JPH10246634A - Wireless transmission device and position information detector for mover - Google Patents

Abstract

PROBLEM TO BE SOLVED: To raise the accuracy of information transmission to the utmost in a wireless transmission device. SOLUTION: The transmission device is provided with transmission means WT for sending wireless information including standard clock signals for timing of synchronization as well as the switching timing of binary transmission information, and receiving means GT for receiving wireless information sent from the transmission means WT and discriminating the transmission information from the received wireless information while synchronizing on the basis of the standard clock signals. In this instance, the transmission means WT is formed for allowing blocks of set pulse numbers to be sent at set pitches intermittently as the standard clock signals, and also formed for allowing the switching timing of transmission information to be sent as information of the lapsed time from a sending commencement point in each block of the standard clock signals.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wireless transmission apparatus and a position information detecting apparatus for a mobile unit, and more particularly, to a reference clock signal for obtaining synchronization timing, a switching timing of binary transmission information, and the like. Transmitting means for transmitting wireless information including, and receiving the wireless information transmitted from the transmitting means, and determining the transmission information from the received wireless information while synchronizing based on the reference clock signal. A wireless transmission device provided with a receiving means,
The present invention also relates to a mobile object position information detecting device using the same.

[0002]

2. Description of the Related Art A radio transmission apparatus having the above configuration transmits transmission information while synchronizing transmission means and reception means based on a reference clock signal. As shown in FIG. 8, the transmitting means continuously transmits the reference clock signal and simultaneously transmits the transmission information in a state where the transmission information is switched in synchronization with a change (rising or falling) of the reference clock signal. The receiving means is configured to determine the content of the transmission information (timing of signal change) while taking synchronization timing for signal determination based on the received reference clock signal.

[0003] As the transmission information, for example, the following can be considered. For example, as a configuration in which the transmitting means is provided on the moving body and the receiving means is provided in a fixed position on the ground, the receiving means emits the light beam while rotating by a predetermined angle corresponding to one cycle of the reference clock signal. A light beam projecting means for projecting is provided, and a light receiving means for receiving the light beam is provided on the transmitting means side, and as the light receiving means receives the light beam, the change information is used as the transmission information on the receiving means side. In such a case, the rotation angle information from the reference projection azimuth of the light beam projection means is determined at that time, and the position of the moving body is determined based on the angle information.

[0004]

However, the above-mentioned conventional configuration has the following disadvantages. In other words, the time (cycle) required for switching the signal in the transmission information is very long compared to the cycle of the reference clock signal. Until signal discrimination is performed, a very large number of reference clock signals will be counted.
When a large number of reference clock signals are transmitted by wireless transmission in this way, there is a possibility that the reference clock may be shifted between the transmitting unit and the receiving unit. In addition, if such a deviation is accumulated a plurality of times, the switching timing of the transmission information will be largely deviated between the transmitting unit and the receiving unit. As a result, there is a disadvantage that the accuracy of discriminating the transmission information becomes lower and the information cannot be transmitted accurately.

[0005] In addition, when the position of a moving object is determined by using such a wireless transmission device, the accuracy of the determination of the position of the moving object is reduced. There is a disadvantage in that, for example, when performing automatic guidance control for guiding along the vehicle, appropriate control thereafter cannot be performed.

The present invention has been made in view of such a point, and an object of the present invention is to improve the accuracy of information transmission as much as possible in the wireless transmission device having the above configuration.

Another object of the present invention is to provide a moving body position information detecting device which can accurately determine the position of a moving body using a wireless transmission device which can achieve the above object. It is in.

[0008]

According to the wireless transmission device of the present invention, the transmission means intermittently transmits the reference clock signal in blocks of a set number of pulses at a constant pitch. Since it is configured to transmit to the receiving means, when the receiving means takes the synchronization timing for signal discrimination based on the reference clock signal, the timing is conventionally adjusted by every block of the set number of pulses. Compared with the case where a large number of clock signals are continuously transmitted as in the configuration, it is possible to set the synchronization timing in an appropriate state with a small error.

[0009] The transmitting means transmits the transmission information to the receiving means at a timing at which the transmission information is switched to a different signal as information on an elapsed time from the start of transmission in each block of the reference clock signal. Will be.

Therefore, by transmitting as information on the elapsed time from the start of transmission in each block, the transmission information is switched in synchronization with a change (rising or falling) of the reference clock signal as in the conventional configuration. Compared to a configuration in which the transmission is performed as it is, the timing of switching the transmission information at the receiving unit is more accurate in a state where there is less possibility of an error due to a transmission deviation or a reference clock count error at the receiving unit. It is possible to determine.

