and information indicating the operation speed (eg, angular velocity) of the actuator 43a, 44a, 45a. Here, it is assumed that the control information is information indicating that the second actuator 44c operates at the angular velocity X in the second operation control.

  The control unit 20c that has received the communication parameter change instruction performs communication parameter change processing such as changing the number of wireless channels with all or some of the plurality of slave stations 31, 32, 33, and 34 as necessary. Execute (step 13). When the communication parameter change processing is completed, the control unit 20c transmits a communication parameter completion notification to the control device 10 (Step S14). The control device 10 is on standby (step S15) so as not to start the second operation control (step S16) for the next operation until a communication parameter change completion notification is received (step S15). After that, the second operation control is started. As a result, before the second operation control (the high-speed operation of the first arm 4), the communication parameters are appropriately changed, so that even if the first arm 4 starts the high-speed operation, it is possible to prevent the communication from being interrupted. . It is preferable that the control device 10 outputs an error if it does not receive a communication parameter change completion notification by the time the predetermined standby time elapses after notifying the master station 20 of the communication parameter change instruction.

  FIG. 10 shows an example of the communication parameter changing process in step S13. When acquiring the control information, the control unit 20c obtains the moving speed of each of the slave stations 31, 32, 33, and 34 based on the actuator ID and the angular velocity included in the control information. For example, since the operation of the second actuator 44a causes the movement of the first slave station 31, the estimated movement speed of the first slave station 31 is obtained based on the angular velocity of the second actuator 44a. If the obtained estimated moving speed is higher (up) than the current moving speed of the first slave station 31 (here, the current moving speed is 0), one transmission signal is transmitted to the first slave station 31. Increase the number of wireless channels used for transmission (step S13a). By increasing the number of wireless channels, communication becomes stable even if the first slave station 31 moves at high speed.

  When the estimated moving speed increases, the code length of the spreading code used in the first slave station may be increased in addition to or in addition to increasing the number of wireless channels. Increasing the code length decreases the data rate, but increases the reliability of communication.

  Conversely, when the estimated moving speed decreases (down), the number of wireless channels may be reduced or the code length may be shortened. Here, FIG. 10 illustrates the number of wireless channels used for transmitting one transmission signal and the code length of a spread code as communication parameters to be changed, but the communication parameters may be other, for example, transmission power. It may be.

  The same communication parameter change is performed for the other slave stations 32, 33, 34, and 35 other than the first slave station 31 as needed (steps S13b, 13c, and 13d). For example, the second slave station 32 and the third slave station 33 move when the second actuator 44a operates, so that the same communication parameter change as that of the first slave station 31 is performed. On the other hand, since the fourth slave station 34 does not move even if the second actuator 44a operates, the communication parameter is maintained without being changed.

  Here, when a plurality of wireless channels are used for transmitting one transmission signal, the code lengths of a plurality of spread codes forming the plurality of wireless channels may be the same or different. The longer the code length, the lower the data rate, but the higher the communication stability. On the other hand, if the code length is short, the stability of communication is low, but the data rate is high. If a plurality of radio channels using a plurality of spreading codes having different code lengths are used for transmitting one transmission signal, it is possible to flexibly cope with a change in the communication environment.

  The camera serving as the first sensor 41 may transmit images having different resolutions to the control device 10 in some cases. In this case, when transmitting an image with a high resolution, the code length of the spread code can be shortened to perform high-speed transmission, and when transmitting an image with a low resolution, the code length of the spread code can be increased.

  In the above embodiment, the industrial robot 1 is illustrated, but transmission of a transmission signal by wireless communication is not limited to the application to the industrial robot 1. For example, the wired wiring by the wire harness of the vehicle can be replaced by wireless communication as in the above embodiment. Further, in the acoustic device, the wired wiring connecting the amplifier and the speaker can be replaced by the wireless communication as in the above embodiment. In this case, signal transmission from the amplifier to a plurality of speakers can be performed simultaneously by wireless communication. Furthermore, the wired wiring for transmitting the image of the monitoring camera as a transmission signal can be replaced by wireless communication as in the above embodiment. In the field of industrial equipment, the wireless communication as in the above embodiment can be used not only for the industrial robot 1 but also for a mounting machine and other various equipment.

  Furthermore, wireless communication as in the above embodiment is not limited to use as a substitute for wired wiring, but can also be used for transmission of transmission signals originally performed by wireless communication. For example, it can be used to transmit a transmission signal between a drone and a control device of the drone. It can also be used for transmitting transmission signals in inter-vehicle communication. In particular, chaos CDMA can control a drone while ensuring security due to the high security of the chaos spreading code. Since the required security varies depending on the location, the security can be improved by increasing the code length of the chaos spreading code in a location where high security is required. Since chaotic CDMA is suitable for long-distance communication, it is also suitable for remote control of a drone or the like.

