JP6854457B2 - Wireless communication system, control device, relay device and wireless communication control method - Google Patents

Description

The present invention includes a wireless communication system, a control device, and a relay including a data transmitting device that can move on the ground or in the air, a data receiving device, and a relay device that relays data transmission from the data transmitting device to the data receiving device. It relates to a device and a wireless communication control method.

In 5G (fifth generation mobile communication system) and WiGig (registered trademark), which have been studied in recent years, wireless communication using a high frequency band of 6 GHz or higher is performed, and high-definition and large-capacity video such as 8K is performed. Suitable for transmission. On the other hand, in the high frequency band of 6 GHz or more, the straightness of the radio wave is strong and the radio wave has a characteristic that it is difficult for the radio wave to wrap around, and if there is a shield on the communication path, there is a problem that the communication quality is significantly deteriorated. Further, in the high frequency band of 6 GHz or more, since the propagation attenuation is large, there is a problem that the communication quality is remarkably deteriorated when the communication distance is long.

On the other hand, in recent years, a technique of mounting a camera on a flying object such as a drone to shoot an image from the air is becoming widespread. By shooting high-definition images with a camera mounted on such a flying object, it becomes possible to identify suspicious persons in the distance by person recognition, and civil engineering buildings such as bridges and highways. It is possible to efficiently carry out the inspection without assembling the scaffolding.

By mounting a camera on the flying object and shooting high-definition images from the air in this way, it is possible to collect meaningful data, which was difficult in the past. However, if wireless communication using a high frequency band suitable for high-definition, large-capacity video transmission as described above is adopted, the projectile may be hidden behind a shield such as a building, or the projectile may be far away. If it is moved, there is a problem that the communication quality is significantly deteriorated and it becomes difficult to transmit video.

With respect to such a problem, conventionally, a technique has been known in which a stationary relay device is installed at an appropriate position, and user data transmitted from the data transmission device is relayed by the relay device and transmitted to the ground device ( See Patent Document 1). Further, a technique of relaying with a relay device mounted on a flying object (helicopter) is known (see Patent Document 2).

Japanese Unexamined Patent Publication No. 2016-059082 Japanese Unexamined Patent Publication No. 2009-239758

By the way, in the technique disclosed in Patent Document 1, since the relay device is a stationary type, if the data transmission device moves and hides behind a shield such as a building, the relay device is installed at another position. It takes time to fix it. Further, the technique disclosed in Patent Document 2 controls the directivity of the antenna according to the state, and there is no problem that the communication quality is remarkably deteriorated when shielding occurs or the communication distance becomes long. I can't solve it.

Therefore, according to the present invention, a wireless communication system and a control device capable of avoiding deterioration of communication quality even when a data transmission device moves on the ground or in the air and a shield occurs or a communication distance becomes long. , The main purpose is to provide a relay device and a wireless communication control method.

The wireless communication system of the present invention includes a data transmitting device that can move on the ground or in the air, a data receiving device, and a relay device that relays data transmission from the data transmitting device to the data receiving device. In the system, the data transmission device includes a positioning unit that acquires position information of the own device, a wireless communication unit that performs wireless communication with the relay device, and a control unit, and the relay device is the own device. The data receiving device includes a positioning unit for acquiring the position information of the above, a wireless communication unit for wireless communication with the data transmitting device and the data receiving device, a control unit, and a storage unit, and the data receiving device includes the relay device. A wireless communication unit that performs wireless communication, a control unit, and a storage unit are provided, and any of the storage unit of the relay device and the storage unit of the data receiving device has a communication history relating to the past communication status at each position. Information is accumulated, and any of the control unit of the relay device and the control unit of the data receiving device is based on the communication history information and the current position information of the data transmitting device and the data receiving device. Therefore, the position of the relay device is controlled.

Further, the control device of the present invention is a control device that controls a relay device that relays data transmission from a data transmitting device that can move on the ground or in the air to a data receiving device, and communicates with the data receiving device. The control unit includes a communication unit and a control unit, and the control unit is based on the current position information of the data transmitting device and the data receiving device and the communication history information regarding the past communication status at each position . The configuration is such that the position of the relay device is controlled.

Further, the relay device of the present invention is a relay device that relays data transmission from a data transmitting device that can move on the ground or in the air to a data receiving device, and includes a positioning unit that acquires position information of the own device and the above-mentioned It includes a data transmitting device, a wireless communication unit that performs wireless communication with the data receiving device, a control unit, and a storage unit, and the storage unit accumulates communication history information regarding the past communication status at each position. The control unit is configured to control the position of its own device based on the communication history information and the current position information of the data transmitting device and the data receiving device.

Further, in the wireless communication control method of the present invention, the wireless communication in which the transmission of data from the data transmitting device that can move on the ground or in the air to the data receiving device is relayed by the relay device is performed by either the relay device or the data receiving device. It is a wireless communication control method controlled by the above, and is based on the current position information of the data transmitting device and the data receiving device and the communication history information regarding the past communication status at each position of the relay device . The configuration is such that the position is controlled.

According to the present invention, the position of the relay device is determined according to the position of the data transmission device and the relay device, the communication status between the data transmission device and the relay device, and the communication status between the relay device and the data reception device. It can be controlled to move the relay device to the optimum position. As a result, when the data transmission device moves on the ground or in the air, it is possible to avoid deterioration of communication quality even when shielding occurs or the communication distance becomes long.

Overall configuration diagram of the wireless communication system according to the first embodiment Explanatory drawing which shows the control state which concerns on 1st Embodiment Explanatory drawing which shows the outline of the prospect determination which concerns on 1st Embodiment A block diagram showing a schematic configuration of the data collector 1 according to the first embodiment. A block diagram showing a schematic configuration of the repeater 3 according to the first embodiment. A block diagram showing a schematic configuration of the ground plane 2 according to the first embodiment. A flow chart showing an operation procedure of the ground plane 2 according to the first embodiment. A flow chart showing an operation procedure of the repeater 3 according to the first embodiment. A flow chart showing an operation procedure of the data collector 1 according to the first embodiment. A flow chart showing an operation procedure of the ground plane 2 according to a modified example of the first embodiment. A flow chart showing an operation procedure of the repeater 3 according to the modified example of the first embodiment. The flow chart which shows the operation procedure of the data collector 1 which concerns on the modification of 1st Embodiment Explanatory drawing which shows the control state which concerns on 2nd Embodiment A flow chart showing an operation procedure of the ground plane 2 according to the second embodiment. A flow chart showing an operation procedure of the repeater 3 according to the second embodiment. A flow chart showing an operation procedure of the repeater 3 according to the modified example of the second embodiment. Explanatory drawing which shows the control state which concerns on 3rd Embodiment A flow chart showing an operation procedure of the ground plane 2 according to the third embodiment. A flow chart showing an operation procedure of the repeater 3 according to the modified example of the third embodiment. Explanatory drawing which shows the control state which concerns on 4th Embodiment Explanatory drawing which shows the procedure of system performance determination which concerns on 4th Embodiment A flow chart showing a procedure for determining system performance according to the fifth embodiment. Explanatory drawing showing an example of a distance-MCS table A flow chart showing a procedure for determining system performance according to the sixth embodiment. Explanatory drawing which shows the reflection transmission system which concerns on 7th Embodiment Explanatory drawing which shows the control state of the repeater 3 and the reflector 41 which concerns on 7th Embodiment The flow chart which shows the operation procedure of the ground plane 2 which concerns on 7th Embodiment A flow chart showing an operation procedure of the repeater 3 according to the seventh embodiment. The flow chart which shows the operation procedure of the data collector 1 which concerns on 7th Embodiment Explanatory drawing which shows the control state which concerns on 8th Embodiment Explanatory drawing which shows the control state which concerns on 10th Embodiment A flow chart showing an operation procedure of the repeater 3 according to the tenth embodiment. A flow chart showing an operation procedure of the data collector 1 according to the tenth embodiment. A flow chart showing an operation procedure of the repeater 3 according to the modified example of the tenth embodiment. A flow chart showing an operation procedure of the data collector 1 according to the modified example of the tenth embodiment. A flow chart showing an operation procedure of the ground plane 2 according to the eleventh embodiment. A flow chart showing an operation procedure of the repeater 3 according to the modified example of the eleventh embodiment. Explanatory drawing which shows the control state which concerns on 12th Embodiment A flow chart showing an operation procedure of the ground plane 2 according to the twelfth embodiment. A flow chart showing an operation procedure of the repeater 3 according to the modified example of the twelfth embodiment. A flow chart showing an operation procedure of the ground plane 2 according to the thirteenth embodiment. A flow chart showing an operation procedure of the repeater 3 according to the modified example of the thirteenth embodiment. The flow chart which shows the operation procedure of the ground plane 2 which concerns on 14th Embodiment The flow chart which shows the operation procedure of the data collector 1 which concerns on 14th Embodiment A flow chart showing an operation procedure of the repeater 3 according to the modified example of the 14th embodiment. A flow chart showing an operation procedure of the ground plane 2 according to the fifteenth embodiment. A flow chart showing an operation procedure of the repeater 3 according to the modified example of the fifteenth embodiment. Explanatory drawing which shows the control state which concerns on 16th Embodiment A flow chart showing an operation procedure of the ground plane 2 according to the 16th embodiment. The flow chart which shows the procedure of the handover determination which concerns on 16th Embodiment A flow chart showing an operation procedure of the data collector 1 according to the 16th embodiment. Explanatory drawing which shows an example of communication history information about the repeater 3 which concerns on 17th Embodiment Explanatory drawing which shows an example of communication history information about data collector 1 which concerns on 17th Embodiment Explanatory drawing which shows registration contents of location database which concerns on 18th Embodiment The flow chart which shows the operation procedure of the ground plane 2 which concerns on 18th Embodiment The flow chart which shows the operation procedure of the repeater 3 which concerns on 18th Embodiment The flow chart which shows the operation procedure of the data collector 1 which concerns on 18th Embodiment

The first invention made to solve the above problems is a data transmitting device that can move on the ground or in the air, a data receiving device, and a relay that relays data transmission from the data transmitting device to the data receiving device. A wireless communication system including a device, wherein the data transmission device includes a positioning unit for acquiring position information of the own device, a wireless communication unit for wireless communication with the relay device, and a control unit. The relay device includes a positioning unit that acquires position information of the own device, a wireless communication unit that performs wireless communication with the data transmission device and the data reception device, and a control unit, and the data reception device is the data reception device. A wireless communication unit that performs wireless communication with the relay device and a control unit are provided, and any of the control unit of the relay device and the control unit of the data receiving device provides position information of the data transmitting device and the relay. The relay device is based on at least one of the position information of the device, the information on the communication status between the data transmitting device and the relay device, and the information on the communication status between the relay device and the data receiving device. And the position of at least one of the data transmission devices is controlled.

According to this, the position of the relay device is controlled according to the position of the data transmission device and the relay device, the communication status between the data transmission device and the relay device, and the communication status between the relay device and the data reception device. Therefore, the relay device can be moved to the optimum position. As a result, when the data transmission device moves on the ground or in the air, it is possible to avoid deterioration of communication quality even when shielding occurs or the communication distance becomes long.

Further, in the second invention, the control unit of the relay device and the control unit of the data receiving device are described so that a line of sight between the data transmitting device and the relay device is secured. The configuration is such that the position of at least one of the relay device and the data transmission device is controlled.

According to this, since the line of sight between the data transmission device and the relay device is secured, it is possible to avoid deterioration of the communication quality between the data transmission device and the relay device.

Further, in the third aspect of the present invention, at least one of the data transmitting device and the relay device includes a camera for photographing the surroundings, and either the control unit of the relay device or the control unit of the data receiving device can be used. When the data transmission device or the relay device is detected from the captured image of the camera, it is determined to be in the line-of-sight state.

According to this, the line-of-sight state between the data transmission device and the relay device can be appropriately determined.

Further, in the fourth invention, either the control unit of the relay device or the control unit of the data reception device detects the data transmission device or the relay device from the captured image of the camera, and the relay device is described. When the radio quality between the data transmitting device and the relay device is good, it is determined to be in the line-of-sight state.

According to this, the line-of-sight state between the data transmission device and the relay device can be determined more appropriately.

The fifth invention includes wireless communication including a data transmitting device that can move on the ground or in the air, a data receiving device, and a relay device that relays data transmission from the data transmitting device to the data receiving device. In the system, the data transmission device includes a positioning unit that acquires position information of the own device, a wireless communication unit that performs wireless communication with the relay device, and a control unit, and the relay device is the own device. The data receiving device includes a positioning unit for acquiring the position information of the data, a wireless communication unit for wireless communication with the data transmitting device and the data receiving device, and a control unit, and the data receiving device performs wireless communication with the relay device. A wireless communication unit and a control unit are provided, and any of the control unit of the relay device and the control unit of the data receiving device secures a line-of-sight between the relay device and the data receiving device. As described above, the position of the relay device is controlled.

According to this, since the line of sight between the relay device and the data receiving device is secured, it is possible to avoid deterioration of the communication quality between the relay device and the data receiving device.

Further, in the sixth invention, the relay device includes a camera for photographing the surroundings, and either the control unit of the relay device or the control unit of the data receiving device receives the data from the captured image of the camera. When the receiving device is detected, it is determined to be in the line-of-sight state.

According to this, the line-of-sight state between the relay device and the data receiving device can be appropriately determined.

Further, in the seventh aspect of the present invention, either the control unit of the relay device or the control unit of the data receiving device detects the data receiving device from the captured image of the camera, and the relay device and the data receiving device are described. When the wireless quality with and from the data receiving device is good, the configuration is such that the line-of-sight state is determined.

According to this, the line-of-sight state between the relay device and the data receiving device can be determined more appropriately.