As a result, it is possible to minimize the possibility that the reference clock is shifted between the transmitting means and the receiving means, to determine the switching timing of the transmission information with high accuracy, and to improve the accuracy of the information transmission. It is possible to improve as much as possible.

According to a second aspect of the present invention, the transmission means is configured to transmit spread spectrum wireless information.

[0013] In the spread spectrum wireless communication, there is little risk of malfunction in signal discrimination due to noise or interference of external wireless signals, so that the accuracy of information transmission can be further improved.

According to a third aspect of the present invention, in the position information detecting device for a mobile body using the wireless transmission device according to the first or second aspect, the light beam is directed to the ground side in a freely changeable direction. A light emitting means for emitting light, an azimuth detecting means for detecting an azimuth of the light emission, and the receiving means are provided. Also, on the moving body side, a light receiving means capable of detecting the light beam, and when the light beam is received by the light receiving means, the transmitting means for transmitting, as the transmission information, the transmission information is switched to a different signal when the light beam is received. And are provided. Then, the position of the moving body is detected based on the transmission information received by the receiving unit and the detection information of the azimuth detecting unit.

That is, when the light projecting means provided in a fixed position on the ground side emits the light beam while changing the direction (projection direction), when the beam light reaches the azimuth where the moving body is located, the beam light is emitted. The light is received by light receiving means provided on the moving body. The transmitting unit transmits the received light information (transmission information), and the receiving unit receives the received light information. Then, the position of the moving body can be determined based on the light receiving information received by the receiving means and the detection information of the projection azimuth by the azimuth detecting means.

For example, if the unit change angle of the azimuth detecting means is synchronized with the reference clock signal, detection information (detection azimuth) of the azimuth detecting means when the light beam is received,
Since the direction of the moving body with respect to the position where the light projecting means is present can be determined based on the preset reference direction, the current position of the moving body is determined in the case where the moving route is determined in advance. It becomes possible.

According to the characteristic configuration of the position information detecting apparatus for a moving body, two sets of the light projecting means, the azimuth detecting means and the receiving means are provided at different reference positions on the ground side. And a pair of position detecting light emitting direction information, which is a light emitting direction when the light receiving means receives light, for each of the light projecting means, and a distance between the two set reference positions. From the information, the position of the moving body is determined.

That is, a triangle is formed by each point of the two set reference positions and the position of the moving body. The distance between the two set reference positions can be obtained in advance, and the two set reference positions are connected to each other. If you set the line as the reference direction,
Since the respective angles formed by the respective azimuths and the reference azimuths when the respective light beams are received by the light receiving means can be detected, the position of the moving body can be specified based on triangulation.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION A wireless transmission apparatus and a moving object position determining apparatus according to the present invention will be described below. A case where the present invention is applied to an automatic guidance system that performs a tilling work while automatically traveling along a route will be described.

As shown in FIG. 1, the working vehicle V is provided with a rotary tilling device 6 via a three-point link mechanism at a rear portion of a traveling body 5 having a pair of left and right front wheels 3 and a rear wheel 4.
Are connected to each other, and the rotary tilling device 6 performs the tilling work of the field F while the vehicle body 5 is traveling. As shown in FIG. 4, the tilling device 6 is connected to a transmission case 25 via a vertically swingable top link 26 constituting a three-point link mechanism via a pair of left and right lower links 27. A pair of left and right lift arms 29, which are vertically oscillated by a lifting hydraulic cylinder 13 provided in the lower link 27.
Are connected via a lift rod 36 and a double-acting tilt hydraulic cylinder 23, respectively, and are configured to be capable of raising and lowering by operating the lifting hydraulic cylinder 13; (The inclination in the lateral width direction of the body around the connection point with the lift rod) can be changed. At the base end of one of the lower links 27, a lifting / lowering position detection sensor S1 using a potentiometer that detects the lifting / lowering position of the tilling apparatus 6 with respect to the traveling vehicle body 5 based on the swing angle of the lower link 27 is provided. A stroke sensor S2 for detecting the amount of inclination of the tillage device 6 based on the amount of expansion and contraction of the tillage device 6 is provided.

