JP6794540B2 - Communication system and communication buoy - Google Patents

Description

The present disclosure relates to communication systems, communication buoys, and control devices.

Various marine resources such as submarine hydrothermal deposits, methane hydrate, cobalt-rich crust, and rare earths exist in the ocean. Diving probes are used to investigate or recover such marine resources. The data obtained by the diving probe can be relayed via a communication buoy for relay (see, for example, Patent Document 1). The diving spacecraft can send data such as images captured by an underwater camera to a land communication station via a communication buoy.

Japanese Unexamined Patent Publication No. 2016-122891

The communication system according to one embodiment includes a first communication device and a second communication device. The first communication device measures a parameter based on an external physical force that the first communication device cannot control. The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the first communication device, and the movement of the first communication device due to the physical force. It is at least one of the second parameters shown. The first communication device sends measurement information indicating the measured parameter to the second communication device. The second communication device controls communication with the first communication device based on the measurement information.

The communication buoy according to one embodiment is a communication buoy capable of relaying information. The communication buoy includes a receiving unit and a control unit. The receiving unit receives measurement information from the other communication buoy indicating parameters measured based on a physical force from the outside that the other communication buoy cannot control. The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the other communication buoy, and a first parameter indicating the movement of the other communication buoy caused by the physical force. It is at least one of the two parameters. The control unit controls communication with the first communication device based on the measurement information.

The control device according to one embodiment is a control device for controlling a communication buoy. The control device includes a receiving unit and a control unit. The receiving unit receives measurement information from the other communication buoy indicating parameters measured based on a physical force from the outside that the other communication buoy cannot control. The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the other communication buoy, and a first parameter indicating the movement of the other communication buoy caused by the physical force. It is at least one of the two parameters. The control unit controls communication with the other communication buoy based on the measurement information.

The communication system according to one embodiment includes a first communication device and a second communication device. The first communication device measures a parameter based on an external physical force that the first communication device cannot control. The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the first communication device, and the movement of the first communication device due to the physical force. It is at least one of the second parameters shown. The first communication device controls communication with the second communication device based on the measurement information indicating the measured parameter.

The communication buoy according to one embodiment is a communication buoy capable of relaying information. The communication buoy includes a control unit. The control unit measures parameters based on physical forces from the outside that the communication buoy cannot control. The parameters are a first parameter indicating the magnitude of the physical force affecting the movement of the communication buoy, and a second parameter indicating the movement of the communication buoy caused by the physical force. At least one parameter. The control unit controls communication with other communication buoys based on the measurement information.

The control device according to one embodiment is a control device for controlling a communication buoy. The control device includes a control unit. The control unit measures parameters based on physical forces from the outside that the communication buoy cannot control. The parameters are a first parameter indicating the magnitude of the physical force affecting the movement of the communication buoy, and a second parameter indicating the movement of the communication buoy caused by the physical force. At least one parameter. The control unit controls communication with other communication buoys based on the measurement information.

The communication system according to the first embodiment includes a first communication device, a second communication device controlled by the first communication device, and a third communication device which is a communication partner of the first communication device. And have. The first communication device communicates with the third communication device via the second communication device and the first communication that communicates with the third communication device without going through the second communication device. At least one of the second communications to be performed. The first communication device measures a parameter based on an external physical force that the first communication device cannot control. The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the first communication device, and the movement of the first communication device due to the physical force. It is at least one of the second parameters shown. The first communication device executes the second communication based on the measurement information indicating the measured parameter.

The first communication buoy according to one embodiment is a communication buoy capable of relaying information. The first communication buoy includes a control unit. The control unit communicates with a communication device that is a communication partner of the first communication buoy without going through the second communication buoy, and the communication device via the second communication buoy. Performs at least one of a second communication that communicates with. The control unit may measure a parameter based on an external physical force that the first communication buoy cannot control. The parameters are a first parameter indicating the magnitude of the physical force that affects the movement of the first communication buoy, and the movement of the first communication buoy caused by the physical force. It is at least one of the second parameters shown. The control unit executes the second communication based on the measurement information indicating the measured parameter.

The control device according to one embodiment is a control device for controlling the first communication buoy. The control device includes a control unit. The control unit communicates with a communication device that is a communication partner of the first communication buoy without going through the second communication buoy, and the communication device via the second communication buoy. Performs at least one of a second communication that communicates with. The control unit may measure a parameter based on an external physical force that the first communication buoy cannot control. The parameters are a first parameter indicating the magnitude of the physical force that affects the movement of the first communication buoy, and the movement of the first communication buoy caused by the physical force. It is at least one of the second parameters shown. The control unit executes the second communication based on the measurement information indicating the measured parameter.

FIG. 1 is a diagram for explaining an example of a communication system according to an embodiment. FIG. 2 is a block diagram of the communication buoy 100. FIG. 3 is an explanatory diagram for explaining the inclination of the communication buoy 100. FIG. 4 is a block diagram of the control station 200. FIG. 5 is a sequence diagram for explaining operation example 1 according to the first embodiment. FIG. 6 is a sequence diagram for explaining operation example 2 according to the first embodiment. FIG. 7 is a sequence diagram for explaining operation example 3 according to the first embodiment. FIG. 8 is a diagram for explaining an example of estimating communication quality. FIG. 9 is a diagram for explaining an example of estimating communication quality. FIG. 10 is a diagram for explaining an example of estimating communication quality. FIG. 11 is a diagram for explaining an example of communication control (movement control). FIG. 12 is a diagram for explaining an example of communication control (error tolerance control). FIG. 13 is a diagram for explaining an example of communication control (beamforming control). FIG. 14 is a diagram for explaining an example of communication control (beamforming control). FIG. 15 is a flowchart for explaining an example of communication control (switching of communication control). FIG. 16 is a flowchart for explaining an example of the operation of the communication buoy 100B. FIG. 17 is a sequence diagram for explaining the operation according to the second embodiment. FIG. 18 is a diagram for explaining an example of the communication system according to the third embodiment. FIG. 19 is a block diagram of the small communication buoy 300. FIG. 20 is a block diagram of the small communication buoy 300 and the communication buoy 100. FIG. 21 is a sequence diagram for explaining the operation (operation example 1) according to the third embodiment. FIG. 22 is a diagram for explaining an operation (operation example 1) according to the third embodiment. FIG. 23 is a diagram for explaining an operation (operation example 1) according to the third embodiment. FIG. 24 is a diagram for explaining an operation (operation example 1) according to the third embodiment. FIG. 25 is a flowchart for explaining the control of the small communication buoy 300. FIG. 26 is a diagram for explaining an example of position control of the small communication buoy 300. FIG. 27 is a flowchart for explaining an example of position control of the small communication buoy 300. FIG. 28 is a flowchart for explaining an example of position control of the small communication buoy 300. FIG. 29 is a diagram for explaining an example of position control of the small communication buoy 300. FIG. 30 is a diagram for explaining an example of position control of the small communication buoy 300. FIG. 31 is a diagram for explaining an operation (operation example 2) according to the third embodiment. FIG. 32 is a diagram for explaining an operation (operation example 2) according to the third embodiment. FIG. 33 is a diagram for explaining the operation (operation example 2) according to the third embodiment. FIG. 34 is a flowchart for explaining the operation of the communication buoy 100 according to the operation example 2 of the third embodiment. FIG. 35 is a diagram for explaining the operation of the communication buoy 100 and the small communication buoy 300 according to the operation example 2 of the third embodiment. FIG. 36 is a diagram for explaining the operation of the communication buoy 100 and the small communication buoy 300 according to the operation example 2 of the third embodiment.

[Outline of Embodiment]
Communication devices such as relay buoys are used in a natural environment such as outdoors. In particular, communication devices installed on the ocean are directly affected by natural phenomena such as waves and wind because there is nothing to block the surroundings. As a result, a physical force that the communication device cannot control acts on the communication device, and the communication device may move. There is a risk that the communication quality will deteriorate due to the movement of the communication device caused by such physical force.

The communication system according to one embodiment includes a first communication device and a second communication device. The first communication device measures a parameter based on an external physical force that the first communication device cannot control. The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the first communication device, and the movement of the first communication device due to the physical force. It is at least one of the second parameters shown. The first communication device sends measurement information indicating the measured parameter to the second communication device. The second communication device controls communication with the first communication device based on the measurement information.

The measurement information may include information regarding a wave state in the first communication device.

The second communication device may estimate the communication quality in communication with the first communication device based on the measurement information.

The second communication device may execute control for moving the second communication device based on the measurement information.

The second communication device may control communication with the first communication device according to the communication quality in communication with the first communication device based on the measurement information being less than a threshold value. ..

The second communication device is moved to a position where the difference between the height of the first communication device and the height of the second communication device at a predetermined time is less than the threshold value, based on the information regarding the wave state. Controls for moving the second communication device may be executed.

The second communication device may control beamforming to direct the beam to the first communication device based on the information about the wave state.

The second communication device may determine whether or not the first communication device should be selected as the communication partner based on the information regarding the wave state.