Further, in the eighth invention, in any one of the control unit of the relay device and the control unit of the data receiving device, the communication distance between each of the plurality of data transmitting devices and the relay device is short as a whole. The configuration is such that the position of the relay device is controlled so as to be.

According to this, the communication performance of the entire system can be improved.

Further, in the ninth aspect of the present invention, either the control unit of the relay device or the control unit of the data receiving device controls the position of the relay device so that the number of the data transmitting devices that can be relayed is the largest. The configuration is to be used.

According to this, the communication performance of the entire system can be improved.

Further, in the tenth invention, any one of the control unit of the relay device and the control unit of the data receiving device has an overall throughput of communication between each of the plurality of data transmitting devices and the relay device. The position of the relay device is controlled so as to be large.

According to this, the communication performance of the entire system can be improved.

Further, in the eleventh invention, in any one of the control unit of the relay device and the control unit of the data receiving device, the wireless quality of communication between each of the plurality of data transmitting devices and the relay device is overall. The position of the relay device is controlled so as to be good.

According to this, the communication performance of the entire system can be improved.

Further, in the twelfth invention, the relay device includes a reflection unit that reflects radio waves of wireless communication transmitted from the data transmission device, and the control unit of the relay device and the control unit of the data reception device. One of them has a configuration in which the position of the relay device is controlled so that the radio wave reflected by the reflecting unit reaches the data receiving device.

According to this, the transmission of user data from the data transmitting device to the data receiving device can be appropriately relayed.

Further, in the thirteenth invention, the reflecting unit is provided so that the angle can be changed, and any of the control unit of the relay device and the control unit of the data receiving device receives radio waves reflected by the reflecting unit. The angle of the reflecting portion is controlled so as to reach the data receiving device.

According to this, even if the position of the relay device cannot be controlled, the transmission of user data from the data transmitting device to the data receiving device can be appropriately relayed by controlling the angle of the reflecting unit.

Further, in the fourteenth invention, any of the control unit of the relay device and the control unit of the data receiving device is a communication distance between the relay device and the data receiving device after being reflected by the reflecting unit. However, the position of the relay device is controlled so as to be shorter than the communication distance between the data transmission device and the relay device before reflection.

According to this, even when the radio wave after reflection is greatly attenuated, the transmission of user data from the data transmitting device to the data receiving device can be appropriately relayed.

Further, in the fifteenth invention, any of the control unit of the relay device and the control unit of the data receiving device has wireless quality between the relay device and the data receiving device after being reflected by the reflecting unit. However, the position of the relay device is controlled so as to be better than the radio quality between the data transmission device and the relay device before reflection.

According to this, even when the radio wave after reflection is greatly attenuated, the transmission of user data from the data transmitting device to the data receiving device can be appropriately relayed.

Further, in the sixteenth invention, the data receiving device is a base station of a wireless communication network, and the control unit of the relay device is described so that the radio waves reflected by the reflecting unit reach the base station. The configuration is such that the direction and altitude of the reflecting portion are controlled.

According to this, even when the position of the base station of the wireless communication network is unknown, the transmission of user data from the data transmission device to the base station can be appropriately relayed.

Further, in the seventeenth invention, the control unit of the relay device and the control unit of the data receiving device are described so that the communication rate required for each of the plurality of data transmitting devices is secured. The configuration is such that the position of the relay device is controlled.

According to this, it is possible to secure the communication rate required for each of the data transmission devices.

Further, in the eighteenth invention, any one of the control unit of the relay device and the control unit of the data receiving device selects the data transmitting device having a high priority from the plurality of data transmitting devices. Therefore, the position of the relay device is controlled so that the communication rate required for the data transmission device is secured.

According to this, it is possible to surely secure the communication rate of the data transmission device having a high priority.

Further, in the nineteenth invention, the data transmitting device and the data transmitting device and the control unit of the data receiving device are described so that any of the control unit of the relay device and the control unit of the data receiving device reduces interference with other wireless communications. The configuration is such that the position of at least one of the relay devices is controlled.

According to this, it is possible to reduce interference with other wireless communications such as wireless networks existing in the vicinity.

Further, in the twentieth invention, either the control unit of the relay device or the control unit of the data receiving device measures the amount of interference with other wireless communications, and the amount of interference is equal to or greater than a predetermined value. In the case of, the configuration is such that the transmission power when transmitting data from the data transmission device is reduced.

According to this, the interference with other wireless communication can be surely reduced.

Further, in the twenty-first invention, either the control unit of the relay device or the control unit of the data receiving device measures the amount of interference with other wireless communications, and the amount of interference is equal to or greater than a predetermined value. When becomes, the configuration is such that the transmission of data from the data transmission device is stopped.

According to this, the interference with other wireless communication can be surely reduced.

Further, in the 22nd invention, when the control unit of the data receiving device switches the connection destination of the data transmitting device from the relay device currently connected to another relay device, the relay of the switching destination. The configuration is such that the position of the device is controlled.

According to this, it is possible to avoid disconnection of communication that occurs when switching the connection destination and to secure a wide communication area of the entire system.

Further, in the 23rd invention, either the storage unit of the relay device or the storage unit of the data receiving device accumulates communication history information regarding the past communication status at each position, and the control unit of the relay device. And any of the control units of the data receiving device has a configuration of controlling the position of the relay device based on the communication history information and the current position information of the data transmitting device and the data receiving device. To do.

According to this, the position of the relay device can be appropriately and efficiently controlled.

Further, in the twenty-fourth invention, any of the storage unit of the relay device and the storage unit of the data receiving device has a positional relationship regarding the position of the relay device corresponding to each position of the data transmitting device and the data receiving device. Information is stored, and any of the control unit of the relay device and the control unit of the data receiving device is based on the positional relationship information and the current position information of the data transmitting device and the data receiving device. Therefore, the position of the relay device is controlled.

According to this, the position of the relay device can be appropriately and efficiently controlled.

The 25th invention is a control device that controls a relay device that relays data transmission from a data transmitting device that can move on the ground or in the air to a data receiving device, and is a communication that communicates with the data receiving device. The control unit includes a unit and a control unit, and the control unit includes position information of the data transmission device, position information of the movable relay device, and information regarding a communication status between the data transmission device and the relay device. The position of at least one of the relay device and the data transmission device is controlled based on at least one of the information regarding the communication status between the relay device and the data receiving device.

According to this, as in the first invention, when the data transmitting device moves on the ground or in the air, it is possible to avoid deterioration of communication quality even when shielding occurs or the communication distance becomes long. ..

The 26th invention is a relay device that relays the transmission of data from a data transmitting device that can move on the ground or in the air to a data receiving device, and has a positioning unit that acquires position information of the own device, and the data. It includes a transmission device, a wireless communication unit that performs wireless communication with the data reception device, and a control unit, and the control unit includes position information of the data transmission device, position information of its own device, and the data transmission device and its own device. A configuration that controls the position of at least one of the own device and the data transmitting device based on at least one of the information regarding the communication status between the own device and the data receiving device and the information regarding the communication status between the own device and the data receiving device. To do.

According to this, as in the first invention, when the data transmitting device moves on the ground or in the air, it is possible to avoid deterioration of communication quality even when shielding occurs or the communication distance becomes long. ..

Further, the 27th invention controls wireless communication in which a relay device relays data transmission from a data transmitting device that can move on the ground or in the air to the data receiving device by either the relay device or the data receiving device. The wireless communication control method for the data transmission device, the position information of the data transmission device, the position information of the movable relay device, the information regarding the communication status between the data transmission device and the relay device, and the relay device and the relay device. The position of at least one of the relay device and the data transmission device is controlled based on at least one of the information regarding the communication status with the data receiving device.

According to this, as in the first invention, when the data transmitting device moves on the ground or in the air, it is possible to avoid deterioration of communication quality even when shielding occurs or the communication distance becomes long. ..

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First Embodiment)
FIG. 1 is an overall configuration diagram of a wireless communication system according to the first embodiment.

This wireless communication system includes a data collector 1 (data transmission device), a ground machine 2 (data reception device), and a repeater 3 (relay device). In this wireless communication system, the user data collected by the data collector 1 is transmitted to the ground machine 2 via the repeater 3. This user data is transmitted by using wireless communication using a high frequency band of 6 GHz or more. Further, control data is transmitted and received between the data collector 1 and the ground machine 2, and between the repeater 3 and the ground machine 2.

The data collector 1 collects user data while flying over the target area. The data collector 1 is a drone type, that is, a drone (multicopter) equipped with a device for collecting data, a communication device for transmitting data, and the like. In the present embodiment, a camera is mounted as a device for collecting data, and video data is transmitted as user data. Further, in the present embodiment, the data collector 1 moves according to a preset data collection schedule.

The ground machine 2 is installed on the ground and receives user data transmitted from the data collector 1 via the repeater 3. A control device, a video analysis device, a display device, and the like are connected to the ground machine 2. Further, the ground plane 2 may be mounted on a mobile vehicle and transmit user data to the monitoring center via the mobile communication network.

The repeater 3 relays the communication of user data between the data collector 1 and the ground plane 2 while flying. The repeater 3 is a drone type, that is, a drone (multicopter) equipped with a communication device for relay.

In the present embodiment, the data collector 1 moves in the air using a flying object, but it may move on the ground. For example, a person may carry a camera having a communication function and walk around, or the camera may be mounted on a vehicle and the vehicle may travel.

Further, in the present embodiment, the data collector 1 is equipped with a camera as a data collection device, but the data collection device 1 receives detection data transmitted from a sensor installed on the ground. It may be a thing. Such sensors include, for example, those installed on agricultural land to detect the condition of soil and air, those attached to a person to detect the health condition of a person, and those installed in a factory to detect the condition of equipment. There are things.

Further, in the present embodiment, the drone type data collector 1 and the repeater 3 are used, but in addition to the drone, a flying object such as an airship or a balloon may be used. Here, when tracking a person, a vehicle, or the like for monitoring purposes, movement occurs frequently, so a drone type with high movement performance is suitable. Further, in the application of aerial photography, since it flies continuously for a long time while moving at a low speed, an airship type having a certain degree of movement performance and flight time is suitable. In addition, for agricultural sensing applications, the balloon type, which has a very long flight time, is suitable because it does not move and low-rate data communication is continued for a long time in a wide communication area.

Next, the control status according to the first embodiment will be described. FIG. 2 is an explanatory diagram showing a control state according to the first embodiment.

When the data collector 1 moves to an area where a shield such as a building exists, when the data collector 1 moves from the state shown in FIG. 2 (A) to the state shown in FIG. 2 (B), the data collector 1 moves. 1 is hidden behind a shield such as a building, and the line of sight between the repeater 3 and the data collector 1 becomes invisible, and the radio quality between the repeater 3 and the data collector 1 deteriorates.

Therefore, in the present embodiment, as shown in FIG. 2C, the relay is relayed so that the line-of-sight between the repeater 3 and the data collector 1 is secured as the data collector 1 moves. Control the position of the machine 3. Further, in the present embodiment, the position of the data collector 1 is controlled.

Next, the outlook determination according to the first embodiment will be described. FIG. 3 is an explanatory diagram showing an outline of the outlook determination.

When a camera is provided in the repeater 3 and the surroundings of the repeater 3 are photographed, the data collector 1 appears in the photographed image when the data collector 1 is present in a line-of-sight range. Further, when a camera is provided in the data collector 1 and the surroundings of the data collector 1 are photographed, if the repeater 3 is present in a line-of-sight range, the repeater 3 appears in the captured image. Therefore, it is possible to determine whether or not the line-of-sight state between the repeater 3 and the data collector 1 is secured based on the captured image.

On the other hand, it is not possible to evaluate the deterioration of wireless quality when the communication distance is long only from the captured image. In addition, the wireless quality may not deteriorate much even if it is hidden behind a building, but in this case, the wireless quality deteriorates sharply with a slight movement, and only the wireless quality is dealt with against such rapid deterioration. Can't handle it.

Therefore, in the present embodiment, it is determined whether or not the line-of-sight state between the repeater 3 and the data collector 1 is secured based on both the captured image and the radio quality. That is, even if the captured image is determined to be in the line-of-sight state, if the radio quality is not good, it is determined that the image is not in the line-of-sight state. If the object (data collector 1 and repeater 3) is not detected from the captured image, it is determined that the image is not in the line-of-sight state.

It should be noted that only the captured image captured by either the data collector 1 or the repeater 3 may be used. Further, even if the object is detected from the captured image by the object (data collector 1 and repeater 3), if the object is located at the edge of the captured image, that is, if the object is located far away, the line-of-sight state is obtained. It may be determined that it is not.

Further, in the present embodiment, it is assumed that the ground plane 2 controls the positions of the data collector 1 and the repeater 3 based on the line-of-sight determination. That is, the photographed image and the radio quality information taken by the repeater 3 or the data collector 1 are transmitted from the repeater 3 to the ground machine 2, and the ground machine 2 and the repeater 3 are based on the photographed image and the radio quality information. It is determined whether or not the line-of-sight with the data collector 1 is secured, and if it is not in the line-of-sight state, the repeater 3 is instructed to move to the position where the line-of-sight state is obtained. If necessary, the data collector 1 is instructed to move to a position where it can be seen.

Next, a schematic configuration of the data collector 1 according to the first embodiment will be described. FIG. 4 is a block diagram showing a schematic configuration of the data collector 1.

The data collector 1 includes a positioning unit 11, a wireless communication unit 12, a control unit 13 (processor), a storage unit 14, a camera 15, a rotor drive unit 16, and a power supply unit 17.

The positioning unit 11 acquires the position information of its own device by a satellite positioning system such as GPS. The wireless communication unit 12 performs wireless communication with the repeater 3. The control unit 13 controls each unit of the data collector 1. The storage unit 14 stores a program or the like executed by the processor. The camera 15 is an omnidirectional camera and photographs the surroundings of the data collector 1. The rotor drive unit 16 drives a rotor for flight. The power supply unit 17 supplies electric power to each unit of the data collector 1.