As shown in FIG. 3, a pair of left and right front wheels 3 and rear wheels 4 provided on the traveling vehicle body 5 are configured to be steerable independently of each other as a pair of left and right wheels, and are provided with hydraulic cylinders 7 and 8 for steering. A two-wheel steering system in which only front wheels 3 are steered, and front and rear wheels 3, 4 are steered in opposite phases and at the same angle. Two types of steering types, that is, a four-wheel steering type, can be selectively used. Note that, when the vehicle travels straight along each work process, the vehicle is driven in a two-wheel steering system in which only the front wheels 3 are steered. Engine E
The transmission system is configured such that the output from the motor is shifted through a hydraulic type continuously variable transmission 11 to simultaneously drive each of the front and rear wheels 3 and 4, and the continuously variable transmission 11 is an electric motor for gear shifting operation. The gears 12 are configured to be capable of shifting operations.
Although the transmission system is not shown, the power of the engine E is intermittently transmitted by the electromagnetically operated tilling clutch 15 to the transmission shaft 28.
And is transmitted to the tillage device 6 via the.

The steering angle detection sensors R1 and R2 using potentiometers for detecting the steering angles of the front and rear wheels 3 and 4, and the forward and backward traveling state and the vehicle speed are indirectly detected based on the shift state of the continuously variable transmission 11. A speed sensor R3 using a potentiometer, an encoder S3 for measuring the rotation speed of the output shaft of the continuously variable transmission 11 to detect the traveling distance, and a geomagnetic direction sensor S4 for detecting the direction of the vehicle body 5. .

The work vehicle V is adapted to perform a tilling operation while automatically traveling along a preset work route based on the various sensors described above and wireless transmission information described later. And a control device 16 using a microcomputer for controlling the running state of the work vehicle V, the operation of the tillage device 6, and the like.

As shown in FIGS. 1 and 2, outside the field F, a pair of light beam projecting devices 40 and 41 (an example of a light projecting means LE) for projecting a laser beam as an example of the beam light are provided. ) Are installed at two set reference positions on the ground side in a state where the planar position is set in advance. Each of the light beam projecting devices 40 and 41 has basically the same configuration, and is configured so that the laser beam light can be rotated and scanned in the horizontal direction, that is, the direction of the laser beam light can be freely changed. A set reference position where one beam light projector 40 is installed is set as a reference position A, and a set reference position where the other light beam projector 41 is installed is set as a reference position B. Field F
And the two reference positions A and B are as follows: a field F, which is a moving range of the work vehicle V, is a virtual line C connecting the two reference positions.
With respect to one side.

Next, a wireless transmission device for determining the current position of the work vehicle V will be described. As shown in FIG. 6, the work vehicle V has a spread spectrum wireless device 2
Two SS radio devices 50 and 51 on the vehicle body side and a light receiver 54 as light receiving means for receiving the laser beam emitted from the beam light emitting devices 40 and 41 are provided, and these are connected to the control device 16. Have been. In addition, one of the two SS wireless devices 50 and 51 on the vehicle body side is an SS wireless device 5.
As a communication partner with respect to 0, a ground-side S, which is also a spread-spectrum wireless device, is located at a ground-side reference position A.
An S wireless device 52 is installed, and as a communication partner to the other SS wireless device 51 on the vehicle body side, a reference position B on the ground side
In addition, a ground-side SS wireless device 53 which is also a spread spectrum wireless device is installed. Therefore, two sets of spread spectrum wireless transmission apparatuses are installed in the entire system.

The light receiver 54 provided in the work vehicle V is shown in FIG.
As shown in FIG. 7, a pair of light receiving panels 54a and 54b are respectively attached to the front and back surfaces of the support portion 54c in the front-rear direction of the vehicle body 5, and the light receiving panels 54a and 54b are
A large number of light receiving elements are arranged in the vertical direction, and are configured to detect a light receiving position in the height direction.

Each of the light beam projecting devices 40 and 41 emits a light beam 360 at the same angular velocity and in the opposite direction to each other.
The light beam projectors 40 and 41 are provided with azimuth detecting means DD in order to detect the projection azimuth of the light beam to be rotationally scanned. Absolute rotary encoders 42 and 4 connected to a rotary shaft for rotary scanning
3 are provided. Also, the reference position A and the reference position B have a ground-side control device that executes control, which will be described later, based on transmission information from the respective ground-side SS wireless devices 52 and 53 and information from the rotary encoders 42 and 43. 5
5, 56 are provided respectively.

Each of the SS wireless devices 50 and 5 as described above
1, 52, 53, light receiver 54, each light beam projecting device 4
0, 41 and the rotary encoders 42, 43, the work vehicle-side control device 16, and the ground-side control devices 55, 56.
Are used to detect the position information of the work vehicle V traveling on the field F in the horizontal plane and the height information of the measurement target portion of the work vehicle V.

