JPH1022720A - Controller for direction of antenna - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the direction controller for an antenna by which tracking or retrieval of an antenna is surely and quickly conducted and a relay station is not required. SOLUTION: An antenna 4 mounted on a radio equipment 3 emits a turning beam by turning an eccentric sub reflector 43. An opposite antenna is configured the same but its turning speed differs from that of this antenna. The radio equipment 3 is mounted on a universal head 5 so as to be driven by motors 52, 57. The motors 52, 57 are driven based on a maximum value and a difference between the maximum value and a minimum value of a reception signal (AGC signal, automatic gain control signal) while the sub reflector 43 is turned around so as to make antenna tracking. When the mean value of the AGC signal is less than a setting value, the retrieval of antenna is conducted. The retrieval is conducted by comparing a means value this time with a preceding means value while the antenna is turned in a direction depending on the maximum value and stopping the antenna turning when the mean value is maximum.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a direction control device for an antenna for searching for or tracking a partner from one of a work machine antenna and a remote control antenna used when remotely controlling a work machine. .

[0002]

2. Description of the Related Art Civil engineering works in danger zones, for example, near volcanic activities where there is a risk of lava fall or pyroclastic flow, or underground sites where a rock fall may occur, are used because they are dangerous to human life. Generally, a working machine (eg, a hydraulic shovel) is driven remotely without an operator. In this remote operation, an operation device is provided at a remote place remote from the work site, and an operation signal of the operation device is converted into a radio wave and transmitted to the work machine to drive the work machine. In this case, when the distance between the operating device and the working machine is short, the operator of the operating device can operate the working machine visually or by using a telescope or a telephoto camera. In such a case, it becomes impossible to grasp the situation of the work place of the work machine. In this case, the work machine is provided with a camera, and the image of the work place taken by the camera is transmitted to the operation device as an image signal. There is a need.

When transmitting the above operation signals and image signals over a distance of 2 to 3 km, a frequency in the 50 GHz band is used due to legal regulations. (Parabolic antenna) is used.

[0004]

By the way, since the working machine constantly changes its direction and posture, generates large shaking and vibration, and the parabolic antenna has a sharp directivity, the signal from the parabolic antenna of the working machine is transmitted. It is extremely difficult to receive the signal on the parabolic antenna of the operating device. Therefore, conventionally, a relay station is provided near the work machine, and transmission and reception with the operation device are performed via the relay station. The installation of such a relay station not only causes an increase in cost, but also has a problem that when the installation of the relay station is impossible, remote control of the work machine becomes impossible.

In general, a conical scan method is well known as a method for searching for or tracking an antenna of a partner. However, in this system, an antenna is scanned within a predetermined range. Direction (the direction in which the received radio wave is the strongest) cannot be detected, and if the received radio wave is interrupted for any reason, the scan range must be increased to search for the antenna of the other party. There is a problem that it takes a considerable amount of time to supplement the antenna.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems in the prior art, and to promptly track each antenna on the operating device side and the work machine side to the other party, or to quickly search for the other party's antenna. An object of the present invention is to provide an antenna direction control device that can eliminate the need for a relay station.

[0007]

In order to achieve the above object, according to the first aspect of the present invention, a radio signal is transmitted and received between a work machine and an operation device at a remote place from the work machine. When operating the work machine with an operating device, the operating device side and the work machine side respectively have an antenna for transmitting and receiving radio waves, a radio device for transmitting and receiving via this antenna, and radiation from each of the antennas. Beam rotating means for rotating a transmitting beam, antenna rotating means for rotating the antenna in an arbitrary direction, and the radio during one rotation of the beam by the beam rotating means while the antenna is being rotated by the antenna rotating means. And a rotation stopping means for stopping the rotation of the antenna when the reception strength of the device becomes maximum.