Further, in the data collector 1, information regarding a preset data collection schedule is stored in the storage unit 14. This data collection schedule is a time schedule that defines data collection points at each time, and the data collection machine 1 moves according to the data collection schedule to collect data.

The first data collection schedule may be notified to the data collector 1 in addition to the relay start instruction transmitted from the ground machine 2 via the repeater 3. Further, when the move instruction is transmitted to the data collector 1, the updated data collection schedule may be added to the move instruction and notified.

Next, a schematic configuration of the repeater 3 according to the first embodiment will be described. FIG. 5 is a block diagram showing a schematic configuration of the repeater 3.

The repeater 3 includes a positioning unit 21, a wireless communication unit 22, a control unit 23 (processor), a storage unit 24, a camera 25, a rotor drive unit 26, and a power supply unit 27.

The positioning unit 21 acquires the position information of its own device by a satellite positioning system such as GPS. The wireless communication unit 22 performs wireless communication with the ground unit 2 and the data collector 1. The control unit 23 controls each unit of the repeater 3. The storage unit 24 stores a program or the like executed by the processor. The camera 25 is an omnidirectional camera and photographs the surroundings of the repeater 3. The rotor drive unit 26 drives the rotor for flight. The power supply unit 27 supplies electric power to each unit of the repeater 3.

In the present embodiment, the camera 15 of the repeater 3 and the camera 25 of the data collector 1 are omnidirectional cameras that capture a range of 360 degrees with a fisheye lens, but have a predetermined viewing angle (for example, 90 degrees). A plurality of box cameras (for example, four) may be provided to photograph the surroundings of the repeater 3 and the data collector 1. Further, the camera 15 of the repeater 3 may be configured to change the shooting angle according to the movement of the data collector 1.

Next, the schematic configuration of the ground plane 2 according to the first embodiment will be described. FIG. 6 is a block diagram showing a schematic configuration of the ground plane 2.

The ground machine 2 includes a positioning unit 31, a wireless communication unit 32, a control unit 33 (processor), a storage unit 34, a display unit 35, and an input unit 36.

The positioning unit 31 acquires the position information of its own device by a satellite positioning system such as GPS. The wireless communication unit 32 performs wireless communication with the repeater 3. The control unit 33 controls each unit of the ground plane 2. The storage unit 34 stores a program or the like executed by the processor. The display unit 35 displays information regarding the control status of the repeater 3 and the data collector 1. In the input unit 36, the user performs an input operation such as starting a relay.

Next, the operation of the ground plane 2 according to the first embodiment will be described. FIG. 7 is a flow chart showing an operation procedure of the ground plane 2.

As shown in FIG. 7A, when the user first inputs the relay start input operation to the input unit 36 (Yes in ST101), the wireless communication unit 32 instructs the relay unit 3 to start the relay. Is transmitted (ST102). As a result, the relay device 3 starts relaying user data.

Next, the position information of the data collector 1 and the repeater 3 transmitted from the repeater 3, the photographed image of the data collector 1 and the repeater 3, and the wireless quality information between the data collector 1 and the repeater 3 are obtained. When the data is received by the wireless communication unit 32 (Yes in ST103), the control unit 33 determines whether or not there is a line of sight between the repeater 3 and the data collector 1 based on the position information and the radio quality information (ST104). ).

Then, when it is not in the line-of-sight state (No in ST105), the wireless communication unit 32 transmits a movement instruction to the repeater 3 or the data collector 1 (ST106). Then, the operation after receiving the information from the repeater 3 (ST103) is repeated. On the other hand, when the result of the line-of-sight determination is the line-of-sight state (Yes in ST105), the operation after receiving the information from the repeater 3 (ST103) is repeated.

If there is no line-of-sight between the repeater 3 and the data collector 1, either the repeater 3 or the data collector 1 depends on the radio quality and communication distance between the repeater 3 and the ground machine 2. Decide whether to move. First, the repeater 3 is moved so that the line of sight between the data collector 1 and the repeater 3 is secured. If the line of sight between the ground machine 2 and the repeater 3 cannot be secured by moving the repeater 3 so as to secure the line of sight between the data collector 1 and the repeater 3, the repeater It is advisable to return 3 to the original position and move the data collector 1.

As shown in FIG. 7B, in the line-of-sight determination, first, it is determined whether or not the radio quality between the repeater 3 and the data collector 1 is equal to or higher than a predetermined threshold value (ST301).

Here, if the radio quality is less than the threshold value (No in ST301), it is determined that the radio quality is not in the line-of-sight state (ST304).

On the other hand, if the radio quality is equal to or higher than the threshold value (Yes in ST301), then the captured image is subjected to the detection process of the target object, and whether or not the target object is detected in the captured image, that is, , It is determined whether or not the repeater 3 is detected from the captured image captured by the data collector 1 or whether or not the data collector 1 is detected from the captured image captured by the repeater 3 (ST302). ..

Here, when an object (repeater 3 or data collector 1) is detected from the captured image (Yes in ST302), it is determined to be in the line-of-sight state (ST303). On the other hand, if the object is not detected from the captured image (No in ST302), it is determined that it is not in the line-of-sight state (ST304).

In FIG. 7, only the operation of the movement control of the repeater 3 or the data collector 1 based on the line-of-sight determination of the ground plane 2 has been described, but the relay start instruction from the ground plane 2 is the repeater 3 and the data collection. From the time when the image is received by the machine 1, the captured image taken by the data collector 1 is transmitted to the ground machine 2 via the repeater 3 and stored in the ground machine 2.

Next, the operation of the repeater 3 according to the first embodiment will be described. FIG. 8 is a flow chart showing an operation procedure of the repeater 3.

In the repeater 3, when the wireless communication unit 22 receives the relay start instruction transmitted from the ground unit 2 (Yes in ST501), the control unit 23 starts relaying the user data (ST502). Then, the wireless communication unit 22 transmits a relay start instruction to the data collector 1 (ST503).

Next, the control unit 23 acquires the position information of the repeater 3 from the positioning unit 21 (ST504). In addition, a captured image is acquired from the camera 25 (ST505). In addition, the wireless quality between the wireless communication unit 22 and the data collector 1 is acquired (ST506). Then, the position information of the repeater 3, the photographed image of the repeater 3, and the radio quality information between the repeater 3 and the data collector 1 are transmitted from the wireless communication unit 22 to the ground plane 2 (ST507).

Next, when the wireless communication unit 22 receives the movement instruction transmitted from the ground plane 2 (Yes in ST508), the control unit 23 controls the rotor drive unit 26 according to the movement instruction to move the own device (ST509). .. Then, the operation after the acquisition of the position information (ST504) is repeated. On the other hand, if there is no movement instruction from the ground plane 2 (No in ST508), the operation after the acquisition of the captured image (ST505) is repeated.

In FIG. 8, only the operation of the movement control of the repeater 3 based on the line-of-sight determination of the ground plane 2 has been described, but the data is obtained from the time when the relay start instruction from the ground plane 2 is received and the relay is started. Transmission of the captured image captured by the collector 1 to the ground plane 2 is started.

Next, the operation of the data collector 1 according to the first embodiment will be described. FIG. 9 is a flow chart showing an operation procedure of the data collector 1.

In the data collector 1, first, when the wireless communication unit 12 receives the relay start instruction transmitted from the ground unit 2 via the repeater 3 (Yes in ST701), the control unit 13 adds data to the relay start instruction. The collection schedule is acquired and stored in the storage unit 14 (ST702).

Next, the position information of the data collector 1 is acquired from the positioning unit 11 (ST703). In addition, a captured image is acquired from the camera 15 (ST704). In addition, wireless quality information between the wireless communication unit 12 and the repeater 3 is acquired (ST705). Then, the position information of the data collector 1, the captured image of the data collector 1, and the radio quality information between the data collector 1 and the repeater 3 are transmitted from the wireless communication unit 12 to the ground plane 2 via the repeater 3 (ST706).

Then, when the wireless communication unit 12 receives the movement instruction transmitted from the ground unit 2 via the repeater 3 (Yes in ST707), the data collection schedule of the storage unit 14 is set by the data collection schedule added to the movement instruction. Update (ST708). On the other hand, if there is no movement instruction from the repeater 3 (No in ST707), the collection schedule is not updated (ST708). If the data collection schedule is not added to the move instruction, it is not necessary to update the data collection schedule.

Next, the position information of the data collector 1 is acquired from the positioning unit 11 (ST709). Then, when the data collector 1 moves (Yes in ST710), the operation after the acquisition of the captured image (ST704) is repeated. On the other hand, if the data collector 1 does not move (No in ST710), the operation after the reception determination (ST707) of the movement instruction from the ground plane 2 is repeated.

By the way, in the present embodiment, if it is determined that the line-of-sight between the repeater 3 and the data collector 1 is not in the line-of-sight state, the repeater 3 is controlled to move. The repeater 3 may be moved as in.

First, the repeater 3 is moved so as to be as close to the data collector 1 as possible within the range in which communication with the ground machine 2 is possible. Further, the repeater 3 is moved so as to be above the data collector 1 and directly above the data collector 1 as much as possible within a range in which communication with the ground machine 2 is possible. In addition, the repeater 3 is moved so as to follow the data collector 1 as much as possible within the range in which communication with the ground machine 2 is possible. When moving the data collector 1, the data collector 1 is moved so as to return to the position immediately before the line-of-sight state. When moving the data collector 1, the data collector 1 is moved so that the altitude is as high as possible.

Note that, in FIG. 9, only the operation of the movement control of the data collector 1 based on the line-of-sight determination of the ground plane 2 has been described, but the captured image taken from the time when the relay start instruction from the repeater 3 is received is described. Transmission to the repeater 3 is started.

(Modified example of the first embodiment)
Next, a modified example of the first embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

In the first embodiment, the ground plane 2 controls the position of the repeater 3 based on the line-of-sight determination, but in this modification, the repeater 3 controls the position of the repeater 3 based on the line-of-sight determination.

Next, the operation of the ground plane 2 according to the modified example of the first embodiment will be described. FIG. 10 is a flow chart showing an operation procedure of the ground plane 2.

In the ground machine 2, when the input operation for starting the relay is performed by the user at the input unit 36 (Yes in ST101), the wireless communication unit 32 transmits the relay start instruction to the repeater 3 (ST102). As a result, the relay device 3 starts relaying user data.

Next, the operation of the repeater 3 according to the modified example of the first embodiment will be described. FIG. 11 is a flow chart showing an operation procedure of the repeater 3.

In the repeater 3, when the wireless communication unit 22 receives the relay start instruction transmitted from the ground unit 2 (Yes in ST501), the control unit 23 starts relaying the user data (ST502). Then, the wireless communication unit 22 transmits a relay start instruction to the data collector 1 (ST503).

Next, the positioning unit 21 acquires the position information of the repeater 3 (ST504). Then, when the position information of the data collector 1 transmitted from the data collector 1, the captured image of the data collector 1 and the radio quality information between the data collector 1 and the repeater 3 are received (Yes in ST511), the control unit 23 tells the control unit 23. Based on the captured image and the radio quality information, the outlook determination regarding the presence / absence of the outlook is performed (ST512).

On the other hand, when the information from the data collector 1 is not received (No in ST511), then the captured image is acquired from the camera 25 (ST505). In addition, the wireless quality between the wireless communication unit 22 and the data collector 1 is acquired (ST506). Then, the outlook is determined (ST512).

Then, when it is determined in the line-of-sight determination that the line-of-sight state is in the line-of-sight state (Yes in ST513), the operation after receiving the information from the data collector 1 (ST511) is repeated. On the other hand, when it is determined that the state is not in line of sight (No in ST513), the own device is moved or a move instruction is transmitted to the data collector 1 (ST514). Then, the operation after the acquisition of the position information (ST504) is repeated.

Next, the operation of the data collector 1 according to the modified example of the first embodiment will be described. FIG. 12 is a flow chart showing an operation procedure of the data collector 1.

In the data collector 1, first, when the wireless communication unit 12 receives the relay start instruction transmitted from the ground unit 2 via the repeater 3 (Yes in ST701), the control unit 13 adds data to the relay start instruction. The collection schedule is acquired and stored in the storage unit 14 (ST702).

Next, the position information of the data collector 1 is acquired from the positioning unit 11 (ST703). In addition, a captured image is acquired from the camera 15 (ST704). In addition, wireless quality information between the wireless communication unit 12 and the repeater 3 is acquired (ST705). Then, the position information, the captured image, and the wireless quality information are transmitted from the wireless communication unit 12 to the repeater 3 (ST711).

Then, when the movement instruction transmitted from the repeater 3 is received by the wireless communication unit 12 (Yes in ST712), the data collection schedule of the storage unit 14 is updated by the data collection schedule added to the movement instruction (ST708). .. On the other hand, if there is no movement instruction from the repeater 3 (No in ST712), the collection schedule is not updated (ST708).

Next, the position information of the data collector 1 is acquired from the positioning unit 11 (ST709). Then, when the data collector 1 moves (Yes in ST710), the operation after the acquisition of the captured image (ST704) is repeated. On the other hand, if the data collector 1 does not move (No in ST710), the operation after receiving the movement instruction from the ground machine 2 (ST707) is repeated.

In the first embodiment, the ground plane 2 performs the position control based on the line-of-sight determination, and in the modified example of the first embodiment, the repeater 3 performs the position control based on the line-of-sight determination. When the repeater 3 performs, the control load and power consumption of the repeater 3 become large, and the loadability of the repeater 3 and the performance such as the continuous flight time are limited. Therefore, in consideration of such circumstances. , Either configuration may be adopted.