The first communication device and the second communication device may be buoys that can float on water.

The communication system may further include a plurality of communication devices including the first communication device and the second communication device, and a control station capable of controlling the plurality of communication devices. Each of the plurality of communication devices may measure a parameter based on an external physical force that each of the plurality of communication devices cannot control. The control station may acquire measurement information indicating the measured parameters from each of the plurality of communication devices. The control station may determine a communication path for relaying information via at least one of the plurality of communication devices based on the measurement information.

The communication buoy according to one embodiment is a communication buoy capable of relaying information. The communication buoy includes a receiving unit and a control unit. The receiving unit receives measurement information from the other communication buoy indicating parameters measured based on a physical force from the outside that the other communication buoy cannot control. The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the other communication buoy, and a first parameter indicating the movement of the other communication buoy caused by the physical force. It is at least one of the two parameters. The control unit controls communication with the first communication device based on the measurement information.

The control device according to one embodiment is a control device for controlling a communication buoy. The control device includes a receiving unit and a control unit. The receiving unit receives measurement information from the other communication buoy indicating parameters measured based on a physical force from the outside that the other communication buoy cannot control. The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the other communication buoy, and a first parameter indicating the movement of the other communication buoy caused by the physical force. It is at least one of the two parameters. The control unit controls communication with the other communication buoy based on the measurement information.

The communication system according to one embodiment includes a first communication device and a second communication device. The first communication device measures a parameter based on an external physical force that the first communication device cannot control. The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the first communication device, and the movement of the first communication device due to the physical force. It is at least one of the second parameters shown. The first communication device controls communication with the second communication device based on the measurement information indicating the measured parameter.

The first communication device may determine the number of times the information is repeatedly transmitted to the second communication device based on the measurement information.

The first communication device may determine error tolerance in communication with the second communication device based on the measurement information.

The first communication device may execute movement control for moving the first communication device. The first communication device may estimate the communication quality in communication with the second communication device based on the movement control and the measurement information. The first communication device may control communication with the second communication device based on the estimated communication quality.

The first communication device may control at least one of the directivity and the spread of the beam directed to the second communication device based on the measurement information.

The first communication device controls communication with the second communication device based on the latest information while receiving the latest information about the second communication device from the second communication device. One of the communication control of 1 and the second communication control of controlling the communication with the second communication device without using the latest information may be executed. The first communication device may switch between the first communication control and the second communication control based on the measurement information.

The second communication device may measure a parameter based on an external physical force that the second communication device cannot control. The parameter is a third parameter indicating the magnitude of the physical force that affects the movement of the second communication device, and the movement of the second communication device due to the physical force. It may be at least one of the fourth parameters shown. The second communication device may transmit predetermined measurement information indicating the parameters measured by the second communication device to the first communication device as the latest information. In the first communication control, the first communication device may control communication with the second communication device based on the predetermined measurement information while receiving the predetermined measurement information. In the second communication control, communication with the second communication device may be controlled without using the predetermined measurement information.

The communication buoy according to one embodiment is a communication buoy capable of relaying information. The communication buoy includes a control unit. The control unit measures parameters based on physical forces from the outside that the communication buoy cannot control. The parameters are a first parameter indicating the magnitude of the physical force affecting the movement of the communication buoy, and a second parameter indicating the movement of the communication buoy caused by the physical force. At least one parameter. The control unit controls communication with other communication buoys based on the measurement information.

The control device according to one embodiment is a control device for controlling a communication buoy. The control device includes a control unit. The control unit measures parameters based on physical forces from the outside that the communication buoy cannot control. The parameters are a first parameter indicating the magnitude of the physical force affecting the movement of the communication buoy, and a second parameter indicating the movement of the communication buoy caused by the physical force. At least one parameter. The control unit controls communication with other communication buoys based on the measurement information.

The communication system according to the first embodiment includes a first communication device, a second communication device controlled by the first communication device, and a third communication device which is a communication partner of the first communication device. And have. The first communication device communicates with the third communication device via the second communication device and the first communication that communicates with the third communication device without going through the second communication device. At least one of the second communications to be performed. The first communication device measures a parameter based on an external physical force that the first communication device cannot control. The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the first communication device, and the movement of the first communication device due to the physical force. It is at least one of the second parameters shown. The first communication device executes the second communication based on the measurement information indicating the measured parameter.

The first communication device may determine whether or not to execute the second communication based on the measurement information.

The first communication device may determine to execute the second communication in response to the determination that the first communication is blocked by the wave based on the measurement information.

The first communication device controls the position of the second communication device so that the second communication device is located at the peak of the wave at the timing when the first communication device is located at the valley of the wave. You may.

The second communication device may move so that the second communication device is located on the mountain of waves while performing communication with the third communication device.

The first communication device may be physically connected to the second communication device by a connecting portion. The first communication device may control the position of the second communication device by controlling the length of the connecting portion.

The communication system may have a plurality of second communication devices controlled by the first communication device. In the second communication, the first communication device may communicate with the third communication device via the plurality of second communication devices.

The first communication buoy according to one embodiment is a communication buoy capable of relaying information. The first communication buoy includes a control unit. The control unit communicates with a communication device that is a communication partner of the first communication buoy without going through the second communication buoy, and the communication device via the second communication buoy. Performs at least one of a second communication that communicates with. The control unit may measure a parameter based on an external physical force that the first communication buoy cannot control. The parameters are a first parameter indicating the magnitude of the physical force that affects the movement of the first communication buoy, and the movement of the first communication buoy caused by the physical force. It is at least one of the second parameters shown. The control unit executes the second communication based on the measurement information indicating the measured parameter.

The control device according to one embodiment is a control device for controlling the first communication buoy. The control device includes a control unit. The control unit communicates with a communication device that is a communication partner of the first communication buoy without going through the second communication buoy, and the communication device via the second communication buoy. Performs at least one of a second communication that communicates with. The control unit may measure a parameter based on an external physical force that the first communication buoy cannot control. The parameters are a first parameter indicating the magnitude of the physical force that affects the movement of the first communication buoy, and the movement of the first communication buoy caused by the physical force. It is at least one of the second parameters shown. The control unit executes the second communication based on the measurement information indicating the measured parameter.

[First Embodiment]
(Example of communication system)
An example of the communication system according to the first embodiment will be described with reference to FIG. FIG. 1 is a diagram for explaining an example of a communication system according to an embodiment.

As shown in FIG. 1, the communication system has, for example, a plurality of communication buoys 100 (communication buoys 100A-100D). The communication buoy 100 is a buoy that can be floated on water. The communication buoy 100 has a communication function for relaying (transferring) information. The communication buoys 100 can execute wireless communication. The plurality of communication buoys 100 may form a mesh network for relaying information over the ocean.

The communication system may have a control station 200. The control station 200 may be provided on land, for example. The control station 200 can execute wireless communication with the communication buoy 100. The control station 200 can control a plurality of communication buoys 100.

The communication buoy 100 can perform wireless communication with the diving probe and / or the maritime communication boat (which can control the diving probe). The communication buoy 100 can receive, for example, user information obtained by the diving probe (for example, an image captured by an underwater camera) from the diving probe and / or a maritime communication boat. The communication buoy 100 can send user information to a land user via another communication buoy 100 and / or a control station 200. As a result, the user can use the underwater information acquired by the diving probe while staying on land.

The land user may be able to send control information for controlling the diving probe to the diving probe via the communication buoy 100. The control information is, for example, information for driving a robot arm of a diving spacecraft. This allows the user to control the diving spacecraft while on land.

The communication system according to the embodiment can be configured according to a predetermined standard. The communication system may be configured in accordance with, for example, a 3GPP (Third Generation Partnership Project) standard. As the communication system according to the embodiment, at least one of an LTE system (LTE (Long Term Evolution) system, LTE-Advanced system or LTE-Advanced Pro system), and a fifth generation (5G) system may be utilized.

The communication system according to the embodiment may be configured according to other standards. For example, the communication system may be configured in accordance with the IEEE (Institute of Electrical and Electronics Engineers) 802.11 standards.

(Communication buoy)
The communication buoy 100 will be described with reference to FIGS. 2 and 3. FIG. 2 is a block diagram of the communication buoy 100. FIG. 3 is an explanatory diagram for explaining the inclination of the communication buoy 100.

As shown in FIG. 2, the communication buoy 100 includes a receiving unit 110, a transmitting unit 120, a control unit 130, a power supply unit 140, and a measuring unit 150. The communication buoy 100 may include a drive unit 160.

The receiving unit 110 and the transmitting unit 120 may be an integrated transmission / reception unit (transceiver). The control device 105 may be configured by the receiving unit 110, the transmitting unit 120, and the control unit 130. The control device 105 is a device having a communication function. The control device 105 may be a communication module. The control device 105 may be an IoT (Internet of Things) device. The communication buoy 100 may be composed of a control device 105 and a buoy having no communication function.