According to a second aspect of the present invention, there is provided a method for operating a work machine using the operation device by transmitting and receiving a radio signal between the work machine and an operation device at a remote location from the work machine. On each of the operation device side and the work machine side, an antenna for transmitting and receiving radio waves, a radio device for transmitting and receiving via this antenna, a beam rotating unit for rotating a transmission beam emitted from each of the antennas, Rotation position detection means for detecting the rotation position of the beam rotation means, reception intensity detection means for detecting the reception intensity received by the wireless device, and the maximum value of the reception intensity during one rotation of the beam by the beam rotation means Direction detection means for detecting the direction of the antenna of the other party based on the angle detected by the rotational position detection means in,
Tilt detection means for detecting a tilt with respect to the other antenna in a direction detected by the direction detection means based on a difference between a maximum value and a minimum value of the reception intensity during one rotation of the beam by the beam rotation means; and Tracking angle calculation means for calculating the horizontal and vertical tracking angles of the antenna based on the angle detected by the means and the tilt angle detected by the tilt detection means, and the rotation speed of the beam rotation means is provided. The operating device side and the work machine side have different rotation speeds.

Further, the invention according to claim 3 is the invention according to claim 2, wherein the antenna is detected by the direction detection means when the reception intensity during one rotation of the beam by the beam rotation means is lower than a predetermined value. Antenna rotating means for rotating in the detected angular direction, and the antenna when the reception intensity of the radio device during one rotation of the beam by the beam rotating means becomes maximum while the antenna is rotated by the antenna rotating means. And rotation stopping means for stopping the rotation of the motor.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described with reference to the illustrated embodiments. FIG. 1 is a block diagram of a transmission / reception device including an antenna direction control device according to an embodiment of the present invention. Before explaining this figure, the relationship between the work machine and its operating device and the antenna provided in the working machine and the operating device will be described.

FIG. 2 is a diagram showing a working machine and its operating device. In this figure, A indicates a work machine (a hydraulic excavator in the illustrated case), and B indicates an operating device. Both are for example 2-3k
m from the operating device B and cannot be seen from the operating device B. 1A is a transmission / reception device including an antenna direction control device installed in, for example, a cab of a work machine, and 1B is a transmission / reception device including an antenna direction control device provided in an operation device B. In the work machine A, a position where the work site can be clearly seen,
For example, a camera (CCD camera) Ca is installed at the position of the operator's eyes when the operator gets into the cab. Each of the transmitting and receiving devices 1A and 1B has an antenna, and through these antennas, the work machine A mainly transmits an image signal of the camera Ca, receives an operation signal from the operation device B, and responds to the received signal. On the other hand, the operation device B mainly transmits an operation signal, receives an image signal from the work machine, converts the image signal into an image, and allows the operator to grasp the condition of the site, and according to the state, the operator Performs necessary operations and transmits the operation signals.

FIG. 3 is a diagram showing an antenna provided in the transmitting / receiving apparatuses 1A and 1B shown in FIG. In this figure, 3 is a radio, 30 is a primary radiator, and 4 is an antenna. The antenna 4 includes a main reflector (parabolic antenna) 41 and a motor 4
2, a sub-reflector 43 rotated by the motor 42, an encoder 44 for detecting a rotational position of the motor 42,
And a support 4 for fixing these to the parabolic antenna 41
5. As is well known, the encoder 44 has a function of outputting two pulses whose phases differ by 90 degrees (A phase and B phase) and outputting one pulse at a reference position (Z phase) for each rotation.

The axis of the sub-reflector 43 is
It is connected to the rotation axis of the motor 42 by a small distance δ with respect to the axis x ₀ passing through one focal point. In a commonly used antenna, only the sub-reflector 43 has the parabolic antenna 41.
And a radio wave (beam) radiated from the primary radiator 30 is reflected by the sub-reflector 43, further reflected by the parabolic antenna 41, and radiated to the space. On the other hand, in the present embodiment, since the sub-reflector 43 is fixed to the rotation axis of the motor 42 with a small distance δ as described above and is rotated by the motor 42,
The beam emitted from 1 is a rotating beam whose radiation direction changes with time. This rotating beam is shown in FIG.

FIG. 4 is a diagram showing a rotating beam. FIG. 4A is a view of the rotating beam viewed from the side (the same direction as in FIG. 3), and the rotating beam is the central axis S _{0 of the} parabolic antenna.
Rotate around. S ₀₁ and S ₀₂ indicate beams at a certain point in time. FIG. 4B shows a line IVb-IVb in FIG.
Is a cross-sectional view along the line, and the beam moves on the solid line circumference with time as shown by the arrow. The movement of the beam is synchronized with the rotation of the motor 42, and its position on the circumference is determined by the encoder 4.
4 is detected based on the output signal. The deflection of the beam generated by the rotation of the sub-reflector 43 is selected to be smaller than the half-value directivity angle of the parabolic antenna used. For example, in the case of a 50-GHz wireless device, the half-value directional angle is 1.5 degrees with a 30 cm antenna, so that the beam deflection in this case is smaller than 1.5 degrees.

