Development of Space-division Infrared Wireless Communication System for Cooperative Operation and Information Sharing of Multiple Mobile Robots

研究了一种用于多个移动的机器人协同操作的红外无线通信系统。研究了一种既能相互通信又能检测对方位置的通信系统。伙伴机器人的发射信号可以用作显示其位置的信标信号。每个信标信号的方向使用PSD（位置敏感器件：光电二极管入射角传感器）在其接收电路中检测，并且相互位置通过基于它们的方向的三角测距计算。在分布式控制的无线通信网络中，不必要的信号干扰通信。分析了干扰的空间因素。当三个机器人，其中一个是接收器，其他的是发送器，形成一个三角形时，它们会造成通信干扰。当将每个光接收器的角度限制为小于60度时，由通信机器人形成的三角形的最大内角变得大于60度。具有最大内角的机器人成为仲裁者，它控制相互通信。通过模拟，我们确认了使用仲裁器来降低干扰的方法。我们研究了将高速数据传输与精确入射角检测相结合的红外收发电路。PSD具有两个或四个信号输出，并且根据它们的信号强度的差异来计算入射角。我们发现红外无线通信系统的传输信号的性质是脉冲信号，我们研究了利用信号的性质进行降噪。同时，我们也研究了NRZI编码的HDLC数据传输来检测通信链路的中断。基于这些研究成果，我们将研究用于多机器人相互通信的红外无线通信系统。

This is research on an infrared wireless communications system used for cooperative operation of multiple mobile robots. The communication system that can use not only mutual communication but also detect their position was studied. A partner robot's transmitting signal can be used as a beacon signal that shows its position. The direction of each beacon signal is detected using a PSD (Position Sensitive Device: photo-diode incidence angle sensor) in its receiver circuit, and mutual positions are computed by the triangulation ranging based on their directions.In a distributed controlled wireless communication network, unnecessary signals confuse communications. We analyzed the spatial factor of interference. When three robots in which one is a receiver and others are transmitters form a triangle, they cause communication interference. When restricting the angle of each optical receiver to less than 60 degrees, the greatest inside angle of the triangle formed by communicating robots becomes greater than 60 degrees. A robot that has the greatest inside angle becomes an arbiter and it controls mutual communication. In a simulation, we confirmed the solution of reducing interference is using an arbiter.We examined an infrared transceiver circuit that combines high-speed data transmission with accurate incidence angle detection. A PSD has two or four signal outputs, and an incidence angle is calculated from the difference in strength of their signals. We found the property of transmission signal of the infrared wireless communication system is a pulse signal, and we examined noise reduction using the property of the signal. Also we examined the NRZI encoded HDLC data transmission to detect suspension of communication links.We will study the infrared wireless communication system for multi robot mutual communication based on these research results.