(Second Embodiment)
Next, the second embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment. FIG. 13 is an explanatory diagram showing a control state according to the second embodiment.

In the first embodiment, the position of the repeater 3 or the data collector 1 is controlled so as to secure the line of sight between the data collector 1 and the repeater 3, but in the present embodiment, the ground machine is used. The position of the repeater 3 is controlled so that the line of sight between the repeater 3 and the repeater 3 is secured.

For example, when the repeater 3 is moved from the state shown in FIG. 13 (A) so as to approach the data collector 1 as shown in FIG. 13 (B), the line-of-sight between the ground machine 2 and the repeater 3 is observed. The radio quality between the ground machine 2 and the repeater 3 deteriorates. Therefore, as shown in FIG. 13C, the repeater 3 is returned to a position where the line of sight between the ground machine 2 and the repeater 3 can be secured. As a result, the radio quality between the data collector 1 and the repeater 3 deteriorates to some extent, but the radio quality between the ground machine 2 and the repeater 3 can be maintained satisfactorily.

In particular, in the present embodiment, it is assumed that the ground plane 2 controls the position of the repeater 3 based on the line-of-sight determination. That is, the captured image and radio quality information taken by the repeater 3 or the data collector 1 are transmitted from the repeater 3 to the ground plane 2, and the ground plane 2 and the ground plane 2 are based on the captured image and the radio quality information. It is determined whether or not the line-of-sight with the repeater 3 is secured, and if it is not in the line-of-sight state, the repeater 3 is instructed to move to the position where the line-of-sight state is obtained.

Next, the operation of the ground plane 2 according to the second embodiment will be described. FIG. 14 is a flow chart showing an operation procedure of the ground plane 2.

In the ground machine 2, first, when the input operation for starting the relay is performed by the user at the input unit 36 (Yes in ST101), the wireless communication unit 32 transmits the relay start instruction to the repeater 3 (ST102). As a result, the relay device 3 starts relaying user data.

Next, when the wireless communication unit 32 receives the position information, the captured image, and the wireless quality information transmitted from the repeater 3 (Yes in ST103), the control unit 33 determines the ground unit based on the position information and the wireless quality information. A line-of-sight determination is made regarding the presence or absence of line-of-sight between 2 and the repeater 3 (ST104).

Then, when it is not in the line-of-sight state (No in ST105), the wireless communication unit 32 transmits a movement instruction to the repeater 3 (ST107). Then, the operation after receiving the information from the repeater 3 (ST103) is repeated. On the other hand, when the result of the line-of-sight determination is the line-of-sight state (Yes in ST105), the operation after receiving the information from the repeater 3 (ST103) is repeated.

The line-of-sight determination (ST104) may be performed in the same procedure as in the first embodiment (see FIG. 7B), but in this case, the radio quality between the ground plane 2 and the repeater 3 is equal to or higher than the threshold value. It is also determined whether or not the ground plane 2 is detected from the captured image taken by the repeater 3.

Next, the operation of the repeater 3 according to the second embodiment will be described. FIG. 15 is a flow chart showing an operation procedure of the repeater 3.

In the repeater 3, when the wireless communication unit 22 receives the relay start instruction transmitted from the ground unit 2 (Yes in ST501), the control unit 23 starts relaying the user data (ST502). Then, the wireless communication unit 22 transmits a relay start instruction to the data collector 1 (ST503).

Next, the control unit 23 acquires the position information of the repeater 3 from the positioning unit 21 (ST504). In addition, a captured image is acquired from the camera 25 (ST505). In addition, the radio quality between the wireless communication unit 22 and the ground unit 2 is acquired (ST521). Then, the position information, the captured image, and the radio quality information are transmitted from the wireless communication unit 22 to the ground plane 2 (ST507).

Next, when the wireless communication unit 22 receives the movement instruction transmitted from the ground plane 2 (Yes in ST508), the own device is moved according to the movement instruction (ST509). Then, the operation after the acquisition of the position information (ST504) is repeated. On the other hand, if there is no movement instruction from the ground plane 2 (No in ST508), the operation after the acquisition of the captured image (ST505) is repeated.

By the way, in the present embodiment, when it is determined that the line-of-sight between the repeater 3 and the ground machine 2 is not in the line-of-sight state, the repeater 3 is controlled to move. The repeater 3 may be moved as described above.

First, the repeater 3 is moved so as to be as close to the ground machine 2 as possible within the range in which communication with the data collector 1 is possible. Further, the repeater 3 is moved so as to be above the ground machine 2 and directly above the ground machine 2 as much as possible within a range in which communication with the data collector 1 is possible. In addition, the repeater 3 is moved so as to return to the position immediately before the line-of-sight state.

(Modified example of the second embodiment)
Next, a modified example of the second embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

In the second embodiment, the ground plane 2 controls the position of the repeater 3 based on the line-of-sight determination, but in this modification, the repeater 3 controls the position of the repeater 3 based on the line-of-sight determination.

Next, the operation of the repeater 3 according to the modified example of the second embodiment will be described. FIG. 16 is a flow chart showing an operation procedure of the repeater 3.

In the repeater 3, when the wireless communication unit 22 receives the relay start instruction transmitted from the ground unit 2 (Yes in ST501), the control unit 23 starts relaying the user data (ST502). Then, the wireless communication unit 22 transmits a relay start instruction to the data collector 1 (ST503).

Next, the control unit 23 acquires the position information of the repeater 3 from the positioning unit 21 (ST504). In addition, a captured image is acquired from the camera 25 (ST505). In addition, wireless quality information between the wireless communication unit 22 and the ground unit 2 is acquired (ST521). Then, based on the captured image and the radio quality information, a line-of-sight determination regarding the presence or absence of line-of-sight with the ground plane 2 is performed (ST531).

Then, when it is determined in the line-of-sight determination that the line-of-sight state is in the line-of-sight state (Yes in ST532), the operation after the acquisition of the captured image (ST505) is repeated. On the other hand, if it is determined that the device is not in the line-of-sight state (No in ST532), the own device is moved (ST533). Then, the operation after the acquisition of the position information (ST504) is repeated.

(Third Embodiment)
Next, the third embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment. FIG. 17 is an explanatory diagram showing a control state according to the third embodiment.

When a plurality of data collectors 1 exist, it is desirable to shorten the communication distance between each data collector 1 and the repeater 3 in order to improve the performance of the entire system. Therefore, in the present embodiment, the position of the repeater 3 is controlled so that the communication distance between each data collector 1 and the repeater 3 is shortened as a whole. In particular, in the present embodiment, control is performed to move the repeater 3 to a position where the average value (total value) of the communication distances between the data collector 1 and the repeater 3 is minimized. For example, when the repeater 3 is moved directly above the ground plane 2 from the state shown in FIG. 17 (A) as shown in FIG. 17 (B), the communication distance between each data collector 1 and the repeater 3 is reached. The average value of can be minimized.

Further, in the present embodiment, it is assumed that the ground machine 2 controls the position of the repeater 3 based on the communication distance.

Next, the operation of the ground plane 2 according to the third embodiment will be described. FIG. 18 is a flow chart showing an operation procedure of the ground plane 2.

As shown in FIG. 18A, when the user first inputs the relay start input operation to the input unit 36 (Yes in ST101), the wireless communication unit 32 instructs the relay unit 3 to start the relay. Is transmitted (ST102). As a result, the relay device 3 starts relaying user data.

Next, the position information of the data collector 1 and the repeater 3 transmitted from the repeater 3, the photographed image of the data collector 1 and the repeater 3, and the radio quality information between the data collector 1 and the repeater 3 are obtained. When received by the wireless communication unit 32 (Yes in ST103), the control unit 33 determines the system performance regarding the communication distance based on the position information, and calculates the target position of the repeater 3 (ST111).

Then, when the target position and the current position are different (Yes in ST112), the wireless communication unit 32 transmits a movement instruction to the repeater 3 (ST107). Then, the operation after receiving the information from the repeater 3 (ST103) is repeated. On the other hand, when the target position and the current position are the same (No in ST112), the operation after receiving the information from the repeater 3 (ST103) is repeated.

As shown in FIG. 18B, in the system performance determination (ST111), the average (total) of the communication distances between each data collector 1 and the repeater 3 is the minimum based on the position information of each data collector 1. The target position of the repeater 3 is calculated (ST311).

(Modified example of the third embodiment)
Next, a modified example of the third embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

In the third embodiment, the ground unit 2 controls the position of the repeater 3 based on the communication distance, but in this modification, the repeater 3 controls the position of the repeater 3 based on the communication distance.

Next, the operation of the repeater 3 according to the modified example of the third embodiment will be described. FIG. 19 is a flow chart showing an operation procedure of the repeater 3.

In the repeater 3, when the wireless communication unit 22 receives the relay start instruction transmitted from the ground unit 2 (Yes in ST501), the control unit 23 starts relaying the user data (ST502). Then, the wireless communication unit 22 transmits a relay start instruction to the data collector 1 (ST503).

Next, the positioning unit 21 acquires the position information of the repeater 3 (ST504). Then, when the position information of the data collector 1 transmitted from the data collector 1, the captured image of the data collector 1 and the wireless quality information between the data collector 1 and the repeater 3 are received (Yes in ST511), The control unit 23 determines the system performance regarding the communication distance and calculates the target position of the repeater 3 (ST541).

On the other hand, when the information from the data collector 1 is not received (No in ST511), then the captured image is acquired from the camera 25 (ST505). In addition, the wireless quality between the wireless communication unit 22 and the data collector 1 is acquired (ST506). Then, the system performance is determined (ST541).

Then, when the target position of the repeater 3 and the current position are different (Yes in ST542), the own device is moved (ST533). Then, the operation after the acquisition of the position information (ST504) is repeated. On the other hand, when the target position of the repeater 3 and the current position are the same (No in ST542), the operation after receiving the information from the data collector 1 (ST511) is repeated.

(Fourth Embodiment)
Next, the fourth embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment. FIG. 20 is an explanatory diagram showing a control state according to the fourth embodiment.

When a plurality of data collectors 1 are present, it is desirable that one repeater 3 can relay as many data collectors 1 as possible in order to improve the performance of the entire system. In the state shown in FIG. 20A, since the repeater 3 is located only in the communication area (communication area of user data) of one data collector 1, only one data collector 1 can be relayed. As shown in 20 (B), if the repeater 3 is moved to a position where the communication areas of the three data collectors 1 overlap, the three data collectors 1 can be relayed. Therefore, in the present embodiment, the position of the repeater 3 is controlled so that the number of data collectors 1 that can be relayed is the largest.

Next, the system performance determination according to the fourth embodiment will be described. FIG. 21 is an explanatory diagram showing a procedure for determining system performance.

In the system performance determination, first, the range (position) of the communication area of each data collector 1 is calculated based on the position information and the transmission power of each data collector 1 (ST321). Then, the position where the multiple communication areas of each data collector 1 are maximized is calculated, and the position is determined as the target position of the repeater 3 (ST322).

The operations other than the system performance determination are the same as the example shown in FIG. 18 when the position control of the repeater 3 is performed by the ground machine 2, and the operation is the same as the example shown in FIG. 18 when the position control of the repeater 3 is performed by the repeater 3. It is the same as the example shown in 19.

Further, in the present embodiment, the data collector 1 collects the position information of each data collector 1, but each data collector 1 according to the time is based on the movement schedule in which the position information and the time are set in advance. You may try to acquire the position information of.

Further, when the repeater 3 is located outside the user data communication area of each data collector 1 by adopting a wide-area and narrow-band wireless communication method for the control data communication separately from the user data communication. However, the position information of the data collector 1 can be received.

(Fifth Embodiment)
Next, the fifth embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

When a plurality of data collectors 1 are present, it is desirable to increase the throughput of communication between each data collector 1 and the repeater 3 in order to improve the performance of the entire system. Therefore, in the present embodiment, the position of the repeater 3 is controlled so that the throughput of communication between each data collector 1 and the repeater 3 becomes higher as a whole. In particular, in the present embodiment, control is performed to move the repeater 3 to a position where the total throughput of communication between each data collector 1 and the repeater 3 is maximized.

Next, the system performance determination according to the fifth embodiment will be described. FIG. 22 is a flow chart showing a procedure for determining system performance. FIG. 23 is an explanatory diagram showing an example of the distance-MCS table.

As shown in FIG. 22, in the system performance determination, first, the communication distance between each data collector 1 and the repeater 3 at each candidate position of the repeater 3 is calculated based on the position information of each data collector 1. (ST331). Next, with reference to the distance-MCS (Modulation and Coding Scheme) table (see FIG. 23), the throughput corresponding to the communication distance at each candidate position of the repeater 3 is acquired (ST332). Then, the total value of the throughput at each candidate position of the repeater 3 is calculated, the candidate position having the maximum total value is acquired, and the candidate position is determined as the target position of the repeater 3 (ST333). ..

As shown in FIG. 23, the distance-MCS table defines the communication distance, radio quality (S / N ratio), coding rate, modulation method, and TBS size for each MCS-distance index. Here, the TBS size represents the throughput.

The operations other than the system performance determination are the same as the example shown in FIG. 18 when the position control of the repeater 3 is performed by the ground machine 2, and the operation is the same as the example shown in FIG. 18 when the position control of the repeater 3 is performed by the repeater 3. It is the same as the example shown in 19.

(Sixth Embodiment)
Next, the sixth embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

When a plurality of data collectors 1 are present, it is desirable to improve the overall radio quality between each data collector 1 and the repeater 3 in order to improve the performance of the entire system. Therefore, in the present embodiment, the position of the repeater 3 is controlled so that the radio quality between each data collector 1 and the repeater 3 is generally good. In particular, in the present embodiment, the repeater 3 is controlled to move to the position where the average value (S / N ratio) of the radio quality evaluation values (S / N ratio) between each data collector 1 and the repeater 3 is maximized.