Here, the configuration of FIG. 1 will be described. FIG. 1 is a diagram showing a transmitting / receiving device 1A on the work machine A side, where 3 is a wireless device,
Reference numeral 30 denotes a primary radiator, 4 denotes an antenna, and Ca denotes a camera, which are the same as those shown in FIGS.
The wireless device 3 includes a high-frequency amplifier 31, a local oscillator 32, and a high-frequency signal output from the high-frequency amplifier 31 and the local oscillator 3.
2, an intermediate frequency generating unit 33 for generating an intermediate frequency signal from the signal output from the
5. A reception circuit including a level detection circuit 36 that detects the level of the reception signal and outputs an automatic gain control signal (AGC signal) for automatically controlling the amplification degree of the intermediate frequency amplifier 34, and a transmission circuit 37. Be composed. The signal from the demodulator 35 is transmitted to the control device 8 of the work machine A. The receiving circuit and the transmitting circuit 37 are the same as the receiving circuit and the transmitting circuit of a normal radio.

Reference numeral 5 denotes a camera platform that supports the wireless device 3. 51
Denotes a fixed base, which is fixed to an appropriate place of the work machine A, for example, a cab. 52 fixed vertical axis motor to the stationary base 51, 53 turning encoder for detecting the rotational position of the motor 52, 54 to be rotated in the direction of the arrow theta ₅₄ by the motor 52 is rotatably supported by the fixing base 51 It is a stand. Reference numeral 55 denotes a frame fixed to the case of the wireless device 3, which is rotatably supported by the swivel table 54. Reference numeral 57 denotes a turning shaft motor, which rotates the frame 55 with respect to the turning table 54 in the direction of the arrow θ ₅₅ . 58 is an encoder for detecting the rotational position of the motor 57. Encoder 53,
Reference numeral 58 has a function of outputting two pulses having a phase difference of 90 degrees.

Reference numeral 6 denotes a motor drive unit, which is a servo amplifier 61 for driving and controlling the motor 52 of the head 5, a servo amplifier 62 for driving and controlling the motor 57 of the head 5, and a servo for driving and controlling the motor 42 of the antenna 4. It is composed of an amplifier 63. These servo amplifiers 61, 62, and 63 receive the signals of the encoders 53, 58, and 44, respectively, and feedback-control the driving of the motors 52, 57, and 42, respectively. A speed setting device 63a including a power supply sets the speed of the motor 42 to a predetermined speed.

Reference numeral 7 denotes a main control unit. This main control unit 7
Counter 71 for inputting signal of encoder 44, AGC
Band eliminator filter (BEF) for inputting signals
Or, a band pass filter (BPF) 72, an A / D converter 73, a microcomputer 74, a D / A converter 75,
76.

The transmission / reception device 1A shown in FIG. 1 is a transmission / reception device on the work machine A side, but the transmission / reception device on the operation device B side has the same configuration, so that its illustration is omitted.
Of course, on the operation device B side, the device connected to the transmission circuit is a device that outputs a signal according to the operation of the operation lever,
The device connected to the demodulator is a monitor device that displays an image of the camera Ca.

Next, the operation of this embodiment will be described. The operation device B outputs an operation signal to the work machine A. This operation signal is radiated from the antenna 4 while being superimposed on the carrier frequency signal. As described above, the sub-reflector 4 of the antenna 4
Since 3 is rotating, the beam carrying the operation signal is a rotating beam as described above. The beam radiated from the antenna of the operating device B in this way is sequentially captured by the antenna 4 of the work machine A (the sub-reflector 43 is rotating), and is transmitted through the primary radiator 30 to the high-frequency amplifier 3.
1 and thereafter input to the demodulator 35 by a well-known operation. The demodulator 35 extracts an operation signal included in the received signal and transmits the operation signal to the control device 8. Control device 8
Drives the work machine A based on the transmitted operation signal to perform work. The state of the working part of the working machine A is imaged by the camera Ca, and the image signal is superimposed on the carrier frequency signal by the transmission circuit 37, and the rotation of the antenna 4 shown in FIG. Emitted as a beam. This beam is captured by the antenna of the operating device B and received by the receiving circuit of the operating device B in exactly the same manner as described above.
The image signal is extracted by the demodulator, and the transmitted image is displayed on the monitor device. The operator of the operating device B drives the operating device while viewing the image on the monitor device, and transmits an operation signal to the work machine A.