The receiving unit (receiver) 110 performs various types of reception under the control of the control unit 130. The receiver 110 includes (s) antennas. The receiving unit 110 converts the radio signal received by the antenna into a baseband signal (received signal). The receiving unit 110 outputs the baseband signal to the control unit 130.

The transmitting unit (transmitter) 120 performs various transmissions under the control of the control unit 130. The transmitter 120 includes (s) antennas. The transmission unit 120 converts the baseband signal (transmission signal) output by the control unit 130 into a radio signal. The transmission unit 120 transmits a radio signal from the antenna.

The control unit (controller) 130 performs various controls on the communication buoy 100. The control unit 130 includes a processor. The control unit 130 may include a memory as well as a processor. The memory stores a program executed by the processor and information used for processing by the processor. The processor includes a baseband processor and a CPU (Central Processing Unit). The baseband processor, for example, modulates / demodulates and encodes / decodes a baseband signal. The CPU performs various processes by executing a program stored in the memory. The processor may include a codec that encodes / decodes an audio / video signal. The processor executes the communication protocol used in the communication system. The processor executes and / or controls various processes described later.

The power supply unit 140 can supply power to each block of the communication buoy 100. The power supply unit 140 is, for example, a battery. The power supply unit 140 may have a power generation function. The power supply unit 140 may be capable of executing, for example, solar power generation, wave power generation, and wind power generation.

The measuring unit 150 measures a parameter based on an external physical force that the communication buoy 100 (control device 105) cannot control.

The "physical force" is a force that the communication buoy 100 (control device 105) cannot control. Specifically, the physical force is the force acting on the communication buoy 100 caused by a natural phenomenon (natural environment). Natural phenomena are, for example, waves, wind, weather (rain, snow, etc.).

This physical force affects the movement (movement) of the communication buoy 100. However, this physical force is a force that is not controlled by the communication buoy 100. Therefore, the movement of the communication buoy 100 caused by this force may be contrary to the movement caused by the force that the communication buoy 100 can control.

A "parameter" is at least one of a first parameter and a second parameter. The parameters are used, for example, to indicate a natural phenomenon in the communication buoy 100. The parameter may be a parameter for indicating the movement of the communication buoy 100 due to a natural phenomenon. For example, the parameter is a parameter for indicating the state of the wave in the communication buoy 100.

The first parameter is a parameter indicating the magnitude of the physical force that affects the movement of the communication buoy 100. The first parameters for wave state are, for example, wave height, wave period, wave wavelength, wave direction (propagation direction), wave velocity (phase velocity), wind direction, at least wind velocity. It is either. The measuring unit 150 may have a wave meter (for example, an ultrasonic wave meter, a microwave wave meter, a laser wave type wave meter, a hydraulic wave meter, an electrode type wave meter, etc.). The measuring unit 150 may have an anemometer.

The second parameter is a parameter indicating the movement of the communication buoy 100 due to the physical force. The parameters indicating the movement of the communication buoy 100 are, for example, the position of the communication buoy 100, the inclination of the communication buoy 100, the direction of the communication buoy 100, the rotation of the communication buoy 100, and the degree of shaking of the communication buoy 100 (the magnitude of rolling). At least one of.

The position of the communication buoy 100 may include a horizontal position (latitude and longitude). The position of the communication buoy 100 may include a vertical position (altitude). The position of the communication buoy may be an absolute value or a relative value (value from the reference point).

The inclination of the communication buoy 100 may include the inclination angle (θ) of the communication buoy 100. As shown in FIG. 3 (upper figure), for example, the tilt angle is the angle (θ) of the axis of the communication buoy 100 with respect to the vertical direction (gravity direction in the communication buoy 100) in the side view of the communication buoy 100 floating on the water. Is.

The inclination of the communication buoy 100 may include the inclination direction (d) of the communication buoy 100. As shown in FIG. 3 (lower figure), for example, the tilt direction is the direction indicated by the direction of the axis of the communication buoy 100 in the top view of the communication buoy 100 floating on the water. The tilt direction may be the direction from the center of the communication buoy 100 to the upper end of the communication buoy 100. The tilt direction may be indicated by an angle with respect to the reference. As the reference of the inclination direction, for example, the north may be 0 degrees, the west may be 90 degrees, the south may be 180 degrees, and the east may be 270 degrees.

The orientation of the communication buoy 100 is an orientation with reference to a predetermined direction of the communication buoy 100. For example, the direction of the communication buoy 100 may indicate the direction in which the antenna faces. The rotation of the communication buoy 100 indicates, for example, the direction in which the communication buoy 100 rotates and the magnitude of the angle at which the communication buoy 100 rotates. The swing condition of the communication buoy 100 may indicate, for example, the maximum value and / or the average value of the swing of the communication buoy 100. The swing size of the communication buoy 100 may indicate the swing area of the communication buoy 100.

The measuring unit 150 may include a GNSS (Global Navigation Satellite System) receiver. The GNSS receiver can receive the GNSS signal in order to obtain the position information indicating the geographical position of the communication buoy 100. The GNSS receiver outputs a GNSS signal to the control unit 130. The communication buoy 100 may have a GPS (Global Positioning System) function for acquiring the position information of the communication buoy 100.

The measuring unit 150 may have a timer for measuring the measurement time. As shown in Table 1 described later, by associating the measured parameter (value) with the measurement time of the measured parameter (value), the natural phenomenon (natural environment) in the communication buoy 100 is based on the measurement result. And / or the movement of the communication buoy 100 due to a natural phenomenon can be grasped.

The measuring unit 150 may include a rain gauge for measuring the amount of rain in the communication buoy 100. The measuring unit 150 may include a snow gauge for measuring the amount of snow accumulated in the communication buoy 100. The measuring unit 150 may include a thermometer for measuring the air temperature in the communication buoy 100 (the temperature around the communication buoy 100).

The drive unit 160 is configured by a mechanism for moving the communication buoy 100. The drive unit 160 may include, for example, a rudder, a screw, and an engine that drives the screw.

The drive unit 160 can be controlled by the communication buoy 100 (control device 105). Therefore, the parameter (change) based only on the physical force from the drive unit 160 is not an object to be measured. Therefore, the measurement information may indicate the parameter (value) measured when the drive unit 160 is not started (the drive unit 160 is stopped). That is, the measurement information may indicate the parameters (values) measured when the control unit 130 does not execute the control related to the movement. The measurement information may be information measured when the drive unit 160 is activated.

For example, the measurement information is a parameter (value) measured when the communication buoy 100 executes a movement (movement) contrary to the control of the control unit 130 (contrary to the movement caused by the force that the control unit 130 can control). May be indicated. The parameter (value) measured when the drive unit 160 is activated may be corrected based on the movement of the communication buoy 100 by the drive unit 160. The measurement information may indicate a corrected measurement parameter (value). The measurement information may indicate parameters related to movement control for moving the communication buoy 100. For example, the measurement information may indicate parameters (eg, speed, direction, etc.) indicating the propulsive force of the drive unit 160 for the communication buoy 100 to stay in place.

The communication buoy 100 may have other functions. For example, the communication buoy 100 or the control device 105 may have a user interface. It is an interface with a user who has a communication buoy 100 or a control device 105. User interfaces include, for example, displays, microphones, speakers, and various buttons. The user interface receives an operation from the user and outputs a signal indicating the content of the operation to the control unit 130.

In the present specification, for convenience, the communication buoy performs a process executed by at least one of the receiving unit 110, the transmitting unit 120, the control unit 130, the power supply unit 140, the measuring unit 150, and the driving unit 160 included in the communication buoy 100. It will be described as a process (operation) executed by 100.

(Control station)
The control station 200 will be described with reference to FIG. FIG. 4 is a block diagram of the control station 200. As shown in FIG. 4, the control station 200 includes a receiving unit 210, a transmitting unit 220, and a control unit 230. The receiving unit 210 and the transmitting unit 220 may be an integrated transmission / reception unit (transceiver).

The receiving unit (receiver) 210 performs various types of reception under the control of the control unit 230. The receiver 210 includes (s) antennas. The receiving unit 210 converts the radio signal received by the antenna into a baseband signal (received signal). The receiving unit 210 outputs the baseband signal to the control unit 230.

The transmitter 220 performs various transmissions under the control of the control 230. The transmitter 220 includes (s) antennas. The transmission unit 220 converts the baseband signal (transmission signal) output by the control unit 230 into a radio signal. The transmission unit 220 transmits a radio signal from the antenna.

The control unit (controller) 230 performs various controls on the control station 200. The control unit 230 includes a processor. The control unit 230 may include a memory as well as a processor. The memory stores a program executed by the processor and information used for processing by the processor. The processor includes a baseband processor and a CPU (Central Processing Unit). The baseband processor, for example, modulates / demodulates and encodes / decodes a baseband signal. The CPU performs various processes by executing a program stored in the memory. The processor may include a codec that encodes / decodes an audio / video signal. The processor executes the communication protocol used in the communication system. The processor executes and / or controls various processes described later.

The control station 200 may include a network interface. The control station 200 may be connected to the backhaul by a network interface. The control station 200 can acquire the information described later from another network device by the network interface.