  As described above, communication using chaos CDMA enables communication stability, security, simultaneous communication, control of communication speed, and control of communication distance, and is suitable for wireless communication of many devices. Therefore, it is particularly useful in IoT in which many devices are connected to the Internet.

20 Master station (communication device)
20a Antenna 31 slave station (communication device)
31a Antenna 201-1 Despreading Processing Unit 201-2 Despreading Processing Unit 202-3 Despreading Processing Unit 251-1 Spreading Processing Unit 251-2 Spreading Processing Unit 251-3 Spreading Processing Unit 301-1 Spreading Processing Unit 301-2 Diffusion processing unit 302-3 Diffusion processing unit 351-1 Despread processing unit 351-2 Despread processing unit 351-3 Despread processing unit 270 Synthesis unit 321 Synthesis unit 245 Acquisition unit 375 Acquisition unit

Claims (11)

A method of transmitting a transmission signal output from a first device to a second device,
A plurality of wireless channels are formed between the first device and the second device;
The plurality of wireless channels include a wireless channel for two-way communication and a wireless channel for one-way communication,
Based on communication type information indicating the distinction between two-way communication or one-way communication, a plurality of wireless channels that are to be subjected to spreading processing for generating a spreading signal are identified, and the spreading processing is identified to be performed. In each, using a plurality of different spreading codes, from the one transmission signal, performing the spreading process to generate a plurality of spread signals,
Generating a composite signal from the plurality of spread signals;
Wirelessly transmitting the synthesized signal;
Receiving the wirelessly transmitted composite signal;
Based on the communication type information, a radio channel to perform despreading processing for generating a despreading signal is identified, and in each of the plurality of radio channels identified to be subjected to the despreading processing, a plurality of different Using the replica of the spreading code, from the received synthesized signal, performing the despreading process to generate a plurality of despread signals,
Obtaining an output signal provided to the second device from the plurality of despread signals;
Providing the output signal as the transmission signal to the second device;
A method that includes The method of claim 1, further comprising changing a number of the plurality of spreading codes. The method according to claim 2, wherein changing the number of the plurality of spreading codes is performed based on a motion of at least one of the first device and the second device. Changing the number of the plurality of spreading codes is performed based on information given from a control device that controls the movement of at least one of the first device and the second device. The described method. Further comprising changing the code length of at least one of the plurality of spreading codes,
Changing the code length of at least one of the plurality of spread codes is performed based on the movement of at least one of the first device and the second device. The method described in the section. Further comprising changing the code length of at least one of the plurality of spreading codes,
Changing the code length of at least one of the plurality of spread codes is performed based on information given from a control device that controls the movement of at least one of the first device and the second device. The method according to any one of claims 1 to 5. The method according to claim 1, wherein the plurality of spreading codes include at least one chaotic spreading code. The method according to any of the preceding claims, wherein the plurality of spreading codes comprises at least one constant power chaotic spreading code. The method according to any one of claims 1 to 8, wherein each of the plurality of spreading codes is a constant power chaotic spreading code. A communication device for transmitting a transmission signal output from a first device to a second device,
Using a plurality of different spreading codes, from one transmission signal, a spread processing unit that generates a plurality of spread signals,
A combining unit configured to generate a combined signal from the plurality of spread signals;
A first antenna for wirelessly transmitting the combined signal;
Equipped with a,
A plurality of wireless channels are formed between the first device and the second device;
The plurality of wireless channels include a wireless channel for two-way communication and a wireless channel for one-way communication,
The communication device, based on communication type information indicating the distinction between two-way communication or one-way communication, identifies a radio channel to perform a spreading process for generating a spread signal,
The spreading unit corresponding to the wireless channel identified to perform the spreading process, executes the spreading process,
Communication equipment. A second antenna that receives , from one transmission signal output from the first device, a combined signal generated from a plurality of spread signals generated using a plurality of different spreading codes ;
Using a plurality of different copies of the spreading code, from the received synthesized signal, a despreading processing unit that generates a plurality of despread signals,
An acquisition unit configured to obtain an output signal provided to the second device from the plurality of despread signals;
A communication device comprising :
A plurality of wireless channels are formed between the first device and the second device;
The plurality of wireless channels include a wireless channel for two-way communication and a wireless channel for one-way communication,
The communication device, based on communication type information indicating the distinction between two-way communication or one-way communication, identifies a radio channel to perform despreading processing to generate a despread signal,
The despreading unit corresponding to the radio channel identified to be subjected to the despreading process executes the despreading process,
Communication equipment.

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