The transmission and reception of such a signal cannot be performed unless the antenna on the work machine A and the antenna on the operation device B are facing each other. That is, even if the work machine A moves, turns, or moves up and down during the work, the antenna on the operation device B side is the antenna on the work machine A side, and the antenna on the work machine A side is the operation device B side. Antennas must track each other. Such bidirectional tracking operation is performed by the camera platform 5, its motor drive unit 6, and its main control unit 7.
This will be described with reference to FIGS.

FIG. 5 is a front view of the antenna. Reference numeral 41 denotes a parabolic antenna, 43 denotes a sub-reflector, which are shown in FIG.
Is the same as that shown in FIG. The time when the sub-reflector 43 is at the illustrated position deviated to the right from the center is set as a reference position, and a Z-phase signal is output from the encoder 44 at this position. The sub-reflector 43 is assumed to be rotating counterclockwise in the drawing.

FIG. 6 is a diagram showing the displacement of the reception beam and the reception intensity at that time in the relationship between the parabolic antenna and the sub-reflector shown in FIG. In this case, it is assumed that the sub-reflector of the antenna on the operation device B side is fixed. 6A to 6D, the column denoted by reference numeral I (each figure on the left side) shows the positional relationship of each antenna viewed from above, and the column denoted by reference number II (each figure on the right side) denotes a symbol. The state of deflection of the beam in the positional relationship of I is shown, and the graph indicated by reference numeral III shows the intensity of the received signal. In column II, S ₀ indicates the central axis of the parabolic antenna 41 on the work machine A side, S _R indicates the trajectory (circle) of the beam transmitted from the operating device B side, and graph II.
In I 1, 0 ° and 360 ° indicate a reference position (time when the Z phase is output). The symbols (a) to (d) given to each waveform in the graph III are the symbols (a) to (d) in the columns I and II.
It is made to correspond.

FIG. 6A shows a case in which the antennas are in a positional relationship facing each other accurately. The center axis S ₀ and the center of the locus S _R coincide with each other, and The level of the received signal at each position is almost constant. In addition,
In the present embodiment, since the AGC signal output from the level detection circuit 36 of the wireless device 3 is a signal proportional to the reception intensity, the level of the AGC signal is used as the reception intensity.

FIG. 6B shows a case where the partner antenna is shifted to the side opposite to the Z-phase side, and the center axis S ₀ is shifted from the center of the trajectory of the transmission beam toward the angular position of 180 degrees. In this case, the reception intensity is the smallest at the angular position of 0 degree (360 degrees) and is the largest at the angular position of 180 degrees. or,
FIG. 6C shows a case where the partner antenna is shifted to the Z-phase side, and the center axis S ₀ is shifted from the center of the trajectory of the transmission beam toward the angular position 0 °, contrary to the above-described case of FIG. In this case, the reception intensity is largest at the angle position of 0 degree (360 degrees) and becomes smallest at the angle position of 180 degrees. Further, FIG. 6D shows a case where the partner antenna is shifted to the Z-phase side and is inclined at an angle of 45 degrees, and the central axis S ₀ is shifted from the center of the trajectory of the transmission beam toward the angular position 180 degrees. It is a diagram showing a state where it is shifted and is shifted upward, in this case,
The reception intensity is maximum at 315 degrees and minimum at 135 degrees.

As described above, the direction of the antenna 4 is deviated to which side with respect to the beam arriving from the operation device B by observing the reception intensity, that is, the AGC signal level actually input to the main controller 7. Can be determined.
FIG. 7 is a diagram illustrating an example of the shift. In the figure, 41 is an antenna, 43 is a sub-reflector, and θ _mi indicates the angle from the reference position when the AGC signal level is maximum. From this angle θ _mi , it can be determined which side of the own antenna is located at the other antenna. When the angle θ _mi is 270 degrees to 0 degrees, the other antenna is on the lower right side when viewed from the figure, when 0 degrees to 90 degrees is the upper right side, when 90 degrees to 180 degrees is the upper left side, and when 180 degrees to 270 degrees, the other antenna is on the lower left side. Will be.