The control station 200 may include a user interface. This is an interface with a user who owns the control station 200. User interfaces include, for example, displays, microphones, speakers, and various buttons. The user interface receives an operation from the user and outputs a signal indicating the content of the operation to the control unit 230.

In the present specification, the process executed by at least one of the receiving unit 210, the transmitting unit 220, and the control unit 230 included in the control station 200 will be described as a process (operation) executed by the control station 200 for convenience.

(Operation according to the first embodiment)
The operation according to the first embodiment will be described with reference to FIGS. 5 to 7. FIG. 5 is a sequence diagram for explaining operation example 1 according to the first embodiment. FIG. 6 is a sequence diagram for explaining operation example 2 according to the first embodiment. FIG. 7 is a sequence diagram for explaining operation example 3 according to the first embodiment.

In operation example 1, the communication buoy 100B controls communication with the communication buoy 100A based on the measurement information received from the communication buoy 100A. In operation example 2, the communication buoy 100B controls communication with the communication buoy 100A based on the information measured by the communication buoy 100B itself. In operation example 3, the communication buoy 100B controls communication with the communication buoy 100A based on the measurement information received from the communication buoy 100A and the information measured by the communication buoy 100B itself. The description of the duplicated contents will be omitted.

In operation example 1, as shown in FIG. 5, in step S110, the communication buoy 100A measures a parameter based on an external physical force that the communication buoy 100A cannot control.

In step S120, the communication buoy 100A sends measurement information indicating the measured parameters to the communication buoy 100B. The communication buoy 100B receives the measurement information from the communication buoy 100B. The measurement information may include information about the wave state in the communication buoy 100A.

The measurement information may include information about the wave state based on the first parameter. The measurement information may include information about the wave state based on the second parameter. For example, as shown in Table 1, the measurement information includes the horizontal position of the communication buoy 100A (horizontal position (x, y)) and the vertical position of the communication buoy 100A (vertical position (z)) at each measurement time. ), The tilt angle (θ) of the communication buoy 100A, and the tilt direction (d) of the communication buoy 100A.

The measurement information may include parameters related to the movement control of the communication buoy 100A. The measurement information may include parameters relating to the orientation of the communication buoy 100A and / or the rotation of the communication buoy 100A. The measurement information may include parameters related to the degree of swing of the communication buoy 100A.

The communication buoy 100A may transmit not only the measurement information but also other information to the communication buoy 100B. For example, the communication buoy 100A may transmit information indicating the communication status of a radio signal (for example, a reference signal) from the communication buoy 100B to the communication buoy 100B. The information indicating the communication status is, for example, at least one of RSRP (Reference Signal Received Power), RSRQ (Reference Signal Received Quality), and SINR (Signal to Noise Interference Ratio). The information indicating the communication status may include information indicating the (average) throughput between the communication buoy 100A and the communication buoy 100B (for example, the amount of transmitted data and / or the amount of received data). The information indicating the communication status may be the error rate of the data.

The other information may be information indicating the amount of rainfall in the communication buoy 100A. The other information may be information indicating the amount of snowfall in the communication buoy 100A. The other information may be information indicating the temperature in the communication buoy 100.

The other information may be information indicating the size of the communication buoy 100A. For example, the other information may be information indicating the antenna height in the communication buoy 100A. The antenna height may indicate the height from the water surface (sea level). The antenna height may be information indicating the height from a predetermined value of the communication buoy 100A.

In step S130, the communication buoy 100B may receive the acquired information by another communication device (for example, a communication satellite, another communication buoy 100, etc.). The communication buoy 100B may receive the acquired information from the communication buoy 100A. The communication buoy 100B may receive the acquired information from the control station 200. The control station 200 may notify the communication buoy 100B of the determination information in the second embodiment described later as acquisition information.

The acquired information may include, for example, meteorological information indicating the weather around the communication buoy 100A and / or the communication buoy 100B. The weather information may be wide-area weather information including the surroundings of the communication buoy 100A and / or the communication buoy 100B. The meteorological information is, for example, information acquired by the control station 200 from the meteorological center.

The acquired information may include information indicating a map around the communication buoy 100A and / or the communication buoy 100B. The acquired information may include information about an artificial object located around the communication buoy 100A and / or the communication buoy 100B. The artificial object is, for example, a moving body such as a ship, or an artificial structure on the ocean provided in an ocean gas field or the like. The information about the artificial object may include, for example, information such as the moving path of the moving body, the speed of the moving body, the position of the artificial object (moving body, the artificial structure), and the size of the artificial object.

In step S140, the communication buoy 100B can estimate the communication quality of the communication with the communication buoy 100A based on the measurement information. The communication buoy 100B may estimate the communication quality with the communication buoy 100A based on the acquired information. The method for estimating the communication quality will be described later. The communication buoy 100B may omit the process of step S140. That is, the communication buoy 100B may execute the process of step S150 without estimating the communication quality.

In step S150, the communication buoy 100B controls communication with the communication buoy 100A based on the measurement information. The communication buoy 100B may control communication with the communication buoy 100A based on the acquired information. Details of the communication control method will be described later.

It should be noted that "communication control" is not the control of communication by the operation of the user who confirmed the measurement information. The communication buoy 100B (control unit 130) autonomously controls communication with the communication buoy 100A based on the measurement information. The communication buoy 100B includes, for example, a layer configured according to the 3GPP standard (for example, a PHY (Physical) layer, a MAC (Media Access Control) layer, an RLC (Radio Link Control) layer, and a PDCP (Packet Data Control Protocol), RRC (Packet Data Control Protocol). Communication with the communication buoy 100A may be autonomously controlled at at least one of the Radio PHY Control layer and the NAS (Non-Access Standard) layer.

As described above, the communication buoy 100B controls the communication with the communication buoy 100A based on the measurement information. As a result, the communication buoy 100B can know the movement of the communication buoy 100A due to a natural phenomenon. Since the communication buoy 100B can communicate with the communication buoy 100A in consideration of the movement of the communication buoy 100A, it is possible to suppress deterioration of the communication quality between the communication buoy 100A and the communication buoy 100B.

In operation example 2, as shown in FIG. 6, in step S210, the communication buoy 100B measures a parameter based on an external physical force that the communication buoy 100B cannot control. The information measured by the communication buoy 100B is the same as that of the operation example 1.

Step S220 corresponds to step S130.

In step S230, the communication buoy 100B can estimate the communication quality of communication with the communication buoy 100A based on the information measured by the communication buoy 100B itself. The communication buoy 100B may estimate the communication quality with the communication buoy 100A based on the acquired information.

In step S240, the communication buoy 100B controls communication with the communication buoy 100A based on the information measured by the communication buoy 100B itself. The communication buoy 100B may control communication with the communication buoy 100A based on the acquired information.

As described above, the communication buoy 100B controls communication with the communication buoy 100A based on the information measured by the communication buoy 100B itself. As a result, the communication buoy 100B can communicate with the communication buoy 100A in consideration of the movement of the communication buoy 100B itself due to a natural phenomenon. As a result, deterioration of communication quality between the communication buoy 100A and the communication buoy 100B can be suppressed.

In operation example 3, in FIG. 7, steps S310, S330 and S340 correspond to steps S110, S120 and S130. Step S320 corresponds to step S210.

In step S350, the communication buoy 100B can estimate the communication quality of the communication with the communication buoy 100A based on the measurement information received from the communication buoy 100A and the information measured by the communication buoy 100B itself. The communication buoy 100B may estimate the communication quality with the communication buoy 100A based on the acquired information.

In step S360, the communication buoy 100B controls communication with the communication buoy 100A based on the measurement information received from the communication buoy 100A and the information measured by the communication buoy 100B itself. The communication buoy 100B may control communication with the communication buoy 100A based on the acquired information.

As described above, the communication buoy 100B controls the communication with the communication buoy 100A based on the measurement information received from the communication buoy 100A and the information measured by the communication buoy 100B itself. As a result, communication with the communication buoy 100A is possible after considering the movements of both the communication buoy 100A and the communication buoy 100B. As a result, deterioration of communication quality between the communication buoy 100A and the communication buoy 100B can be suppressed.

(Estimation of communication quality)
An example of estimating the communication quality in the communication buoy 100B will be described with reference to FIGS. 8 to 10. FIG. 8 is a diagram for explaining an example of estimating communication quality. FIG. 9 is a diagram for explaining an example of estimating communication quality. FIG. 10 is a diagram for explaining an example of estimating communication quality.

The communication buoy 100B can estimate the communication quality between the communication buoy 100A and the communication buoy 100B by at least one of the following methods. The communication buoy 100B may estimate the communication quality by combining the following methods.

The communication buoy 100B may determine that the communication quality is poor depending on whether the parameter (value) indicated by the measurement information is equal to or higher than the threshold value. The communication buoy 100B may determine that the communication quality is good depending on the parameter (value) indicated by the measurement information being less than the threshold value. The measurement information indicates the parameters measured by at least one of the communication buoy 100A and the communication buoy 100B. The parameter (value) is at least one of the first parameter and the second parameter.