Next, a process of detecting the position information and the like of the work vehicle V in the horizontal plane will be described. First, the light beam projected by each of the light beam projecting devices 40 and 41 is, at a certain point in time, a virtual line C connecting the reference position A and the reference position B as shown in FIG. Are set in the same azimuthal phase relationship along the line. From this point, FIG.
As shown in FIGS. 5C and 5D, the light beam at the reference position A is rotationally scanned in the clockwise direction, and the light beam at the reference position B is rotationally scanned in the counterclockwise direction. I have. When the light beam is in the state shown in FIG.
S of the work vehicle V according to the transmission command from the SS wireless device 52
The S wireless device 50 is in the data transmission state, and the SS wireless device 52 at the reference position A is set in the data reception state. On the other hand, after the state shown in FIG. 5A, data transmission and reception of the SS wireless device 51 of the work vehicle V and the SS wireless device 53 of the reference position B are temporarily stopped. From the state shown in FIG.
When the light beam is rotated and scanned to the state shown in FIG. 5B, the light receiver 54 of the work vehicle V receives the light beam from the reference position A. The control device 16 on the work vehicle V side includes a light receiver 54
When a light receiving signal is received from the base station, a light receiving signal composed of data different from the data transmitted so far is sent to the data being transmitted to the SS wireless device 52 at the reference position A, and the fact that the light receiver 54 has received light is transmitted. . In addition, each beam light projecting device 4
Since the rotation scans of 0 and 41 are performed in the opposite direction at the same speed, the work vehicle V subsequently receives the light beam from the reference position A and the light beam from the reference position B alternately. Whether the received light beam is from the reference position A,
It is possible to specify whether the position is from the reference position B.

Next, the ground-side SS provided at the reference position A
A procedure of wireless transmission when transmitting the light receiving information as transmission information between the wireless device 52 and the SS wireless device 50 on the work vehicle V side will be described. In addition, the ground-side SS radio device 53 provided at the reference position B and the SS
The procedure of wireless transmission when transmitting light reception information to and from the wireless device 51 is performed in a similar manner. SS on work vehicle V side
The wireless device 50 transmits wireless information including a reference clock signal for obtaining synchronization timing and a signal regarding the received light information to the SS wireless device 52 on the ground side.
Then, the ground-side SS wireless device 52 receives the transmitted wireless information, and determines the light receiving timing based on the received light signal from the received wireless information while synchronizing based on the reference clock signal. It is configured. That is, in this case, the SS wireless device 50 on the work vehicle V side
Corresponds to the transmitting means WT, and the SS radio apparatus 52 on the ground side corresponds to the receiving means GT. When transmitting the light reception information between the SS radio apparatus 53 on the ground side provided at the reference position B and the SS radio apparatus 51 on the work vehicle V side, the work vehicle V
The SS wireless device 51 on the side corresponds to the transmitting means WT, and the SS wireless device 53 on the ground corresponds to the receiving means GT. Here, the cycle of the reference clock signal is very fast (several μS
On the other hand, the time (period) until the light receiving information is received by the light receiver 54 is sufficiently longer than the period of the reference clock signal.

Then, the SS radio apparatus 50 on the work vehicle V side
Is configured to transmit the reference clock signal intermittently at a set pitch every block of a set number of pulses (for example, 256 bits) as shown in FIG. Are transmitted as information on the elapsed time from the transmission start time in each block of the reference clock signal. That is, the set pulse number (for example, 25
When transmission of each block of the 6-bit reference clock signal is started, after a lapse of a set time T0 for synchronizing clocks between the transmission side and the reception side, light reception information at that time, that is, A signal X0 is transmitted as digital data, which can determine whether the communication is started before the light is received or after the light is received, and such a communication operation is repeatedly performed for each block. become. On the ground side SS radio apparatus 52 side, at the start of the block of the transmitted reference clock signal, the clock is synchronized for each block, and
The detection information of the rotary encoder 42 is sequentially determined in accordance with the reference clock signal.

When the light beam is received by the light receiver 54,
The control device 16 of the work vehicle V measures the elapsed time t from the start of transmission of the block of the reference clock signal to the reception of the reference clock signal at that time based on the detection information from the light receiver 54, and repeats the cycle of each block. The ratio of the elapsed time to T (t / T) is obtained as numerical data, and the numerical data is transmitted as the next light receiving information (X1).
The light receiving information corresponds to transmission information. As a result, the ground-side SS wireless device 52 can accurately determine the detection information of the rotary encoder 42 when the light beam is received.