On the other hand, the magnitude of the deviation (angle of inclination) of the two antennas from the horizontal plane increases as the inclination increases.
The difference between the maximum value and the minimum value of the C signal increases. This is shown in FIG. FIG. 8 is a diagram showing the displacement of the reception beam and the reception intensity at that time in the relationship between the parabolic antenna and the sub-reflector shown in FIG. 8A to 8C show the inclination relationship of each antenna with respect to the horizontal plane, and FIG. 8D shows the strength of the received signal. The symbols (a) to (c) given to the respective waveforms in the graph (d) are (a) to (c) in the above figures.
It corresponds to. FIG. 8A shows a case where the two antennas face each other accurately even in the horizontal direction (the inclination is 0 degree). In this case, the AGC signal is at a substantially constant level. FIG. 8B shows a case where both antennas are slightly displaced (a small inclination angle exists). In this case,
The AGC signal has a maximum value and a minimum value, and the difference between the two is indicated by d ₁ . FIG. 8C shows a case where the deviation is larger (the inclination angle is larger) than the case shown in FIG. 8B. In this case, the difference d between the maximum value and the minimum value of the AGC signal is obtained.
₂ becomes larger than the difference d _1.

FIG. 9 is a characteristic diagram of the inclination angle with respect to the difference (amplitude difference) between the maximum value and the minimum value of the AGC signal. In the figure, the horizontal axis indicates the amplitude difference, and the vertical axis indicates the tilt angle. As shown in the figure, the tilt angle gradually increases as the difference between the amplitudes increases. These characteristics are determined for each antenna and stored in the storage unit of the microcomputer 74 of the control unit 7.

As described above, the horizontal axis is calculated from the angle θ _mi obtained from the maximum value of the AGC signal during one rotation of the sub-reflector 43 and the angle obtained from the difference between the maximum value and the minimum value (this is defined as θ _a ). (Rotation axis of the rotation axis motor 57) Angle θ to be rotated
_X and the rotation angle θ _{y of} the vertical axis (the rotation axis of the vertical axis motor 52), that is, the rotation angle of the own antenna for facing the other antenna are calculated by the following equation. θ _X = θ _a × cos (θ _mi ) (1) θ _y = θ _a × sin (θ _mi ) (2) Next, the operation of the microcomputer 74 of the control unit 7 will be described. This will be described with reference to the flowchart shown in FIG. When tracking or searching for the antenna of the other party, the microcomputer 74 first turns on the power of the motor 42 of the sub-reflector 43 to rotate the sub-reflector 43 (procedure S ₁ shown in FIG. 10). The rotation of the sub-reflector 43 may be started by another means. Next, the microcomputer 74
Captures the AGC signal via the BEF 72 and the A / D 76 (step S ₂ ) and determines whether the sub-reflector 43 has made one rotation (step S ₃ ). By repeating the processes of steps S ₂ and S ₃ , the waveform of the AGC signal during one rotation of the sub-reflector 43 shown in FIG. 6 or 8 is obtained. The microcomputer 74 detects the angle θ _mi from the maximum value of the waveform (step S
_4), detects the angle theta _a from the characteristics shown in FIG. 9 stored in the storage unit based on the difference between the maximum value and the minimum value (Step S
₅ ), drive angle θ of the vertical axis according to the above equations (1) and (2)
It calculates a driving angle theta _y of _X and the horizontal axis (Step S _6).

Next, the microcomputer 74 calculates the average value _VA of the AGC signal during one rotation of the sub-reflector 43 (step S ₇ ), and compares this with a predetermined set value V _S (step S ₇ ). ₈ ). The average value _{VA of the} AGC signal is equal to the set value V
If the angle is larger than _{S, the} antenna is facing the other antenna without a large deviation. In this case, the angles θ _y and θ _X calculated in step S ₆ are used as D / A 75 and 76, and the servo amplifier 6
The signals are output to the turning axis motor 57 and the vertical axis motor 52 via steps 1 and 62 (step S ₉ ), and the process returns to step S ₂ . FIG. 11 is a diagram illustrating the results of output of the angles θ _y and θ _X. In this figure, 3 is a wireless device, and 41 is an antenna. The position shown by the broken line is the current position, and the position shown by the solid line is the position corrected by the angles θ _y and θ _X. When the other antenna is being tracked, the average value _A of the AGC signal is usually equal to the set value V _S because the two antennas are almost in a facing state.
Has a more processing steps S ₂ ~ Step S ₉ are repeated. This series of processing is processing in the case of tracking.