Next, the system performance determination according to the sixth embodiment will be described. FIG. 24 is a flow chart showing a procedure for determining system performance.

In the system performance determination, first, the communication distance between each data collector 1 and the repeater 3 at each candidate position of the repeater 3 is calculated based on the position information of each data collector 1 (ST341). Next, with reference to the distance-MCS table (see FIG. 23), the radio quality corresponding to the communication distance at each candidate position of the repeater 3 is acquired (ST342). Then, the average value of the radio quality at each candidate position of the repeater 3 is calculated, and the candidate position where the average value is the maximum is determined as the target position (ST343).

The operations other than the system performance determination are the same as the example shown in FIG. 18 when the position control of the repeater 3 is performed by the ground machine 2, and the operation is the same as the example shown in FIG. 18 when the position control of the repeater 3 is performed by the repeater 3. It is the same as the example shown in 19.

(7th Embodiment)
Next, the seventh embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment. FIG. 25 is an explanatory diagram showing a reflection transmission method according to the seventh embodiment.

In the present embodiment, the repeater 3 is provided with a reflector 41 (reflecting unit) made of a metal plate or the like, and the radio wave (for example, millimeter wave) transmitted from the data collector 1 is reflected by the reflector 41. Then, the transmission of the user data from the data collecting machine 1 to the ground machine 2 is relayed.

In the repeater 3, user data is relayed by a reflection transmission method using a reflector 41, but control data is transmitted and received by the wireless communication unit 22.

Next, the control of the repeater 3 and the reflector 41 according to the seventh embodiment will be described. FIG. 26 is an explanatory diagram showing a control state of the repeater 3 and the reflector 41.

In the present embodiment, the control of the position of the data collector 1 and the control of the angle of the reflector 41 are combined. In particular, in the present embodiment, first, the user data is relayed by moving the repeater 3 provided with the reflector 41 in response to the movement of the data collector 1. Further, there is a case where the movement of the repeater 3 cannot cope with the situation. In this case, the user data is relayed by controlling the angle of the reflector 41.

In the example shown in FIG. 26, first, relay is performed with the reflector 41 in the horizontal direction. In this case, by arranging the repeater 3 at the center position of the ground machine 2 and the data collector 1, the incident angle and the reflection angle of the radio wave become equal, and the relay can be performed. Further, in the example shown in FIG. 26, the movement allowable area of the repeater 3 is set, and the repeater 3 cannot be moved outside the movement allowable area. Therefore, when relaying cannot be performed within the movement allowable area, the angle of the reflector 41 is changed to perform relaying.

Specifically, when the data collector 1 moves from the state shown in FIG. 26 (A), the repeater 3 is moved to shift the position of the reflector 41 as shown in FIG. 26 (B). It can be relayed. As shown in FIG. 26C, if the data collector 1 is further moved, relaying cannot be performed within the movement allowable area, but the reflector 41 is provided so that the incident angle and the reflection angle of the radio wave are equal to each other. Relaying can be performed by changing the angle.

This embodiment is suitable when the ground plane 2 and the data collector 1 communicate with each other on a one-to-one basis, for example, when the video captured by the camera of the data collector 1 is distributed. In addition, when distributing a video of a competition taken by a data collector 1 (for example, a camera attached to a referee) on the ground at a stadium, it is desirable to prevent the repeater 3 from entering the sky above the ground. In this case, the movement allowable area of the repeater 3 is set.

Next, the operation of the ground plane 2 according to the seventh embodiment will be described. FIG. 27 is a flow chart showing the operation procedure of the ground plane 2.

As shown in FIG. 27 (A), in the ground machine 2, when the user first performs a relay start input operation in the input unit 36 (Yes in ST101), the wireless communication unit 32 instructs the relay unit 3 to start relaying. Is transmitted (ST102). As a result, the relay device 3 starts relaying user data.

Next, when the position information transmitted from the repeater 3 is received by the wireless communication unit 32 (Yes in ST103), the control unit 33 performs a reflector angle calculation process (ST121). Next, the wireless communication unit 32 transmits a reflector angle notification to the repeater 3 (ST101). Then, the operation after receiving the information from the repeater 3 (ST103) is repeated.

As shown in FIG. 27 (B), in the reflector angle calculation process (ST121), the angle of incidence and the angle of reflection on the reflector 41 are calculated based on the position information of the ground plane 2, the data collector 1, and the repeater 3. Then, the angle of the reflector 41 at which the incident angle and the reflection angle are equal is calculated (ST351).

In the present embodiment, the process of calculating the angle of the reflector 41 based on the position information is performed by the ground plane 2, but this process may be performed by the repeater 3. In this case, the position information of the ground plane 2 and the data collector 1 is notified to the repeater 3.

Next, the operation of the repeater 3 according to the seventh embodiment will be described. FIG. 28 is a flow chart showing an operation procedure of the repeater 3.

In the repeater 3, when the wireless communication unit 22 receives the relay start instruction transmitted from the ground unit 2 (Yes in ST501), the control unit 23 starts relaying the user data (ST502). Then, the wireless communication unit 22 transmits a relay start instruction to the data collector 1 (ST503).

Next, the positioning unit 21 acquires the position information of the repeater 3 (ST504). Next, the position information of the repeater 3 is transmitted from the wireless communication unit 22 to the ground machine 2 (ST551).

Then, when the reflector angle notification transmitted from the ground plane 2 is received (Yes in ST552), the angle of the reflector 41 is changed so as to be the target angle specified in the reflector angle notification (ST553). Then, the operation after the acquisition of the position information (ST504) is repeated. On the other hand, when the reflector angle notification from the ground plane 2 is not received (No in ST552), the operation of transmitting the position information (ST551) is repeated.

Next, the operation of the data collector 1 according to the seventh embodiment will be described. FIG. 29 is a flow chart showing an operation procedure of the data collector 1.

In the data collector 1, first, when the wireless communication unit 12 receives the relay start instruction transmitted from the ground machine 2 via the repeater 3 (Yes in ST701), the data collector 1 starts transmitting the user data by the relay of the repeater 3. (ST721).

Next, the positioning unit 11 acquires the position information of the data collector 1 (ST703). Next, the position information of the data collector 1 is transmitted to the ground machine 2 via the repeater 3 (ST722). Then, when the data collector 1 moves (Yes in ST710), the operation after the acquisition of the position information (ST704) is repeated.

(8th Embodiment)
Next, the eighth embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment. FIG. 30 is an explanatory diagram showing a control state according to the eighth embodiment.

In the case of the reflection transmission method using the reflector 41, the radio wave after reflection is greatly attenuated. Therefore, in the present embodiment, when the user data is communicated from the data collector 1 to the ground machine 2 via the repeater 3, the communication distance after reflection, that is, the communication between the repeater 3 and the ground machine 2. The repeater 3 is moved to a position where the distance is shorter than the communication distance before reflection, that is, the communication distance between the data collector 1 and the repeater 3.

In this case, the position of the repeater 3 may be controlled so that the communication distance after reflection is as short as possible. Further, the ratio of the communication distance before and after the reflection (for example, 10: 1) may be set in advance, and the position of the repeater 3 may be controlled so as to be the ratio of the communication distance. Further, the permissible range of the communication distance after reflection may be set in advance, and the position of the repeater 3 may be controlled so that the communication distance after reflection falls within the permissible range.

(9th Embodiment)
Next, the ninth embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment. Further, the control status according to the present embodiment is the same as the example shown in FIG.

In the case of the reflection transmission method using the reflector 41, the radio wave after reflection is greatly attenuated. Therefore, in the present embodiment, when the user data is communicated from the data collector 1 to the ground machine 2 via the repeater 3, the radio quality after reflection, that is, the radio between the repeater 3 and the ground machine 2 The repeater 3 is moved to a position where the quality is better than the radio quality before reflection, that is, the radio quality between the data collector 1 and the repeater 3.

In this case, the position of the repeater 3 may be controlled so that the communication distance after reflection is as short as possible. Further, the ratio of the radio quality before and after the reflection (for example, 1: 3) may be set in advance, and the position of the repeater 3 may be controlled so as to have this ratio of the radio quality.

(10th Embodiment)
Next, the tenth embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment. FIG. 31 is an explanatory diagram showing a control state according to the tenth embodiment.

In the seventh embodiment and the like, relay is performed by a reflection transmission method using the reflector 41. In this case, relaying is possible by appropriately setting the position and angle of the reflector 41 based on the position information of the ground plane 2, the data collector 1, and the repeater 3. However, when the repeater 3 communicates with the monitoring center 6 via the base station 5 (data receiving device) of the mobile network, the position information of the base station 5 is required for the position control of the repeater 3. However, there are cases where the location information of the base station 5 cannot be acquired.

Therefore, in the present embodiment, the reflector 41 is fixed at a constant angle (for example, 45 degrees). Then, the repeater 3 is arranged directly above the data collector 1, the radio quality is measured while changing the angle and altitude of the reflector 41, and based on the measurement result, the repeatable reflector 41 The relay preparation for specifying the angle and altitude is performed, and the relay is performed at the angle and altitude of the reflector 41 acquired in this relay preparation. When the data collector 1 moves, the repeater 3 follows the data collector 1 and moves.

Further, in the present embodiment, the data collector 1 determines whether the radio quality is good or bad.

In the present embodiment, the direction of the reflector 41 is changed by rotating the repeater 3, and the altitude of the reflector 41 is changed by moving the repeater 3 up and down, but the reflection is reflected by the repeater 3. The plate 41 may be provided rotatably, and the direction of the reflector 41 may be changed by rotating the reflector 41 itself.

Next, the operation of the repeater 3 according to the tenth embodiment will be described. FIG. 32 is a flow chart showing an operation procedure of the repeater 3.

In the repeater 3, first, when the wireless communication unit 22 receives the relay start instruction transmitted from the ground machine 2 (Yes in ST501), the relay preparation is started (ST561).

In this relay preparation (ST562 to ST571), the direction of the reflector 41 is changed stepwise (ST565) while the altitude of the reflector 41 is changed stepwise within a predetermined range (5 m to 15 m) (ST563). repeat.

At this time, if the direction of the reflector 41 is changed (ST565), the current direction and altitude are notified to the data collector 1 (ST566). Then, after waiting for a predetermined time (waiting time) required for the wireless quality measurement in the data collector 1 (ST567), if the control instruction transmitted from the data collector 1 is not received (No in ST568), The reflector 41 is changed in the next direction (ST565). Then, if the control instruction from the data collector 1 is not received even if the reflector 41 is rotated 360 degrees (No in ST568), the reflector 41 is changed to the next altitude (ST563).

In this way, while changing the altitude of the reflector 41 stepwise within a predetermined range (5 m to 15 m) (ST563), the operation of stepwise changing the direction of the reflector 41 (ST565) is repeated to obtain data. When the control instruction transmitted from the collector 1 is received (Yes in ST568), the own device is controlled so as to have the direction and altitude specified by the control instruction (ST571).

When the relay preparation is completed in this way, the relay is started (ST502).

Next, the operation of the data collector 1 according to the tenth embodiment will be described. FIG. 33 is a flow chart showing an operation procedure of the data collector 1.

In the data collector 1, first, when the wireless communication unit 12 receives the relay start instruction transmitted from the ground machine 2 via the repeater 3 (Yes in ST701), the data collector 1 starts the relay preparation (ST731).

In this relay preparation, when the direction and altitude information transmitted from the repeater 3 is received (Yes in ST732), the wireless communication unit 12 measures the radio quality with the repeater 3 (ST733). Then, when the radio quality is equal to or higher than a predetermined threshold value (Yes in ST734), the wireless communication unit 12 transmits a control instruction (including direction and altitude) to the repeater 3 (ST735). Then, the transmission of user data by the relay of the repeater 3 is started (ST721). On the other hand, when the radio quality is less than the threshold value (No in ST734), the operation after receiving the information from the repeater 3 (ST732) is repeated.

As described above, in the present embodiment, while changing the direction and altitude of the reflector 41, the direction and altitude of the reflector 41 are notified to the data collector 1 each time, and the radio quality is measured by the data collector 1. When the direction and altitude of the reflector 41 that can obtain radio quality satisfying the standard are specified, the data collector 1 instructs the repeater 3 to start relaying in the direction and altitude of the reflector 41 at that time. ..

In the present embodiment, the relay preparation is completed at the timing when the direction and altitude of the reflector 41 that can obtain the radio quality satisfying the standard are specified, but the direction and altitude of the reflector 41 are changed stepwise. At the same time, the data collector 1 performs the process of measuring the radio quality in all directions and altitudes within a predetermined range, collects the radio quality information in all directions and altitudes, and then determines the radio quality. The best direction and altitude may be obtained and relayed in that direction and altitude.

(Modified example of the tenth embodiment)
Next, a modified example of the tenth embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

In the tenth embodiment, the data collector 1 determines the quality of the radio quality, but in the present modification, the repeater 3 determines the quality of the radio quality.

Next, the operation of the repeater 3 according to the modified example of the tenth embodiment will be described. FIG. 34 is a flow chart showing an operation procedure of the repeater 3.

In the repeater 3, first, when the wireless communication unit 22 receives the relay start instruction transmitted from the ground machine 2 (Yes in ST501), the relay preparation is started (ST561).

In this relay preparation (ST562 to ST583), the direction of the reflector 41 is changed stepwise (ST565) while the altitude of the reflector 41 is changed stepwise within a predetermined range (5 m to 15 m) (ST563). repeat.