The communication buoy 100B has, for example, depending on whether at least one of wave height, wave period, wave wavelength, wave velocity (phase velocity), wave direction, and wind velocity is equal to or greater than a threshold value. It may be determined that the communication quality is poor. The communication buoy 100B may determine that the communication quality is good depending on whether at least one of these parameters is less than the threshold value.

The communication buoy 100B may determine that the communication quality is poor, for example, depending on whether the change (difference) in the position (horizontal position and / or vertical position) of the communication buoy 100A is equal to or greater than the threshold value. The communication buoy 100B may determine that the communication quality is poor depending on the vertical position (absolute value) of the communication buoy 100A being equal to or greater than the threshold value. The communication buoy 100B may determine that the communication quality is poor depending on the change (difference) in the inclination (inclination angle and / or inclination direction) of the communication buoy 100A being equal to or greater than the threshold value. The communication buoy 100B may determine that the communication quality is poor depending on the inclination angle (absolute value) of the communication buoy 100A being equal to or greater than the threshold value.

The communication buoy 100B may estimate the magnitude of the wave cutoff between the communication buoy 100A and the communication buoy 100B. The communication buoy 100B may estimate the cutoff time during which communication between the communication buoy 100A and the communication buoy 100B is cut off, for example, based on the (estimated) wave height and wave period. The communication buoy 100B may determine that the communication quality is poor depending on the cutoff time being equal to or longer than the threshold value. The communication buoy 100B may determine that the communication quality is good depending on the interruption time being less than the threshold value.

The communication buoy 100B may estimate the number of wave peaks between the communication buoy 100A and the communication buoy 100B. The communication buoy 100B may determine that the communication quality is poor depending on the number of wave peaks being equal to or greater than the threshold value. The communication buoy 100B may determine that the communication quality is good depending on the number of wave peaks being less than the threshold value. The communication buoy 100B can estimate the number of wave peaks by the following method.

As shown in FIG. 8, the waves are moving from left to right. The velocity of the wave is V. Let T be the time of one cycle of the wave, and let L be the distance between the communication buoy 100A and the communication buoy 100B. The number N1 of wave peaks can be calculated by the following formula.

N1 = L / (V × T)

As shown in FIG. 9, in the case where the wave moves from the lower left to the upper right, the number N2 of the wave peaks can be calculated by the following formula.

N2 = L / ((V / cosθ) × T)

The communication buoy 100B may calculate the speed V based on the moving distance of the communication buoy 100B per unit time. The communication buoy 100B may calculate the direction (direction) of the wave based on the moving direction of the communication buoy 100B due to the influence of the wave (and wind). The communication buoy 100B may calculate the speed V based on the movement control of the communication buoy 100B. For example, the communication buoy 100B propels the communication buoy 100B in the direction opposite to the direction of the wave so that the communication buoy 100B stays in place. The communication buoy 100B may calculate the direction of the wave and the speed of the wave based on the propulsive force of the drive unit 160 for the communication buoy 100B to stay in place.

The communication buoy 100B may calculate the time T from the measurement information (for example, the difference in vertical position (maximum value and minimum value) and the time from the maximum value to the minimum value). The communication buoy 100B may calculate the distance L between the communication buoy 100A and the communication buoy 100B based on the position information of the communication buoy 100A and the communication buoy 100B, for example. The communication buoy 100B may calculate the distance L based on the propagation delay of the radio signal from the communication buoy 100A.

As shown in FIG. 10, the communication buoy 100B may estimate the communication quality based on the wave height. For example, the communication buoy 100B may calculate the average value (H1, H2) of the wave heights. The average value H1 of the wave height is the average value of the wave valley heights. The average value H2 of the wave height is the average value of the height of the wave peak. The communication buoy 100B may determine that the communication quality is good when the antenna height h of the communication buoy 100B exceeds the average value H2 and the maximum value Hmax of the wave height. The communication buoy 100B determines the probability that the radio signal corresponding to the maximum value Hmax and the antenna height h will be blocked by the wave when the antenna height h of the communication buoy 100B does not exceed the maximum value Hmax of the wave height. In consideration of this, the communication quality may be determined. The communication buoy 100B may determine that the communication quality is poor when the antenna height h of the communication buoy 100B does not exceed the average value H2.

The communication buoy 100B may estimate the communication quality based on the antenna height h of the communication buoy 100A. The communication buoy 100B may determine that the communication quality is good when the antenna height h of both the communication buoy 100A and the communication buoy 100B exceeds the average value H2 and the maximum value Hmax of the wave height. The communication buoy 100B may determine the communication quality in consideration of the probability that the radio signal corresponding to the maximum value Hmax and the antenna height h of the communication buoy 100A is blocked by the wave.

The communication buoy 100B may estimate the overall wave state based on the measurement information. The communication buoy 100B may estimate the communication quality from the overall wave condition. The communication buoy 100B may estimate the overall wave state based on the measurement information received from another communication buoy (eg, at least one of the communication buoy 100C and the communication buoy 100D). For example, in FIG. 8, it is assumed that the wave moves from top to bottom in the communication buoy 100C. The overall wave state is estimated based on the wave state (for example, wave height) in the communication buoy 100B and the communication buoy 100C and the wave state (for example, wave height) in the communication buoy 100A. You may. Specifically, the communication buoy 100B may determine whether the left-to-right wave in the communication buoy 100B and the top-to-bottom wave in the communication buoy 100C strengthen or cancel each other. The communication buoy 100B may estimate the communication quality based on this determination result.

The communication buoy 100B may estimate the communication quality in communication with the communication buoy 100A based on the information indicating the communication status in addition to the measurement information. The communication buoy 100B may calculate (estimate), for example, (average) throughput based on the measurement information and the information indicating the communication status. The communication buoy 100B may determine that the communication quality is poor, depending on the calculated (average) throughput being less than the threshold value. The communication buoy 100B may determine that the communication quality is good depending on whether the calculated (average) throughput is equal to or higher than the threshold value.

The communication buoy 100B may estimate the communication quality based on at least one of RSRP, RSRQ, and SINR information received from the communication buoy 100A as information indicating the communication status. The communication buoy 100B may estimate the communication quality based on at least one of RSRP, RSRQ, and SINR measured in the communication buoy 100B based on a radio signal (for example, a reference signal) from the communication buoy 100A. Good. The communication buoy 100B may determine that the communication quality is good depending on whether the measured values (RSRP, RSRQ, SINR) are equal to or higher than the threshold value. The communication buoy 100B may determine that the communication quality is poor depending on the measured values (RSRP, RSRQ, SINR) being less than the threshold value. The communication buoy 100B may estimate the communication quality based on the error rate of the data as the information indicating the communication status. The communication buoy 100B determines that the communication quality is poor according to the error rate of the data from the communication buoy 100A to the communication buoy 100B (and / or from the communication buoy 100B to the communication buoy 100A) being equal to or higher than the threshold value. May be good. The communication buoy 100B may determine that the communication quality is good depending on the error rate of the data being less than the threshold value.

The communication buoy 100B may estimate the communication quality in communication with the communication buoy 100A based on the communication status of the communication buoy 100A received in the past. For example, the communication buoy 100B associates the communication environment of the communication buoy 100A based on the measurement information with the communication status of the communication buoy 100A at each measurement time. The communication buoy 100B stores the association. The communication buoy 100B may consider the communication status of the communication buoy 100A associated with the past measurement information closest to the latest measurement information as the communication status of the current communication buoy 100A. The communication buoy 100B may estimate the communication quality in communication with the communication buoy 100A based on the communication status regarded as the current communication status of the communication buoy 100A in addition to the measurement information.

The communication buoy 100B may estimate the communication quality in communication with the communication buoy 100A based on not only the information from the communication buoy 100A but also other information.

For example, the communication buoy 100B may estimate the communication quality in communication with the communication buoy 100A based on the measurement information measured by the communication buoy 100B itself.

The communication buoy 100B may estimate the communication quality in communication with the communication buoy 100A based on the acquired information obtained by another communication device (for example, a communication satellite, another communication buoy 100, etc.). The communication buoy 100B may estimate the communication quality based on the acquired information obtained by the control station 200. The control station 200 may notify the communication buoy 100B of the determination information in the second embodiment described later as acquisition information.

The communication buoy 100B may estimate the future communication quality based on the weather information which is the acquired information. For example, assume that the weather information is information indicating the recovery (or maintenance of the status quo) of the weather around the communication buoy 100A and / or the communication buoy 100B. In this case, the communication buoy 100B may determine that the future communication quality will not be worse than the communication quality estimated based on the measurement information (the communication quality is equal to or higher than the threshold value). It is assumed that the weather information is information indicating deterioration of the weather around the communication buoy 100A and / or the communication buoy 100B. In this case, the communication buoy 100B may determine that the future communication quality will be worse than the communication quality estimated based on the measurement information (the communication quality is less than the threshold value). The weather information may be information on waves around the communication buoy 100A and / or the communication buoy 100B. For example, wave information includes wave height, wave period, wave wavelength, wave direction (propagation direction), wave speed (phase speed), wind direction, wind speed, wave (wind wave, wave). Including swell etc.).