On the other hand, at the start of transmission / reception, or when tracking becomes impossible due to a large shaking or direction change of the working machine during tracking, the two antennas are in a greatly shifted state, and the average value _{A A of the} AGC signal is obtained. Is less than the set value V _S.
The microcomputer 74 determines this in the processing of steps S _8, the processing is shifted to step S ₁₀ a, directs its own antenna based on the angle theta _mi determined earlier in step S ₄ in that direction. Next, the AGC signal during one rotation of the sub-reflector 43 is acquired in the same manner as in steps S ₂ and S ₃ (steps S ₁₁ and S 3).
S _12), calculates the average value (Step S _13), the average value of the previous AGC signal in one rotation of the subreflector 43 (average initial average value obtained by the processing of Step S ₇₎ compared to (Step S _14). The average value of this time and repeats the processing steps S ₁₁ to S ₁₄ again is greater than the previous average value. Eventually, when the current average value becomes smaller than the previous average value, the microcomputer 74 stops driving the antenna (procedure S
_15), followed by a predetermined angle (antenna rotation rate of the antenna in the opposite direction, driven by advance angle subtended) by inertia or the like is stopped (Step S _16). In this state, the antenna almost faces the other antenna. Above, the processing of steps S ₁₀ ~ Step S ₁₆ becomes a process of searching for the other party antenna. After the search ends, the process returns to step S _2, thereafter, a state of tracking.

FIG. 12 is a diagram showing the state of the comparison.
In this figure, E is AGC signal, p ₀ is the initial angle of the antenna, an arrow R ₁ represents a path slide into comparison. The comparison is performed sequentially while the antenna is continuously rotating toward the angle θ _mi . Then, when the driving angle of the antenna passes the maximum angle p ₁ of the AGC signal E, the mean value of the current becomes larger than the average value of the previous, once reversed microcomputer 74 antenna at this time as indicated by an arrow R ₂ The antenna is returned by a predetermined angle in the direction, and a command to stop driving the antenna is issued.
In this state, the antenna is directed in the direction indicated by the maximum value of the AGC signal, and thereafter, the tracking state is established.

As described above, in the present embodiment, a signal received from the other antenna during one rotation of the sub-reflector is fetched and the angle is determined according to the angle corresponding to the maximum value and the difference between the maximum value and the minimum value. Since the antenna is rotated based on the tilt angle, the antenna can be reliably and quickly tracked by the partner antenna. Also, when there is a large deviation from the counterpart antenna, the direction corresponding to the angle corresponding to the maximum value, that is, the direction in which the counterpart antenna exists, is known, and the antenna is rotated in that direction, and during that time, Since the rotation of the antenna is stopped at an angle that maximizes the average value of the signal received from the other antenna during one rotation of the sub-reflector, compared to the conventional conical scan method that scans the entire range, The antenna can be searched for more quickly. As a result, a relay station can be eliminated, and the cost can be significantly reduced.

In the above embodiment, an example in which tracking and search are used together has been described. However, only tracking or only search can be performed. In the case of searching only, since the maximum value of the received signal is not detected, the direction in which the antenna is rotated first cannot be determined, but the comparison of the average value of the received signal is temporarily started from the direction opposite to the direction of the other antenna. However, as in the conventional conical scanning method, if the entire range is scanned and the other party's antenna cannot be searched for, a faster search can be performed as compared with a method in which the scanning range is further expanded. In addition, the reception signal from the other antenna is taken in, and the antenna is rotated based on the angle corresponding to the maximum value and the tilt angle corresponding to the difference between the maximum value and the minimum value, so that the antenna can be securely mounted. , Can be quickly followed by the other party.

In the description of the above-described embodiment, in the case of using both tracking and search, the determination whether or not to execute the search is made by A
Although the example using the average value of the GC signal has been described,
Without being limited to this, the maximum value, the minimum value,
Alternatively, any value may be used as long as the reception strength is known, such as the difference between the two.