At this time, when the direction of the reflector 41 is changed (ST565) and the radio quality information transmitted from the data collector 1 is received (Yes in ST581), it is determined whether or not the radio quality is equal to or higher than a predetermined threshold value. (ST582). Here, when the radio quality is less than the threshold value (No in ST582), the reflector 41 is changed in the next direction (ST565). Then, if the radio quality is less than the threshold value even if the reflector 41 is rotated 360 degrees (No in ST582), the reflector 41 is changed to the next altitude (ST563).

In this way, while changing the altitude of the reflector 41 stepwise within a predetermined range (5 m to 15 m) (ST563), the operation of stepwise changing the direction of the reflector 41 (ST565) is repeated to perform wireless communication. When the quality exceeds the threshold value (Yes in ST582), a relay start notification is transmitted to the data collector 1 (ST583).

When the relay preparation is completed in this way, the relay is started (ST502).

Next, the operation of the data collector 1 according to the modified example of the tenth embodiment will be described. FIG. 35 is a flow chart showing an operation procedure of the data collector 1.

In the data collector 1, first, when the wireless communication unit 12 receives the relay start instruction transmitted from the ground machine 2 via the repeater 3 (Yes in ST701), the data collector 1 starts the relay preparation (ST731).

In this relay preparation, first, the wireless communication unit 12 measures the wireless quality with the repeater 3 (ST741). Next, the wireless communication unit 12 transmits the wireless quality information to the repeater 3 (ST742). Then, when the relay start instruction transmitted from the repeater 3 is received (Yes in ST743), the transmission of user data by the relay of the repeater 3 is started (ST721). On the other hand, if there is no relay start instruction from the repeater 3 (No in ST743), the operation after the radio quality measurement (ST741) is repeated.

As described above, in this modification, the radio quality is measured by the data collector 1 while changing the direction and altitude of the reflector 41, the measurement result is notified to the repeater 3, and the radio quality satisfying the standard can be obtained. When the direction and altitude of the reflector 41 are specified, relaying is started in the direction and altitude of the reflector 41 at that time.

(11th Embodiment)
Next, the eleventh embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

When a plurality of data collectors 1 are present, the repeater 3 is not always present at a position where the required Quality of Service (QoS) is secured in all the data collectors 1. For example, as the QoS required for the data collector 1, when the average minimum guaranteed communication rate is 10 Mbps, the data collector 1 moves away from the repeater 3 and the distance from the repeater 3 increases. If it becomes longer, the average communication rate may become less than 10 Mbps, and it may not be possible to secure the QoS required for the data collector 1.

Therefore, in the present embodiment, the position of the repeater 3 is controlled so as to move the repeater 3 to an appropriate position that satisfies the QoS required for the data collector 1. Specifically, the repeater 3 is moved to a position where the minimum guaranteed rate of the data collector 1 is secured.

Further, in the present embodiment, it is assumed that the ground machine 2 controls the position of the repeater 3 based on QoS.

Next, the operation of the ground plane 2 according to the eleventh embodiment will be described. FIG. 36 is a flow chart showing an operation procedure of the ground plane 2.

As shown in FIG. 36 (A), in the ground machine 2, when the input operation of the relay start by the user is first performed in the input unit 36 (Yes in ST101), the wireless communication unit 32 instructs the relay unit 3 to start the relay. Is transmitted (ST102). As a result, the relay device 3 starts relaying user data.

Next, the position information of the data collector 1 and the repeater 3 transmitted from the repeater 3, the photographed image of the data collector 1 and the repeater 3, and the wireless quality information between the data collector 1 and the repeater 3 are obtained. When received by the wireless communication unit 32 (Yes in ST103), the control unit 33 determines the QoS regarding the QoS of each data collector 1 based on the wireless quality information, and is a repeater that satisfies the QoS of each data collector 1. The target position of 3 is calculated (ST131).

Then, when the target position and the current position are different (Yes in ST132), the wireless communication unit 32 transmits a movement instruction to the repeater 3 (ST107). Then, the operation after receiving the information from the repeater 3 (ST103) is repeated. On the other hand, when the target position and the current position are the same (No in ST132), the operation after receiving the information from the repeater 3 (ST103) is repeated.

As shown in FIG. 36 (B), in the QoS determination (ST131), first, the average communication rate of each data collector 1 is calculated (ST361). In addition, the minimum guaranteed rate of each preset data collector 1 is acquired (ST362). Then, the average rate and the minimum guaranteed rate are compared for each data collector 1, and if there is a data collector 1 in which the difference between the average rate and the minimum guaranteed rate is larger than a predetermined threshold value (No in ST363). ), The target position of the repeater 3 is calculated so that the average rate of the data collector 1 is improved (ST364). On the other hand, if the difference between the average rate and the minimum guaranteed rate is equal to or less than the threshold value (Yes in ST363), the process ends.

Here, the target position of the repeater 3 may be, for example, the center position on a straight line connecting the data collector 1 and the ground plane 2 for which improvement in the average rate is desired. Further, the target position of the repeater 3 may be set so that the communication distance between the data collector 1 and the repeater 3 is within a predetermined reference value.

(Modified example of the eleventh embodiment)
Next, a modified example of the eleventh embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

In the eleventh embodiment, the ground plane 2 controls the position of the repeater 3 based on the QoS determination, but in this modification, the repeater 3 controls the position of the repeater 3 based on the QoS determination.

Next, the operation of the repeater 3 according to the modified example of the eleventh embodiment will be described. FIG. 37 is a flow chart showing an operation procedure of the repeater 3.

In the repeater 3, when the wireless communication unit 22 receives the relay start instruction transmitted from the ground unit 2 (Yes in ST501), the control unit 23 starts relaying the user data (ST502). Then, the wireless communication unit 22 transmits a relay start instruction to the data collector 1 (ST503).

Next, the positioning unit 21 acquires the position information of the repeater 3 (ST504). Then, when the position information, the captured image, and the radio quality information transmitted from the data collector 1 are received (Yes in ST511), the control unit 23 makes a QoS determination for each data collector 1 and makes a QoS determination for each data collector 1 to determine the target position of the repeater 3. Is calculated (ST591).

On the other hand, when the information from the data collector 1 is not received (No in ST511), then the captured image is acquired from the camera 25 (ST505). In addition, the wireless quality between the wireless communication unit 22 and the data collector 1 is acquired (ST506). Then, a QoS determination is performed (ST591).

Then, when the target position of the repeater 3 and the current position are different (Yes in ST592), the own device is moved (ST533). Then, the operation after the acquisition of the position information (ST504) is repeated. On the other hand, when the target position of the repeater 3 and the current position are the same (No in ST592), the operation after receiving the information from the data collector 1 (ST511) is repeated.

(12th Embodiment)
Next, the twelfth embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment. FIG. 38 is an explanatory diagram showing a control state according to the twelfth embodiment.

When a plurality of data collectors 1 exist, the importance of the user data transmitted from the data collector 1 differs depending on the content thereof, and the data collector 1 that transmits the user data having a higher importance is given priority. , It is desired to secure QoS. Therefore, in the present embodiment, the priority is set for the data collector 1, and the repeater 3 is moved to a position where the required QoS is secured by the data collector 1 having a high priority. That is, the data collector 1 to be the target of the QoS determination is selected based on the priority of the data collector 1, and the target position of the repeater 3 is determined based on the QoS determination regarding the data collector 1.

Specifically, as shown in FIG. 38 (A), when one data collector 1 has a high priority and the other data collector 1 has a low priority, as shown in FIG. 38 (B), The repeater 3 is moved so as to approach the data collector 1 so that the required QoS is secured by the data collector 1 having a high priority.

Further, as shown in FIG. 38 (C), when the priority of the data collector 1 changes, the required QoS is secured in the data collector 1 having a higher priority as shown in FIG. 38 (D). The repeater 3 is moved so as to approach the data collector 1.

The priority of the data collection machine 1 may be set in advance for each data collection machine 1, but may be appropriately changed based on the data collection schedule and other information. Further, the priority may be changed according to the content of the user data transmitted from the data collector 1. For example, in broadcasting applications, it is preferable to raise the priority of the data collector 1 that transmits broadcast video of important contents to secure the QoS of the data collector 1. Further, in the surveillance application, it is preferable to raise the priority of the data collector 1 that transmits the video of tracking the criminal to secure the QoS of the data collector 1. Further, the repeater 3 may be moved so that the required QoS is secured in the plurality of data collectors 1 having higher priorities.

Further, in the present embodiment, it is assumed that the ground machine 2 controls the position of the repeater 3 based on QoS.

Next, the operation of the ground plane 2 according to the twelfth embodiment will be described. FIG. 39 is a flow chart showing the operation procedure of the ground plane 2.

As shown in FIG. 39 (A), in the ground machine 2, when the user first performs a relay start input operation in the input unit 36 (Yes in ST101), the wireless communication unit 32 instructs the relay unit 3 to start relaying. Is transmitted (ST102). As a result, the relay device 3 starts relaying user data.

Next, the position information of the data collector 1 and the repeater 3 transmitted from the repeater 3, the photographed image of the data collector 1 and the repeater 3, and the wireless quality information between the data collector 1 and the repeater 3 are obtained. When the data is received by the wireless communication unit 32 (Yes in ST103), the control unit 33 determines the priority of the data collector 1 based on the position information and the wireless quality information (ST141). Next, the data collector 1 determined to have a high priority is subjected to a QoS determination regarding the QoS of each data collector 1 based on the radio quality information, and the relay satisfying the QoS of each data collector 1. The target position of the machine 3 is calculated (ST131).

Then, when the target position and the current position are different (Yes in ST132), the wireless communication unit 32 transmits a movement instruction to the repeater 3 (ST107). Then, the operation after the acquisition of information from the repeater 3 (ST103) is repeated. On the other hand, when the target position and the current position are the same (No in ST132), the operation after receiving the information from the repeater 3 (ST103) is repeated.

As shown in FIG. 39 (B), in the priority determination (ST141), only the position information and the radio quality information of the data collector 1 having a high priority are acquired (ST371).

In the present embodiment, the priority determination narrows down the data collector 1 to be the target of the QoS determination based on the priority of the data collector 1, but the third to sixth embodiments are based on the priority. The target of the system performance determination of the form may be narrowed down.

(Modified example of the twelfth embodiment)
Next, a modified example of the twelfth embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

In the twelfth embodiment, the ground plane 2 controls the position of the repeater 3 based on the QoS determination, but in this modification, the repeater 3 controls the position of the repeater 3 based on the QoS determination.

Next, the operation of the repeater 3 according to the modified example of the twelfth embodiment will be described. FIG. 40 is a flow chart showing an operation procedure of the repeater 3.

In the repeater 3, when the wireless communication unit 22 receives the relay start instruction transmitted from the ground unit 2 (Yes in ST501), the control unit 23 starts relaying the user data (ST502). Then, the wireless communication unit 22 transmits a relay start instruction to the data collector 1 (ST503).

Next, the positioning unit 21 acquires the position information of the repeater 3 (ST504). Then, when the position information, the captured image, and the radio quality information transmitted from the data collector 1 are received (Yes in ST511), the control unit 23 determines the priority of each data collector 1 (ST601). Next, the QoS determination regarding the selected data collector 1 is performed, and the target position of the repeater 3 is calculated (ST591).

On the other hand, when the information from the data collector 1 is not received (No in ST511), then the captured image is acquired from the camera 25 (ST505). In addition, the wireless quality between the wireless communication unit 22 and the data collector 1 is acquired (ST506). Then, priority determination (ST601) and QoS determination (ST591) are performed.

Then, when the target position of the repeater 3 and the current position are different (Yes in ST592), the own device is moved (ST533). Then, the operation after the acquisition of the position information (ST504) is repeated. On the other hand, when the target position of the repeater 3 and the current position are the same (No in ST592), the operation after receiving the information from the data collector 1 (ST511) is repeated.

(13th Embodiment)
Next, the thirteenth embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

If a wireless network exists around the repeater 3 and another repeater 3 exists around the repeater 3, interference occurs between the wireless network and the wireless communication of the other repeater 3. Therefore, in the present embodiment, the amount of interference between the wireless network and the wireless communication of the other repeater 3 is measured, and when the amount of interference exceeds a predetermined value, data is collected in the direction of reducing the amount of interference. Move the machine 1.

Further, in the present embodiment, it is assumed that the ground plane 2 controls the position of the data collector 1 based on the interference.

In the present embodiment, the data collector 1 is controlled to move in the direction in which the interference amount is reduced, but the repeater 3 may be controlled to be moved in the direction in which the interference amount is reduced.

Next, the operation of the ground plane 2 according to the thirteenth embodiment will be described. FIG. 41 is a flow chart showing an operation procedure of the ground plane 2.

As shown in FIG. 41 (A), in the ground machine 2, when the user first performs the relay start input operation in the input unit 36 (Yes in ST101), the wireless communication unit 32 instructs the relay unit 3 to start relaying. Is transmitted (ST102). As a result, the relay device 3 starts relaying user data.

Next, the position information of the data collector 1 and the repeater 3 transmitted from the repeater 3, the photographed image of the data collector 1 and the repeater 3, and the wireless quality information between the data collector 1 and the repeater 3 are obtained. When received by the wireless communication unit 32 (Yes in ST103), the control unit 33 determines interference with respect to the presence or absence of interference with other wireless communications based on the position information and the wireless quality information (ST151).

Then, when it is determined that there is interference in the interference determination (Yes in ST152), the wireless communication unit 32 transmits a movement instruction to the data collector 1 via the repeater 3 (ST108). Then, the operation after receiving the information from the repeater 3 (ST103) is repeated. On the other hand, if it is determined that there is no interference (No in ST152), the operation after receiving the information from the repeater 3 (ST103) is repeated.

In the movement instruction, the movement direction of the data collector 1 is instructed. The moving direction of the data collector 1 may be a direction of returning to the position immediately before it is determined that there is no interference. In addition, the altitude may be increased.