The communication buoy 100B may estimate the influence on the communication with the communication buoy 100A due to the blocking of the mobile body, for example. The communication buoy 100B may estimate the communication quality based on the information about the artificial object (for example, the moving path of the moving body, the speed of the moving body, the size of the moving body, and the like). The communication buoy 100B may estimate the cutoff time during which communication with the communication buoy 100A by the mobile body is cut off. The communication buoy 100B may control communication with the communication buoy 100A for an estimated time.

As described above, the communication buoy 100B can estimate the communication quality between the communication buoy 100A and the communication buoy 100B based on the measurement information of the communication buoy 100A and / or the communication buoy 100B. The communication buoy 100B can execute the communication control described later based on the estimated communication quality. The communication buoy 100B can determine whether or not to execute the communication control based on the estimated communication quality. For example, the communication buoy 100B may execute the following method depending on the determination that the estimated communication quality is poor (the communication quality is less than the threshold value). The communication buoy 100B may end the process depending on the determination that the estimated communication quality is good (the communication quality is equal to or higher than the threshold value).

Therefore, since the communication buoy 100B can appropriately execute the communication control, it is possible to suppress the deterioration of the communication quality in the natural environment.

(Communication control)
An example of communication control in the communication buoy 100 will be described with reference to FIGS. 11 to 15. FIG. 11 is a diagram for explaining an example of communication control (movement control). FIG. 12 is a diagram for explaining an example of communication control (error tolerance control). FIG. 13 is a diagram for explaining an example of communication control (beamforming control). FIG. 14 is a diagram for explaining an example of communication control (beamforming control). FIG. 15 is a flowchart for explaining an example of communication control (switching of communication control).

The communication buoy 100B can control communication with the communication buoy 100A by at least one of the following methods. Communication control may be executed in the communication buoy 100B by combining the following methods.

(A) Movement control The communication buoy 100B can execute control for moving the communication buoy 100B.

State 1 of FIG. 11 shows the state of the communication buoy 100 when the wave height is small. The states 2 and 3 of FIG. 11 show the states of the communication buoy 100 when the wave height is large.

The communication buoy 100B calculates a position where communication with the communication buoy 100A becomes good based on the measurement information. As shown in FIG. 11 (state 3), the communication buoy 100B calculates a position (p2) at which the difference between the height of the communication buoy 100A at a predetermined time and the height of the communication buoy 100B at a predetermined time is less than the threshold value. May be good. The communication buoy 100B may calculate the position (p2) based on the position of the communication buoy 100A, the position of the communication buoy 100B, and the wave period between the communication buoy 100A and the communication buoy 100B.

The communication buoy 100B executes control for moving the communication buoy 100B from the current position (p1) to the calculated position (p2). In this way, the communication buoy 100B moves to a position where it moves according to the wave condition in the communication buoy 100A. That is, the communication buoy 100B corrects the position of the communication buoy 100B. As a result, when the waves in the communication buoy 100A and the communication buoy 100B are high, the communication buoy 100A and the communication buoy 100B can directly execute the communication without being blocked by the waves. As a result, it is possible to suppress a decrease in throughput as compared with the case of the state 2 of FIG.

The communication buoy 100B may execute control for moving the communication buoy 100A so that the environment of the communication buoy 100B is improved.

When the communication environment of the communication buoy 100B is worse than the communication environment of the communication buoy 100A, the communication buoy 100B starts moving to a position where the communication environment of the communication buoy 100B becomes good. The communication buoy 100B can determine the communication environment by the same method as the above-mentioned communication quality. For example, when the weather in the communication buoy 100A is sunny and the weather in the communication buoy 100B is rainy, the communication buoy 100B has a bad communication environment based on the measurement information of the communication buoy 100B (and the communication buoy 100A). Can be judged. The communication buoy 100B moves to a position where the communication environment of the communication buoy 100B is good (for example, in the direction of the communication buoy 100A). As a result, the communication environment between the communication buoy 100A and the communication buoy 100B is improved, so that the communication quality can be improved.

The communication buoy 100B may move in consideration of the acquired information. Specifically, the communication buoy 100B may calculate a position where the communication quality estimated based on the weather information is equal to or higher than the threshold value. For example, the communication buoy 100B may calculate a position where the weather is presumed to be good (or recover) based on the weather information. The communication buoy 100B may calculate a position where the communication quality estimated based on the information about the artificial object is equal to or higher than the threshold value. The communication buoy 100B may calculate a position where the communication quality estimated based on the information about the artificial object is equal to or higher than the threshold value. For example, the communication buoy 100B may calculate a position where no artificial object exists between the communication buoy 100A and the communication buoy 100B. The communication buoy 100B may calculate a position where the moving body does not move (there is no movement route) between the communication buoy 100A and the communication buoy 100B.

The communication buoy 100B may execute control for moving the communication buoy 100A. The communication buoy 100B transmits control information for moving the communication buoy 100A to the communication buoy 100A.

The control information may include measurement information indicating the parameters (values) (first parameter and / or second parameter) measured by the communication buoy 100B. The control information may include information indicating the position calculated by the communication buoy 100B. The calculated position is a position where the communication quality in the communication between the communication buoy 100A and the communication buoy 100B is equal to or higher than the threshold value.

The communication buoy 100A receives the control information from the communication buoy 100B. The communication buoy 100A starts control for moving the communication buoy 100A based on the control information.

The communication buoy 100A may move based on the calculated position information. The communication buoy 100A may calculate a position where the communication quality in the communication between the communication buoy 100A and the communication buoy 100B is equal to or higher than the threshold value based on the control information. The communication buoy 100A may move to the calculated position.

(B) Error tolerance control The communication buoy 100B can control error tolerance based on the measurement information. Specifically, the communication buoy 100B may control the error tolerance according to the communication quality estimated from the measurement information.

The communication buoy 100B may determine the number of times the information is repeatedly transmitted to the communication buoy 100A (the number of times of repeated transmission) based on the communication quality estimated from the measurement information. The communication buoy 100B may determine the number of repeated transmissions to a value smaller than a predetermined value, depending on the good communication quality. The communication buoy 100B may determine the number of repeated transmissions to a value larger than a predetermined value depending on the poor communication quality.

For example, the communication buoy 100B may determine the number of repeated transmissions according to the number of wave peaks between the communication buoy 100A and the communication buoy 100B. For example, the number of wave peaks N1 in FIG. 8 is larger than the number N2 of wave peaks in FIG. Therefore, the communication buoy 100B may set the number of repeated transmissions in FIG. 8 to a value larger than the number of repeated transmissions in FIG.

As shown in FIG. 12, the communication buoy 100B may determine the number of repeated transmissions according to the reception probability (for example, the probability that the radio signal is blocked by the wave) that data can be received by one transmission. The communication buoy 100B may reduce the number of transmissions as the reception probability increases. The communication buoy 100B may increase the number of transmissions as the reception probability decreases. The reception probability may be calculated by a value according to the estimated communication quality. That is, the better the communication quality, the higher the reception probability, and the worse the communication quality, the lower the reception probability.

The communication buoy 100B may determine at least one of a modulation method, a coding rate, a coding method, and an MCS (Modulation and Coding Scene) based on the communication quality estimated from the measurement information. Therefore, the communication buoy 100B may determine the error tolerance according to the communication quality estimated from the measurement information as well as the number of transmissions. For example, the communication buoy 100B may determine the MCS whose error tolerance is smaller than a predetermined value depending on the good communication quality. The communication buoy 100B may determine the MCS whose error tolerance is larger than a predetermined value depending on the poor communication quality.

The communication buoy 100B can execute data transmission using the determined information (transmission number, modulation method, coding rate, coding method, MCS, etc.).

The communication buoy 100B may transmit control information including the determined information to the communication buoy 100A. The communication buoy 100A may transmit data to the communication buoy 100B using the received control information. As a result, the communication buoy 100A can transmit appropriate error tolerance data without determining (calculating) error tolerance.

As described above, the communication buoy 100B can control the error tolerance based on the measurement information. The communication buoy 100B can control the number of repeated transmissions based on the measurement information. As a result, the error tolerance and / or the number of repeated transmissions can be determined according to the communication environment (natural environment) between the communication buoy 100A and the communication buoy 100B, so that the communication quality can be improved.

(C) Beamforming control The communication buoy 100B can control beamforming for directing a transmission and / or reception beam toward the communication buoy 100A.

The communication buoy 100B may control at least one of the directivity and spread of the beam based on the measurement information. For example, the communication buoy 100B estimates the movement of the communication buoy 100A based on the measurement information from the communication buoy 100A. The communication buoy 100B executes control to direct the beam to the antenna of the communication buoy 100A in consideration of the estimated movement of the communication buoy 100A.