The control device 55 provided at the reference position A
From the output of the rotary encoder 42 when the light beam is received from the signal received and demodulated by the SS radio device 52 on the ground side, the light beam and the projection direction are obtained from the output of the rotary encoder 42, and the direction in which the work vehicle V exists, that is, It is stored as position detection direction information α. While such processing is being performed between the work vehicle V and the reference position A, the light beam from the reference position B rotationally scans the virtual line C on the opposite side to the side where the field F exists. During this time, the azimuth information β for position detection, which is the azimuth in which the work vehicle V is obtained while scanning the field F immediately before, is transmitted to the work vehicle V.

From the state shown in FIG. 5B, the state shown in FIG.
When the rotation scanning is performed to the state shown in FIG. 7, the transmission and reception of data between the SS wireless device 50 of the work vehicle V and the SS wireless device 52 of the reference position A are temporarily stopped, and then the work vehicle The position detection direction information α stored in the control device 55 is transmitted to the V SS radio device 50. On the other hand, between the SS wireless device 53 at the reference position B and the SS wireless device 51 of the work vehicle V, on the near side reaching the state of FIG. As a result, the SS wireless device 51 of the work vehicle V has shifted to the data transmission state.

When the rotary scanning is performed from the state shown in FIG. 5 (c) to the state shown in FIG. 5 (d), the light beam from the reference position B is incident on the light receiving unit 54, and the above-mentioned FIG. As in the case of the above, the control device 56 provided at the reference position B stores the position detection direction information β newly detected.

Then, as described above with reference to FIGS.
By repeating the processing of (d), the control device 1 of the work vehicle V
6 is position detection direction information α from the reference position A, and
The azimuth information for position detection β from the reference position B is sequentially input, and the azimuth information for position detection α, β and the distance W between the reference positions A, B, which have been input in advance, are calculated based on the principle of triangulation. , The position information of the work vehicle V in the horizontal plane is obtained. Therefore, the control device 16 on the work vehicle side corresponds to the position determining means IH. At this time, as described above, in the wireless transmission between the SS wireless devices, the reference clock signal is intermittently transmitted at the set pitch for each block of the set number of pulses, and the timing at which the light reception information switches to a different signal is determined. ,
By transmitting the reference clock signal as information on the elapsed time from the start of transmission in each block, the position information of the work vehicle V can be accurately determined with little error due to a reference clock count error, clock timing deviation, or the like. You can do it.

The output values of the rotary encoders 42 and 43 when the light beam is in the direction along the imaginary line C, which is a reference of the light beam projection direction, are detected when the work vehicle V starts working. In order to detect the reference light projecting direction, each of the light beam projecting devices 40 and 41 is provided with a light receiver 40a, 41a on the ground side in the vicinity of the light beam emission position. In a similar manner, the azimuth at which the light beams from A and B are incident is detected in the same manner, and the time when each of the light receivers 40a and 41a on the ground side receives the light beam of the other party is determined by the SS radio apparatus. By transmitting and receiving to and from 52 and 53, the reference projection direction is detected.

Next, detection of work height information of the tilling device 6 provided in the work vehicle V will be described. The light receiver 54 provided in the work vehicle V is configured to be able to detect the light receiving position in the height direction based on which of the plurality of light receiving elements arranged in the vertical direction has received light. When the light beam from the reference position A or the reference position B is received, the control device 16 on the side of the work vehicle V
Height information can be detected. And since the height with respect to the vehicle body 5 of the tilling apparatus 6 can be detected from the detection information of the raising / lowering position detection sensor S1, the absolute height of the tilling apparatus 6, that is, the ground height (the tilling work depth) can be detected.

The position information of the work vehicle V in the horizontal plane obtained as described above is used for the work vehicle V to automatically and automatically travel along the work path L of the field F.
Specifically, the hydraulic cylinders 7 and 8 for steering are set so that the deviation between the work process L stored as the position information in the horizontal plane and the position information actually detected in the horizontal plane falls within the set range. The steering control is performed by controlling the hydraulic pressure control valves 9 and 10 with respect to.