As shown in FIG. 41 (B), in the interference determination (ST151), the interference amount is acquired and it is determined whether or not the interference amount is equal to or greater than a predetermined threshold value (ST381). Here, if the amount of interference is equal to or greater than the threshold value (Yes in ST381), it is determined that interference has occurred (ST382).

(Modified example of the thirteenth embodiment)
Next, a modified example of the thirteenth embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

In the thirteenth embodiment, the ground plane 2 controls the positions of the repeater 3 and the data collector 1 based on the interference determination, but in this modification, the repeater 3 and the data collector 1 based on the interference determination are controlled. The repeater 3 performs position control.

Next, the operation of the repeater 3 according to the modified example of the thirteenth embodiment will be described. FIG. 42 is a flow chart showing an operation procedure of the repeater 3.

In the repeater 3, when the wireless communication unit 22 receives the relay start instruction transmitted from the ground unit 2 (Yes in ST501), the control unit 23 starts relaying the user data (ST502).

Then, when the position information, the captured image, and the radio quality information transmitted from the data collector 1 are received (Yes in ST511), the interference determination is performed based on the position information and the radio quality information (ST611).

Then, when it is determined that there is interference in the interference determination (Yes in ST612), a movement instruction is transmitted to the data collector 1 (ST514). Then, the operation after receiving the information from the data collector 1 (ST511) is repeated. On the other hand, if it is determined that there is no interference (No in ST612), the operation after receiving the information from the data collector 1 (ST511) is repeated.

(14th Embodiment)
Next, the 14th embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

In the present embodiment, when the amount of interference between the wireless network and the wireless communication of the other repeater 3 is measured and the amount of interference exceeds a predetermined value, the data collector 1 transmits user data. Reduce transmission power.

Further, in the present embodiment, the ground machine 2 controls the communication of the data collector 1 based on the interference.

Next, the operation of the ground plane 2 according to the 14th embodiment will be described. FIG. 43 is a flow chart showing the operation procedure of the ground plane 2.

In the ground machine 2, first, when the input operation for starting the relay is performed by the user at the input unit 36 (Yes in ST101), the wireless communication unit 32 transmits the relay start instruction to the repeater 3 (ST102). As a result, the relay device 3 starts relaying user data.

Next, when the wireless communication unit 32 receives the position information, the captured image, and the wireless quality information transmitted from the repeater 3 (Yes in ST103), the control unit 33 performs another based on the position information and the wireless quality information. Interference determination regarding the presence or absence of interference with wireless communication is performed (ST151).

Then, when it is determined that there is interference in the interference determination (Yes in ST152), the wireless communication unit 32 transmits a transmission power instruction to the data collector 1 via the repeater 3 (ST161). Then, the operation after receiving the information from the repeater 3 (ST103) is repeated. On the other hand, if it is determined that there is no interference (No in ST152), the operation after receiving the information from the repeater 3 (ST103) is repeated.

In the transmission power instruction, the transmission power is instructed to be reduced according to the amount of interference. The value of the transmitted power to be instructed is set so that, for example, the excess amount with respect to the threshold value becomes small. As a result, the influence on the network can be reduced. In this case, since it is assumed that the communication quality is deteriorated, it is possible to change to an error correction or modulation method that is resistant to the deterioration of the communication quality to compensate for the deteriorated gain.

Next, the operation of the data collector 1 according to the 14th embodiment will be described. FIG. 44 is a flow chart showing an operation procedure of the data collector 1.

In the data collector 1, first, when the wireless communication unit 12 receives the relay start instruction transmitted from the ground unit 2 via the repeater 3 (Yes in ST701), the control unit 13 adds data to the relay start instruction. The collection schedule is acquired and stored in the storage unit 14 (ST702).

Next, the position information of the data collector 1 is acquired from the positioning unit 11 (ST703). In addition, a captured image is acquired from the camera 15 (ST704). In addition, wireless quality information between the wireless communication unit 12 and the repeater 3 is acquired (ST705). Then, the position information, the captured image, and the radio quality information are transmitted from the wireless communication unit 12 to the ground plane 2 via the repeater 3 (ST706).

Then, when the wireless communication unit 12 receives the transmission power limit instruction transmitted from the ground unit 2 via the repeater 3 (Yes in ST751), the transmission power is changed to the transmission power specified in the transmission power limit instruction (ST752). Then, the operation after the acquisition of the captured image (ST704) is repeated. On the other hand, if there is no transmission power limit instruction from the ground plane 2 (No in ST751), the operation after the acquisition of the captured image (ST704) is repeated.

(Modified example of the 14th embodiment)
Next, a modified example of the 14th embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

In the twelfth embodiment, the ground machine 2 controls the communication of the data collector 1 based on the interference determination, but in this modification, the repeater 3 controls the communication of the data collector 1 based on the interference determination. ..

Next, the operation of the repeater 3 according to the modified example of the 14th embodiment will be described. FIG. 45 is a flow chart showing an operation procedure of the repeater 3.

In the repeater 3, when the wireless communication unit 22 receives the relay start instruction transmitted from the ground unit 2 (Yes in ST501), the control unit 23 starts relaying the user data (ST502).

Then, when the position information, the captured image, and the radio quality information transmitted from the data collector 1 are received (Yes in ST511), the interference determination is performed based on the position information and the radio quality information (ST611).

Then, when it is determined that there is interference in the interference determination (Yes in ST612), the transmission power instruction is transmitted to the data collector 1 (ST621). Then, the operation after receiving the information from the data collector 1 (ST511) is repeated. On the other hand, if it is determined that there is no interference (No in ST612), the operation after receiving the information from the data collector 1 (ST511) is repeated.

(15th Embodiment)
Next, the fifteenth embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

In the present embodiment, the amount of interference between the wireless network and the wireless communication of the other repeater 3 is measured, and when the amount of interference exceeds a predetermined value, user data is transmitted from the data collector 1. Stop. Then, the interference measurement is continued, and when the amount of interference becomes less than a predetermined value due to the movement of the data collector 1, the communication of user data between the data collector 1 and the repeater 3 is restarted.

Further, in the present embodiment, the ground machine 2 controls the communication of the data collector 1 based on the interference.

Next, the operation of the ground plane 2 according to the fifteenth embodiment will be described. FIG. 46 is a flow chart showing the operation procedure of the ground plane 2.

In the ground machine 2, first, when the input operation for starting the relay is performed by the user at the input unit 36 (Yes in ST101), the wireless communication unit 32 transmits the relay start instruction to the repeater 3 (ST102). As a result, the relay device 3 starts relaying user data.

Next, when the wireless communication unit 32 receives the position information, the captured image, and the wireless quality information transmitted from the repeater 3 (Yes in ST103), the control unit 33 performs another based on the position information and the wireless quality information. Interference determination regarding the presence or absence of interference with wireless communication is performed (ST151).

Then, when it is determined that there is interference in the interference determination (Yes in ST152), the wireless communication unit 32 transmits a data communication stop instruction to the data collector 1 via the repeater 3 (ST171). Then, the operation after receiving the information from the repeater 3 (ST103) is repeated. On the other hand, when it is determined that there is no interference (No in ST152), the wireless communication unit 32 transmits a data communication permission instruction to the data collector 1 via the repeater 3 (ST172). As a result, the data communication can be started when the interference disappears after the data communication is stopped. After that, the operation after receiving the information from the repeater 3 (ST103) is repeated.

The data collector 1 stops transmitting user data when it receives a data communication stop instruction from the ground machine 2, and starts transmitting user data when it receives a data communication permission instruction.

(Modified example of the 15th embodiment)
Next, a modified example of the fifteenth embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

In the fifteenth embodiment, the ground machine 2 controls the communication of the data collector 1 based on the interference determination, but in this modification, the repeater 3 controls the communication of the data collector 1 based on the interference determination. ..

Next, the operation of the repeater 3 according to the modified example of the fifteenth embodiment will be described. FIG. 47 is a flow chart showing an operation procedure of the repeater 3.

In the repeater 3, when the wireless communication unit 22 receives the relay start instruction transmitted from the ground unit 2 (Yes in ST501), the control unit 23 starts relaying the user data (ST502).

Then, when the position information, the captured image, and the radio quality information transmitted from the data collector 1 are received (Yes in ST511), the interference determination is performed based on the position information and the radio quality information (ST611).

Then, when it is determined that there is interference in the interference determination (Yes in ST612), a data communication stop instruction is transmitted to the data collector 1 (ST631). Then, the operation after receiving the information from the data collector 1 (ST511) is repeated. On the other hand, if it is determined that there is no interference (No in ST612), a data communication permission instruction is transmitted to the data collector 1 (ST632). Then, the operation after receiving the information from the data collector 1 (ST511) is repeated.

(16th Embodiment)
Next, the 16th embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment. FIG. 48 is an explanatory diagram showing a control state according to the 16th embodiment.

When a plurality of repeaters 3 exist in the vicinity of the data collector 1, it is preferable to switch to another appropriate repeater 3 to transmit user data as the data collector 1 moves. At this time, if the communication distance between the data collector 1 and the repeater 3 is long and the wireless quality is not very good, the communication may be disconnected at the time of switching.

Therefore, in the present embodiment, when the repeater 3 is switched according to the movement of the data collector 1, the repeater 3 of the switching destination (handover destination) is smoothly switched. To the proper position. At this time, if the distance between the repeaters 3 is appropriately controlled so that the distance between the repeaters 3 is not narrowed more than necessary, it is possible to secure a wide communicable area in the entire system.

Specifically, as shown in FIG. 48 (B), the data collector 1 moves from the state shown in FIG. 48 (A) to move away from the repeater 3 that has been relaying until then. When it comes close to the repeater 3 of the above, the connection destination is switched to the repeater 3 of the movement destination as shown in FIG. 48 (C). At this time, if the communication distance between the data collector 1 and the switching destination repeater 3 is long, the switching destination is set so that the communication distance between the data collecting machine 1 and the switching destination repeater 3 is an appropriate distance. The repeater 3 is moved to the data collector 1 side.

When moving the relay device 3 at the switching destination, the repeater 3 is only the minimum moving distance that can continue the relay between the relay device 3 before the switch and the data collector 1 currently connected without interruption. Should be moved.

In particular, in the present embodiment, it is assumed that the ground machine 2 controls the position of the repeater 3.

Next, the operation of the ground plane 2 according to the 16th embodiment will be described. FIG. 49 is a flow chart showing the operation procedure of the ground plane 2. FIG. 50 is a flow chart showing a procedure for determining handover.

As shown in FIG. 49, in the ground machine 2, first, when the input operation for relay start by the user is performed by the input unit 36 (Yes in ST101), the wireless communication unit 32 transmits a relay start instruction to the repeater 3. (ST102). As a result, the relay device 3 starts relaying user data.

Next, the position information of the data collector 1 and the repeater 3 transmitted from the repeater 3, the photographed image of the data collector 1 and the repeater 3, and the wireless quality information between the data collector 1 and the repeater 3 are obtained. When received by the wireless communication unit 32 (Yes in ST103), the control unit 33 makes a handover determination regarding the necessity of handover based on the position information and the wireless quality information (ST181).

Then, when the result of the handover determination is a normal handover (Yes in ST182), the wireless communication unit 32 transmits a handover instruction to the data collector 1 with the adjacent repeater 3 as the handover destination (ST183). .. Then, the operation after receiving the information from the repeater 3 (ST103) is repeated.

On the other hand, if the result of the handover determination is not a normal handover (No in ST182) but a conditional handover (Yes in ST184), a movement instruction is transmitted from the wireless communication unit 32 to the adjacent repeater 3. (ST185). Then, the wireless communication unit 32 transmits a handover instruction to the data collector 1 with the adjacent repeater 3 as the handover destination (ST183), and repeats the operations after receiving the information from the repeater 3 (ST103).

Further, when the result of the handover determination is a normal handover (Yes in ST182), a handover instruction with the adjacent repeater 3 as the handover destination is transmitted to the data collector 1 (ST183).

On the other hand, when the result of the handover determination is neither a normal handover nor a conditional handover (No in ST184), that is, when the handover is not performed, the information is received from the repeater 3 (ST103) or later. Repeat the operation.

As shown in FIG. 50, in the handover determination, first, the distance between each repeater 3 and the data collector 1 is calculated (ST391). Then, when the distance to the currently connected repeater 3 is larger than the distance to the adjacent repeater 3 (Yes in ST392), and the radio quality of the adjacent repeater 3 is equal to or higher than a predetermined threshold value. If this is the case (Yes in ST393), it is determined that the handover is normal (ST394).

On the other hand, when the distance to the relay 3 currently connected is not larger than the distance to the adjacent repeater 3 (No in ST392), or when the radio quality of the adjacent repeater 3 is less than the threshold value. (No in ST393) makes a QoS determination for the adjacent repeater 3 (ST395). In this QoS determination, the target position of the repeater 3 whose radio quality of the adjacent repeater 3 is equal to or higher than the threshold value is calculated.

Then, at the target position of the repeater 3, if the distance to the relay 3 currently connected is larger than the distance to the adjacent repeater 3 (Yes in ST396), it is determined as a conditional handover (ST397). .. On the other hand, if the distance to the repeater 3 currently connected is not larger than the distance to the adjacent repeater 3 at the target position (No in ST396), it is determined that the handover is not performed (ST398).

The QoS determination is the same as that of the eleventh embodiment (see FIG. 36 (B)), but in the QoS determination targeting the adjacent repeater 3 in this case, data collection currently connected to the adjacent repeater 3 is performed. Judgment is made by including the data collecting machine 1 which is newly connected to the machine 1 by moving.

Next, the operation of the data collector 1 according to the 16th embodiment will be described. FIG. 51 is a flow chart showing an operation procedure of the data collector 1.