[0036]

As described above, according to the present invention, the rotation of the antenna is stopped when the reception intensity during one rotation of the beam by the beam rotation means is maximized during rotation of the antenna by the antenna rotation means. As a result, it is possible to quickly search for the antenna of the other party. In addition, the reception signal from the other antenna is taken in, and the antenna is rotated based on the angle corresponding to the maximum value and the tilt angle corresponding to the difference between the maximum value and the minimum value, so that the antenna can be securely mounted. It is possible to quickly track the other party's antenna. Further, when a search is performed during tracking, the direction in which the other antenna exists is detected in the tracking processing, so that the search can be performed more quickly.

[Brief description of the drawings]

FIG. 1 is a block diagram of a transmission / reception device including an antenna direction control device according to an embodiment of the present invention.

FIG. 2 is a diagram showing a work machine and its operation device.

FIG. 3 is a diagram showing antennas provided in the transmitting and receiving apparatuses 1A and 1B shown in FIG. 2;

FIG. 4 is a diagram illustrating a rotating beam.

FIG. 5 is a diagram showing a positional relationship between an antenna and a sub-reflector.

FIG. 6 is a diagram showing a shift of a reception beam and a level of a reception signal at that time.

FIG. 7 is a diagram illustrating the direction of a counterpart antenna.

FIG. 8 is a diagram showing a shift of a reception beam and a level of a reception signal at that time.

FIG. 9 is a diagram showing characteristics of a tilt angle.

FIG. 10 is a flowchart illustrating an operation of the microcomputer illustrated in FIG. 1;

FIG. 11 is a diagram for explaining results of output of angles θ _y and θ _X.

FIG. 12 is a diagram showing a state of maximum value comparison at the time of search.

[Explanation of symbols]

 Reference Signs List 3 radio 4 antenna 5 pan head 6 motor drive unit 7 main control unit 36 level detection circuit 52, 57 motor 53, 58 encoder 71 counter 72 band-pass filter 74 microcomputer

Claims (4)

[Claims] An apparatus for transmitting and receiving a radio signal between a work machine and an operation device located at a remote location from the work machine to operate the work machine with the operation device, wherein the operation device side and the work An antenna for transmitting and receiving a radio wave, a wireless device for transmitting and receiving via this antenna, a beam rotating means for rotating a transmission beam radiated from each of the antennas, and a device for rotating the antenna in an arbitrary direction. An antenna rotating means for moving the antenna, and a rotating means for stopping the rotation of the antenna when the receiving strength of the radio becomes maximum during one rotation of the beam by the beam rotating means during the antenna rotating by the antenna rotating means. A direction control device for an antenna, comprising: a motion stopping means. 2. A work machine for transmitting and receiving a radio signal between a work machine and an operation device located at a remote place from the work machine to operate the work machine with the operation device, wherein the operation device side and the work On each machine side, an antenna for transmitting and receiving radio waves, a wireless device for transmitting and receiving via this antenna, a beam rotating unit for rotating a transmission beam radiated from each antenna, and a rotation position of the beam rotating unit. A rotation position detection unit for detecting, a reception intensity detection unit for detecting a reception intensity received by the wireless device, and the rotation position detection unit at a maximum value of the reception intensity during one rotation of the beam by the beam rotation unit. Direction detecting means for detecting the direction of the antenna on the other side based on the detected angle, and one rotation of the beam by the beam rotating means Tilt detection means for detecting a tilt with respect to the other antenna at an angle detected by the direction detection means based on a difference between a maximum value and a minimum value of the reception intensity during the detection; and an angle and the tilt detected by the direction detection means. Tracking angle calculation means for calculating the horizontal and vertical tracking angles of the antenna based on the tilt angle detected by the detection means, and the rotation speed of the beam rotation means to the operating device side and the work machine side A direction control device for an antenna, characterized in that the rotation speeds are different from each other. 3. The antenna direction control device according to claim 2, wherein when the reception intensity during one rotation of the beam by the beam rotation unit is lower than a predetermined value, the antenna detects the angular direction detected by the direction detection unit. Antenna rotation means for rotating the antenna, and rotation of the antenna is stopped when the reception intensity of the radio device during one rotation of the beam by the beam rotation means becomes maximum while the antenna is rotated by the antenna rotation means. A direction control device for an antenna, comprising: a rotation stopping means for causing rotation. 4. The reception strength according to claim 1, wherein the reception intensity is an average value, a maximum value, or a minimum value, or a maximum value and a minimum value of an automatic gain control signal in a reception signal processing circuit. A direction control device for an antenna, the difference being a difference from a value.