With such steering control, the working vehicle V
Starts running from the start point St of the first work stroke L located on the right end side in the figure, for example, as shown in FIG.
The vehicle travels straight along each work process L in a two-wheel steering mode, and travels straight from the end point e of each work process L toward the start end of the adjacent work process L by a predetermined distance from the end point e. The turning operation is started, and after a predetermined turning section g based on the detection information of the geomagnetic direction sensor S4, 1
The turning operation is performed by the four-wheel steering in the turning pattern up to the end point f of the turning operation of 80 degrees, and after turning, the reciprocating running in the reverse direction is repeated, and the vehicle runs over the entire range of the field F. . The hydraulic control valve 14 for the lifting hydraulic cylinder 13 is controlled such that the height of the tillage device 6 above the ground (tilling depth) is maintained at a set value at an appropriate work location in each work stroke L.

[Other Embodiments] (1) In the above embodiment, a wireless communication system of a spread spectrum system is used as a wireless transmission system. However, the present invention is not limited to such a configuration, and various wireless systems such as FM modulation and AM modulation are used. The communication method may be used.

(2) In the above-described embodiment, the case where the wireless transmission device is applied to the position information detecting device of the moving body is exemplified. However, the present invention is not limited to such a configuration, and the transmitting means and the receiving means may be in a fixed position. The transmission information may be configured to communicate not only light reception information but also other control information as transmission information.

(3) In the above-described embodiment, the case where two sets of light beam projecting devices are provided at different reference positions on the ground side as the light projecting means LE in the position information detecting device for the moving body is exemplified. The configuration is not limited to
One laser light source is divided into two by a half mirror, and the divided laser beam light is reflected from the reference positions A and B by a mirror to project light, and the mirror is rotated and scanned. It may be configured as follows.

(4) In the above embodiment, the position determining means I
As H, the position information of the work vehicle V in the horizontal plane is obtained by the control device 16 of the work vehicle V, but the position information of the work vehicle V in the horizontal plane is obtained by the control devices 55 and 56 on the ground side. Alternatively, the steering control command may be transmitted.

(5) In the above embodiment, a moving vehicle provided with the tilling device 6 on the traveling vehicle body 5 has been exemplified as a moving object. However, other working devices such as a seedling planting device and a fertilizer application device are provided on the traveling vehicle body 5. The present invention may be applied to a work vehicle V for civil engineering work such as a backhoe instead of the agricultural work vehicle V.

[Brief description of the drawings]

FIG. 1 is a side view of the entire system.

FIG. 2 is a plan view showing a running state.

FIG. 3 is a control block diagram of a work vehicle.

FIG. 4 is a perspective view of a tillage device.

FIG. 5 is an explanatory diagram of a position detection operation.

FIG. 6 is a block diagram of a wireless transmission system.

FIG. 7 is a timing chart in wireless transmission.

FIG. 8 is a timing chart in a conventional wireless transmission.

[Explanation of symbols]

 DD Direction detecting means WT transmitting means GT receiving means 54 Light receiving means IH Position discriminating means LE Light emitting means V Moving object

Claims (4)

[Claims] A transmitting means for transmitting wireless information including a reference clock signal for setting synchronization timing and a switching timing of binary transmission information; and receiving wireless information transmitted from the transmitting means. Receiving means for determining the transmission information while synchronizing based on the reference clock signal from the received wireless information, the transmission means comprising: As a clock signal, a block of a set number of pulses is configured to be transmitted intermittently at a set pitch, and the switching timing of the transmission information is set to an elapsed time from the start of transmission of each block of the reference clock signal. Wireless transmission device configured to transmit the information as the information. 2. The wireless transmission apparatus according to claim 1, wherein said transmitting means is configured to transmit spread spectrum wireless information. 3. A position detecting device for a mobile body using the wireless transmission device according to claim 1 or 2, wherein a light projecting means for projecting a light beam to the ground side so as to be able to freely change its direction. An azimuth detecting means for detecting a light projecting azimuth, and the receiving means are provided, a light receiving means capable of detecting the light beam on the moving body side, and when the light beam is received by the light receiving means, when the light beam is received, The transmission unit that transmits the transmission information as the transmission information that switches to a different signal, and the movement based on the transmission information received by the reception unit and the detection information of the azimuth detection unit. A moving body position information detecting device configured to detect a body position. 4. When two sets of the light projecting means, the azimuth detecting means and the receiving means are respectively provided at different reference positions on the ground, and the light receiving means for each of the light projecting means receives light. 4. A position judging means for judging a position of the moving body from a pair of position detecting light projecting azimuth information, which is the light projecting azimuth, and distance information between the two set reference positions. The moving body position information detecting device according to the above.