In the data collector 1, first, when the wireless communication unit 12 receives the relay start instruction transmitted from the ground unit 2 via the repeater 3 (Yes in ST701), the control unit 13 adds data to the relay start instruction. The collection schedule is acquired and stored in the storage unit 14 (ST702).

Next, the position information of the data collector 1 is acquired from the positioning unit 11 (ST703). In addition, a captured image is acquired from the camera 15 (ST704). In addition, wireless quality information between the wireless communication unit 12 and the repeater 3 is acquired (ST705). Then, the position information, the captured image, and the radio quality information are transmitted from the wireless communication unit 12 to the ground plane 2 via the repeater 3 (ST706).

Then, when the wireless communication unit 12 receives the handover instruction transmitted from the ground unit 2 via the repeater 3 (Yes in ST761), it connects to the repeater 3 designated by the handover instruction (ST762).

Next, the position information of the data collector 1 is acquired from the positioning unit 11 (ST709). Then, when the data collector 1 moves (Yes in ST710), the operation after the acquisition of the captured image (ST704) is repeated. On the other hand, if the data collector 1 does not move (No in ST710), the operation after receiving the handover instruction from the ground machine 2 (ST761) is repeated.

(17th Embodiment)
Next, the 17th embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

The appropriate position of the repeater 3 depends on the condition of the shield such as a building, and unless the condition of the shield such as a building changes significantly, the appropriate position of the repeater 3 does not change significantly. Therefore, in the present embodiment, the position information, the radio quality information, and various determination results at the time of the past relay are accumulated as the communication history information, and the position control of the repeater 3 is performed based on the communication history information. The position control of the repeater 3 based on the communication history information may be performed by the ground plane 2 or the repeater 3. Further, the communication history information may be stored in the ground machine 2 or the repeater 3.

It should be noted that the movement schedule of the data collector 1 may be created based on the communication history information, and the repeater 3 may move based on this movement schedule.

Next, the communication history information according to the 17th embodiment will be described. FIG. 52 is an explanatory diagram showing an example of communication history information regarding the repeater 3. FIG. 53 is an explanatory diagram showing an example of communication history information regarding the data collector 1.

As shown in FIG. 52, in the communication history information related to the repeater 3, the position information of the ground machine 2 and the position information, the radio quality, and the line-of-sight determination result for each repeater 3 are accumulated. As shown in FIG. 53, in the communication history information related to the data collector 1, the position information of the ground machine 2 and the position information, radio quality, line-of-sight determination result, and interference determination result for each data collector 1 are accumulated.

By using such communication history information, the position control of the repeater 3 can be appropriately and efficiently performed. For example, communication failure can be avoided by controlling the movement so as not to move to a position determined not to be in the line-of-sight state in the line-of-sight determination or to a position determined to have interference in the interference determination result.

(18th Embodiment)
Next, the eighteenth embodiment will be described. It should be noted that the points not particularly mentioned here are the same as those in the above-described embodiment.

The optimum position of the repeater 3 differs depending on the positional relationship between the ground machine 2 and the data collector 1, and the optimum position of the repeater 3 can be determined from the positions of the ground machine 2 and the data collector 1. it can. Therefore, in the present embodiment, a position database (position relationship information) in which the correspondence between the positions of the ground machine 2 and the data collector 1 and the optimum position of the repeater 3 is registered is created in advance, and this position is created. Based on the database, the optimum position of the repeater 3 corresponding to the current position of the ground machine 2 and the data collector 1 is acquired. The position control of the repeater 3 based on this database may be performed by the ground plane 2, but it can also be performed by the repeater 3.

In creating the location database, first, three-dimensional map information regarding the installation status of a shield such as a building is acquired with respect to the target area including the installation position of the ground plane 2 and the movement range of the data collector 1. Then, based on this map information, the optimum position of the repeater 3 corresponding to each position of the ground plane 2 and the data collector 1 is calculated, and the relay corresponding to each position of the ground plane 2 and the data collector 1 is performed. Create a position database in which the optimum position of the machine 3 is registered.

Next, the location database according to the 18th embodiment will be described. FIG. 54 is an explanatory diagram showing the registered contents of the location database.

The position information of the ground machine 2, the data collector 1, and the repeater 3 is registered in the position database. By referring to this position database, the position of the repeater 3 corresponding to the current position of the ground machine 2 and the data collector 1 can be acquired.

When a reflector 41 is provided on the repeater 3 and relay is performed by the reflection transmission method as in the seventh embodiment, the position of the repeater 3 and the angle of the reflector 41 are registered in the position database. It is good to do so.

Next, the operation of the ground plane 2 according to the 18th embodiment will be described. FIG. 55 is a flow chart showing the operation procedure of the ground plane 2.

In the ground machine 2, first, when the input operation for starting the relay is performed by the user at the input unit 36 (Yes in ST101), the wireless communication unit 32 transmits the relay start instruction to the repeater 3 (ST102). As a result, the relay device 3 starts relaying user data.

Next, the position information of the data collector 1 and the repeater 3 transmitted from the repeater 3, the photographed image of the data collector 1 and the repeater 3, and the wireless quality information between the data collector 1 and the repeater 3 are obtained. When received by the wireless communication unit 32 (Yes in ST103), the control unit 33 refers to the database and acquires the target position of the repeater 3 corresponding to the current positions of the ground machine 2 and the data collector 1 (ST191). ). The position information of the ground plane 2 may be registered in the storage unit in advance in the case of a fixed ground plane, and the position information of the own device may be acquired by GPS or the like in the case of a mobile ground plane. It should be.

Then, when the target position and the current position are different (Yes in ST192), the wireless communication unit 32 transmits a movement instruction to the repeater 3 (ST107). Then, the operation after receiving the information from the repeater 3 (ST103) is repeated. On the other hand, when the target position and the current position are the same (No in ST192), the operation after receiving the information from the repeater 3 (ST103) is repeated.

Next, the operation of the repeater 3 according to the 18th embodiment will be described. FIG. 56 is a flow chart showing an operation procedure of the repeater 3.

In the repeater 3, when the wireless communication unit 22 receives the relay start instruction transmitted from the ground unit 2 (Yes in ST501), the control unit 23 starts relaying the user data (ST502). Then, the wireless communication unit 22 transmits a relay start instruction to the data collector 1 (ST503).

Next, the positioning unit 21 acquires the position information of the repeater 3 (ST504). Next, the position information of the repeater 3 is transmitted from the wireless communication unit 22 to the ground machine 2 (ST551).

Then, when the movement instruction transmitted from the ground plane 2 is received (Yes in ST508), the own device is moved according to the movement instruction (ST509). Then, the operation after the acquisition of the position information (ST504) is repeated. On the other hand, when the movement instruction from the ground plane 2 is not received (No in ST508), the operation of transmitting the position information (ST551) is repeated.

Next, the operation of the data collector 1 according to the 18th embodiment will be described. FIG. 57 is a flow chart showing an operation procedure of the data collector 1.

When the data collector 1 first receives the relay start instruction transmitted from the ground machine 2 via the repeater 3 (Yes in ST701), the data collector 1 starts transmitting the user data by the relay of the repeater 3 (ST721).

Next, the positioning unit 11 acquires the position information of the data collector 1 (ST703), and transmits the position information from the wireless communication unit 12 to the ground unit 2 via the repeater 3 (ST722). Then, when the data collector 1 moves (Yes in ST710), the acquisition (ST703) and the transmission (ST722) of the position information are repeated.

As described above, embodiments have been described as examples of the techniques disclosed in this application. However, the technique in the present disclosure is not limited to this, and can be applied to embodiments in which changes, replacements, additions, omissions, etc. have been made. It is also possible to combine the components described in the above embodiments to form a new embodiment.

For example, in the above-described embodiment, the position of the repeater 3 is controlled by the repeater 3 or the ground machine 2, but a control device different from the repeater 3 and the ground machine 2 is provided and this control device is provided. May control the position of the repeater 3.

In this case, the control device is connected to the ground machine 2 via an appropriate communication path such as the Internet, and necessary information, that is, the position information of the repeater 3 and the data collector 1, the data collector 1 and the repeater 3 Information on the communication status between the repeater 3 and the ground plane 2, information on the communication status between the repeater 3 and the ground plane 2, and the like may be acquired via the ground plane 2.

Further, the position information of the data collector 1 and the repeater 3 and the captured image of the data collector 1 and the repeater 3 may be transmitted and received using a cellular network or a dedicated wireless interface for the robot.

The wireless communication system, control device, relay device, and wireless communication control method according to the present invention have communication quality even when the data transmission device moves on the ground or in the air, resulting in obstruction or a long communication distance. A data transmitter that has the effect of avoiding deterioration and can move on the ground or in the air, a data receiver, and a relay device that relays the transmission of user data from the data transmitter to the data receiver. It is useful as a wireless communication system, a control device, a relay device, a wireless communication control method, and the like.

1 Data collector (data transmitter)
2 Ground plane (data receiver)
3 Repeater (relay device)
5 Base station 11 Positioning unit 12 Wireless communication unit 13 Control unit 14 Storage unit 15 Camera 21 Positioning unit 22 Wireless communication unit 23 Control unit 24 Storage unit 25 Camera 31 Positioning unit 32 Wireless communication unit 33 Control unit 34 Storage unit 41 Reflector Reflector)

Claims (9)

A wireless communication system including a data transmitting device that can move on the ground or in the air, a data receiving device, and a relay device that relays data transmission from the data transmitting device to the data receiving device.
The data transmission device is
Positioning unit that acquires the position information of the own device,
A wireless communication unit that performs wireless communication with the relay device,
Control unit and
With
The relay device is
Positioning unit that acquires the position information of the own device,
A wireless communication unit that wirelessly communicates with the data transmitting device and the data receiving device,
Control unit and
Memory and
With
The data receiving device is
A wireless communication unit that performs wireless communication with the relay device,
Control unit and
Memory and
With
Either the storage unit of the relay device or the storage unit of the data receiving device
Accumulates communication history information about past communication status at each position,
Either the control unit of the relay device and the control unit of the data receiving device
A wireless communication system characterized in that the position of the relay device is controlled based on the communication history information and the current position information of the data transmitting device and the data receiving device. A wireless communication system including a data transmitting device that can move on the ground or in the air, a data receiving device, and a relay device that relays data transmission from the data transmitting device to the data receiving device.
The data transmission device is
Positioning unit that acquires the position information of the own device,
A wireless communication unit that performs wireless communication with the relay device,
Control unit and
With
The relay device is
Positioning unit that acquires the position information of the own device,
A wireless communication unit that wirelessly communicates with the data transmitting device and the data receiving device,
Control unit and
Memory and
With
The data receiving device is
A wireless communication unit that performs wireless communication with the relay device,
Control unit and
Memory and
With
Either the storage unit of the relay device or the storage unit of the data receiving device
The positional relationship information regarding the position of the relay device corresponding to each position of the data transmitting device and the data receiving device is stored.
Either the control unit of the relay device and the control unit of the data receiving device
A wireless communication system characterized in that the position of the relay device is controlled based on the positional relationship information and the current position information of the data transmitting device and the data receiving device. Either the control unit of the relay device and the control unit of the data receiving device
The wireless communication system according to claim 1 or 2 , wherein the position of the relay device is controlled so that a line of sight between the data transmission device and the relay device is secured. A control device that controls a relay device that relays data transmission from a data transmitting device that can move on the ground or in the air to a data receiving device.
A communication unit that communicates with the data receiving device,
Control unit and
With
The control unit
A control device characterized in that the position of the relay device is controlled based on the current position information of the data transmitting device and the data receiving device and the communication history information regarding the past communication status at each position. A control device that controls a relay device that relays data transmission from a data transmitting device that can move on the ground or in the air to a data receiving device.
A communication unit that communicates with the data receiving device,
Control unit and
With
The control unit
Based on the positional relationship information regarding the position of the relay device corresponding to each position of the data transmitting device and the data receiving device, and the current position information of the data transmitting device and the data receiving device, the relay device of the relay device. A control device characterized by controlling the position. A relay device that relays the transmission of data from a data transmitting device that can move on the ground or in the air to a data receiving device.
Positioning unit that acquires the position information of the own device,
A wireless communication unit that wirelessly communicates with the data transmitting device and the data receiving device,
Control unit and
Memory and
With
The storage unit stores communication history information regarding the past communication status at each position.
The control unit
A relay device characterized in that the position of its own device is controlled based on the communication history information and the current position information of the data transmitting device and the data receiving device. A relay device that relays the transmission of data from a data transmitting device that can move on the ground or in the air to a data receiving device.
Positioning unit that acquires the position information of the own device,
A wireless communication unit that wirelessly communicates with the data transmitting device and the data receiving device,
Control unit and
Memory and
With
The storage unit stores positional relationship information regarding the position of the own device corresponding to each position of the data transmitting device and the data receiving device.
The control unit
A relay device characterized in that the position of its own device is controlled based on the positional relationship information and the current position information of the data transmitting device and the data receiving device. A wireless communication control method in which either the relay device or the data receiving device controls wireless communication in which data transmission from a data transmitting device that can move on the ground or in the air to a data receiving device is relayed by the relay device. ,
Wireless communication control characterized in that the position of the relay device is controlled based on the current position information of the data transmitting device and the data receiving device and the communication history information regarding the past communication status at each position. Method. A wireless communication control method in which either the relay device or the data receiving device controls wireless communication in which data transmission from a data transmitting device that can move on the ground or in the air to a data receiving device is relayed by the relay device. ,
Based on the positional relationship information regarding the position of the relay device corresponding to each position of the data transmitting device and the data receiving device, and the current position information of the data transmitting device and the data receiving device, the relay device of the relay device. A wireless communication control method characterized by controlling a position.

Images