The communication buoy 100B may have received information indicating the position of the antenna of the communication buoy 100A in advance. The communication buoy 100B may receive information indicating the position of the antenna of the communication buoy 100A from the communication buoy 100A together with the measurement information.

The communication buoy 100B can, for example, execute beamforming control for dynamically changing the directivity of the beam and the spread of the beam (directivity pattern of the antenna). The communication buoy 100B calculates the antenna weight (for example, the weight of the array antenna) based on the propagation path characteristic information. The communication buoy 100B controls the transmission unit 120 based on the calculated antenna weight.

The propagation path characteristic information indicates the propagation path characteristics between the communication buoy 100A and the communication buoy 100B. The propagation path characteristic information is, for example, information that is fed back from the communication buoy 100A to the communication buoy 100B based on a radio signal (for example, a reference signal) received by the communication buoy 100A from the communication buoy 100B. For example, the propagation path characteristic information is PMI (Precoding Matrix Indicator). The communication buoy 100B may receive the propagation path characteristic information together with the measurement information from the communication buoy 100A.

The control of the directivity of the beam will be described with reference to FIG. State 1 of FIG. 13 shows the state of the communication buoy 100 when the wave height is small. The states 2 and 3 of FIG. 13 show the states of the communication buoy 100 when the wave height is large. In the states 1 and 2 of FIG. 13, the communication buoy 100B fixes the beam direction. In the state 3 of FIG. 13, the communication buoy 100B executes control to direct the beam direction toward the communication buoy 100A (antenna).

In the state 1 of FIG. 13, since the wave height is small, the beam from the communication buoy 100B faces the communication buoy 100A (antenna) even if the beam direction is fixed in the communication buoy 100B.

In the state 2 of FIG. 13, since the wave height is large, when the communication buoy 100B fixes the beam direction, the beam from the communication buoy 100B deviates from the communication buoy 100A.

In the state 3 of FIG. 13, the communication buoy 100B executes control to direct the direction of the beam toward the communication buoy 100A (antenna) so that the beam from the communication buoy 100B hits the communication buoy 100A (antenna). The communication buoy 100B is based on the information (measurement information, etc.) received from the communication buoy 100A, the position of the communication buoy 100A, the position of the antenna of the communication buoy 100A, and the direction of the beam (transmission and / or reception) from the communication buoy 100A. , Estimate the spread of the beam from the communication buoy 100A. The information from the communication buoy 100A is information indicating at least one of the position of the communication buoy 100A, the position of the antenna of the communication buoy 100A, the direction of the beam from the communication buoy 100A, and the spread of the beam from the communication buoy 100A. May be good. The information from the communication buoy 100A may be information indicating the antenna weight in the communication buoy 100A. The communication buoy 100B executes control to direct the beam direction toward the communication buoy 100A (antenna) based on the information received from the communication buoy 100A.

The communication buoy 100B may control the direction of the beam based on the measurement information measured by the communication buoy 100B. For example, the communication buoy 100B can control the direction of the beam according to the movement of the communication buoy 100B. Specifically, the communication buoy 100B adjusts (corrects) the beam transmission direction from the top (state 2) to the bottom (state 3) according to the movement of the communication buoy 100B (antenna of the communication buoy 100A). ) Can be beamed. The communication buoy 100B may control the direction of the beam by correcting the calculated antenna weight according to the movement of the communication buoy 100B. The communication buoy 100B may control the direction of the beam by controlling the direction of the antenna according to the movement of the communication buoy 100B.

Control of beam spread will be described with reference to FIG. State 1 of FIG. 14 shows the state of the communication buoy 100 when the wave height is small. State 2 of FIG. 14 shows the state of the communication buoy 100 when the wave height is medium. State 3 of FIG. 14 shows the state of the communication buoy 100 when the wave height is large.

The communication buoy 100B can control the spread of the beam based on the measurement information. Specifically, the communication buoy 100B is a beam depending on the communication quality between the communication buoy 100A and the communication buoy 100B (ie, the movement and / or wave condition of the communication buoy (100A and / or 100B)). You can control the spread. For example, the communication buoy 100B controls to reduce the spread of the beam when the communication quality is equal to or higher than the first threshold value (state 1). The communication buoy 100B controls to increase the spread of the beam when the communication quality is less than the second threshold value smaller than the first threshold value (state 3). The communication buoy 100B controls to moderate the spread of the beam when the communication quality is less than the first threshold value and equal to or higher than the second threshold value (state 2).

The communication buoy 100B may control the spread of the beam by defining a predetermined region (region A) in which the communication buoy 100A exists in one of the horizontal and vertical angular spreads. The communication buoy 100B may control the spread of the beam by defining the region A with both horizontal and vertical angular spreads. The communication buoy 100B not only spreads the angle in both the horizontal and vertical directions, but also spreads the beam by defining the region A by the distance between the communication buoys 100 and / or the distance (height) from the sea surface to the antenna. And the directivity of the beam) may be controlled.

The communication buoy 100B may execute beamforming control when it is determined that the communication quality in the communication between the communication buoy 100A and the communication buoy 100B is less than the first threshold value based on the measurement information. As a result, deterioration of communication quality can be suppressed. The communication buoy 100B stops the beamforming control when it is determined that the communication quality is less than the second threshold value due to the deterioration of the communication quality in the communication between the communication buoy 100A and the communication buoy 100B based on the measurement information. You may. A value less than the second threshold value is a value lower than the first threshold value. In this case, the communication buoy 100B may transmit information to the communication buoy 100A using a non-directional antenna. For example, when the weather is very rough, there is a high possibility that the information will reach the communication buoy 100A by transmitting the information in an omnidirectional manner without having the directivity of the beam by the beamforming control. In this way, by properly using the beamforming control based on the measurement information, it is possible to suppress the deterioration of the communication quality.

The communication buoy 100B may transmit information related to beamforming control as control information to the communication buoy 100A. The control information includes, for example, propagation path characteristic information fed back from the communication buoy 100B to the communication buoy 100A based on a radio signal (reference signal) received by the communication buoy 100B from the communication buoy 100A. The communication buoy 100A may control beamforming for directing a transmission and / or reception beam to the communication buoy 100B based on the control information.

As described above, since the beam of the communication buoy 100B is directed to the antenna of the communication buoy 100A, the communication quality can be improved.

(D) Switching of communication control The communication buoy 100B can switch between the first control (closed loop communication control) and the second control (open loop communication control).

The first control is closed-loop communication control. In the closed loop communication control, the communication buoy 100B controls the communication with the communication partner based on the information while receiving the information about the communication partner (communication buoy 100A) from the communication partner. The communication buoy 100B may periodically receive information about the communication buoy 100A from the communication buoy 100A. The communication buoy 100B may receive information about the communication buoy 100A together with the data (relay data).

In the closed loop communication control, the communication buoy 100B transmits information about the communication buoy 100B to the communication buoy 100A. The communication buoy 100B may periodically transmit information about the communication buoy 100B. The communication buoy 100B may transmit information about the communication buoy 100B together with data (relay data).

The information about the communication partner is, for example, the measurement information received by the communication buoy 100A. The information about the communication partner may include other information in the communication buoy 100A (for example, the information about the antenna of the communication buoy 100A described above). Information about the communication partner does not include data to be relayed.

The second control is open-loop communication control. In open-loop communication control, the communication buoy 100B controls communication with the communication partner without using information about the communication partner (communication buoy 100A). Therefore, in open-loop communication control, the communication buoy 100B may transmit and / or receive data (only) with the communication buoy 100A. In open-loop communication control, the communication buoy 100B may receive information about the communication buoy 100A or may not be used to control communication with the communication buoy 100A. The communication buoy 100B can omit the transmission of information about the communication buoy 100B.

As shown in FIG. 15, the communication buoy 100B can perform the following operations. The communication buoy 100B may execute either closed-loop communication control or open-loop communication control.

In step S410, the communication buoy 100B can estimate the communication quality Q based on the measurement information.

In step S420, the communication buoy 100B can determine whether or not the estimated communication quality Q is less than the threshold Qth1. The communication buoy 100B executes the process of step S430 according to the communication quality Q of the threshold value Qth1 or more (NO). The communication buoy 100B executes the process of step S460 according to the communication quality Q being less than the threshold value Qth1 (YES).

The communication buoy 100B may determine whether or not the estimated communication quality Q is equal to or higher than the threshold value Qth2. The threshold value Qth2 is a value larger than the threshold value Qth1. The threshold Qth2 indicates, for example, that the wave state is calm. The communication buoy 100B may execute the process of step S460 depending on the communication quality Q of the threshold value Qth2 or more (YES). The communication buoy 100B may execute the process of step S430 depending on the communication quality Q being less than the threshold value Qth2 (NO) and not more than the threshold value Qth1 (NO).

In step S430, the communication buoy 100B starts closed-loop communication control. When the open-loop communication control is executed, the communication buoy 100B switches from the open-loop communication control to the closed-loop communication control. The communication buoy 100B continues the closed-loop communication control when the closed-loop communication control is executed. The communication buoy 100B may transmit control information indicating that the closed loop communication control has been started to the communication buoy 100A in response to the switching.

In step S440, the communication buoy 100B receives information about the communication buoy 100A from the communication buoy 100A. The communication buoy 100B transmits information about the communication buoy 100B to the communication buoy 100A.

In step S450, the communication buoy 100B executes communication control based on the information regarding the communication buoy 100A. For example, the communication buoy 100B may execute at least one of the above-mentioned movement control, error tolerance control, and beamforming control.

In step S460, the communication buoy 100B starts open-loop communication control. When the closed loop communication control is executed, the communication buoy 100B switches from the closed loop communication control to the open loop communication control. The communication buoy 100B continues the open-loop communication control when the open-loop communication control is executed. The communication buoy 100B may transmit control information indicating that the open-loop communication control has been started to the communication buoy 100A in response to the switching.

In step S470, the communication buoy 100B estimates the position of the communication buoy 100A. The communication buoy 100B may estimate the position of the communication buoy 100A based on the information received from the communication buoy 100A (for example, the latest measurement information). The communication buoy 100B may estimate a predetermined area (area A) in which the communication buoy 100A exists. The predetermined area is an area in which the communication buoy 100A stays while the open loop communication control is being executed. The communication buoy 100B may estimate the area A in consideration of the movement status of the communication buoy 100A (for example, the movement speed of the communication buoy 100A). For example, the communication buoy 100B may estimate the area A on the assumption that the communication buoy 100A continues to move. The communication buoy 100B may estimate the size of the area A when estimating the position of the communication buoy 100A. The communication buoy 100B may estimate the size of the region A based on the measurement information from the communication buoy 100A, taking into consideration the maximum swing of the (past) communication buoy 100A. The communication buoy 100B may estimate a region in which the probability that the communication buoy 100A exists is higher than a predetermined value as the region A. The communication buoy 100B may estimate the size of the area A according to the estimated communication quality. In the communication buoy 100B, the size of the area A may be increased as the estimated communication quality is worse. In the communication buoy 100B, the size of the area A may be reduced as the estimated communication quality is better.

The communication buoy 100B may estimate the position and / or area A of the communication buoy 100A based on the parameters (measurement information) measured by the communication buoy 100B. That is, the communication buoy 100B may estimate the position and / or area A of the communication buoy 100A in consideration of the situation of the communication buoy 100B itself. The communication buoy 100B may estimate the movement of the communication buoy 100A in consideration of the situation of the communication buoy 100B itself.

For example, the communication buoy 100B may estimate the wave state estimated from the measurement information as the wave state in the communication buoy 100A. For example, the communication buoy 100B may determine that the wave state in the communication buoy 100A is calm when the wave state in the communication buoy 100B is calm. The communication buoy 100B may estimate (the magnitude of) the region A based on the wave state in the estimated communication buoy 100A.

The communication buoy 100B may estimate that the wave state estimated by the measurement information is the wave state in the communication buoy 100A after a predetermined time. For example, the communication buoy 100B may consider that the wave state of the communication buoy 100B at the predetermined time (t1) is the wave state of the communication buoy 100A after the predetermined time (t1) and the predetermined time (n).

The communication buoy 100B may calculate a predetermined time according to the distance between the communication buoy 100A and the communication buoy 100B. The communication buoy 100B may calculate a predetermined time by comparing the measurement information of the communication buoy 100A with the measurement information of the communication buoy 100B. The communication buoy 100B may be calculated (in advance) with the time difference until the measurement parameter value of the communication buoy 100A and the measurement parameter value of the communication buoy 100A are the same or similar as a predetermined time.

The communication buoy 100B executes movement control in order to fix the position of the communication buoy 100B. The communication buoy 100B stays in a predetermined area (area B) by movement control. The communication buoy 100B may determine a predetermined area based on the information last transmitted to the communication buoy 100A. That is, the communication buoy 100B may set the area B where the communication buoy 100A can estimate based on the last transmitted information.

A given area may be specified by absolute position (ie, latitude and longitude). The predetermined area may be specified by a relative position (for example, a distance from the self-communication buoy).

In step S480, the communication buoy 100B executes communication control. The communication buoy 100B executes communication control so that the communication buoy 100A can receive the data from the communication buoy 100B even if the communication buoy 100A exists at an arbitrary location in the area A. For this purpose, the communication buoy 100B may execute at least one of the above-mentioned movement control, error tolerance control, and beamforming control.

When the open loop communication control is executed, the communication buoy 100B transmits data using the control radio resource (time / frequency resource / frequency band) used for transmitting information about the communication buoy 100B. You may. When the open-loop communication control is executed according to the communication quality Q being less than the threshold value Qth1, the data transmitted using the radio resource for control is the data for retransmission (transmitted data). You may. As a result, error tolerance can be improved. When open-loop communication control in which the estimated communication quality Q is equal to or higher than the threshold value Qth2 is executed, the data transmitted using the radio resource for control may be new data (untransmitted data). Good. As a result, the wireless resources used for data transmission increase, so that the amount of communication can be improved.

The communication buoy 100B may perform measurements periodically or aperiodically while performing communication control. The communication buoy 100B may execute the processes of steps S410 and S420 based on the measured information.

The threshold value used for determining the switching from the open-loop communication control to the closed-loop communication control (for example, Qth1A) and the threshold value used for determining the switching from the closed-loop communication control to the open-loop communication control (for example, Qth1B) are the same. It may be a value. These thresholds may be different values. For example, Qth1A may have a value larger than Qth1B.
Similarly, the threshold value Qth2A used for determining the switching from the open-loop communication control to the closed-loop communication control may be a value larger than the threshold value Qth2B used for determining the switching from the closed-loop communication control to the open-loop communication control. .. As a result, it is possible to suppress the frequent switching between closed-loop communication control and open-loop communication control (so-called ping-pong phenomenon) due to repeated fluctuations in communication quality near the threshold value.

As described above, the communication buoy 100B can perform closed-loop communication control according to the estimated communication quality Q of the threshold value Qth1 or more. As a result, the communication buoy 100B controls the communication based on the information received from the communication buoy 100A, so that the communication quality can be improved. On the other hand, the communication buoy 100B can perform open-loop communication control according to the estimated communication quality Q being less than the threshold value Qth1. For example, when the position of the communication buoy 100A fluctuates greatly due to the influence of a large wave and the reliability of information about the communication partner is lowered, open-loop communication control can be performed. As a result, the communication buoy 100B can suppress deterioration of communication quality by not intentionally using information about the communication partner.

The communication buoy 100B can perform open-loop communication control according to the estimated communication quality Q of Qth2 or higher. When the estimated communication quality Q is Qth2 or higher, sufficient communication quality can be ensured even with open-loop communication control. Since the communication buoy 100B reduces the exchange of information other than the data to be transferred (information about the communication partner), the processing load of the communication buoy 100B can be reduced.

As described above, the communication buoy 100B can switch between closed-loop communication control and open-loop communication control. Thereby, the communication buoy 100B can suppress the deterioration of the communication quality between the communication buoy 100A and the communication buoy 100B.

(E) Determination of communication partner The communication buoy 100B can determine whether or not the communication buoy 100A should be selected as the communication partner based on the measurement information. The communication buoy 100B may determine that the communication buoy 100A is selected as the communication partner depending on the determination that the communication quality between the communication buoy 100A and the communication buoy 100B is good. The communication buoy 100B may determine that the communication buoy 100A is not selected as the communication partner in response to the determination that the communication quality is poor.

When the communication buoy 100B determines that the communication buoy 100A is selected as the communication partner, the communication buoy 100B executes communication with the communication buoy 100A. When the communication buoy 100B determines that the communication buoy 100A is not selected as the communication partner, the communication buoy 100B does not execute communication with the communication buoy 100A. In this case, the communication buoy 100B may determine whether or not to select another communication buoy 100A as the communication partner. When a plurality of communication buoys 100 exist around the communication buoy 100B, the communication buoy 100B may select the communication buoy 100 having the best communication quality as the communication partner.

Based on the measurement information, the communication buoy 100B may determine whether to transmit information only to the communication buoy 100A or to another communication buoy 100 (for example, communication buoy 100C). That is, the communication buoy 100B may determine whether or not to relay data by a plurality of different communication paths.

For example, the communication buoy 100B may determine that information is transmitted only to the communication buoy 100A in response to the determination that the communication quality between the communication buoy 100A and the communication buoy 100B is good. The communication buoy 100B may determine that the information is transmitted not only to the communication buoy 100A but also to the communication buoy 100C according to the determination that the communication quality is poor.

When using a plurality of different communication paths, that is, when transmitting information to a plurality of communication buoys 100, the communication buoy 100B may transmit the same information to each communication buoy 100. As a result, even when the information is not transmitted between the predetermined communication buoys, the information can be transmitted to the transmission destination via another communication path, so that the reliability of the data is improved.

The communication buoy 100B may transmit different information to each communication buoy 100. As a result, the amount of information sent to each communication buoy 100 is reduced, so that the communication speed is improved. The communication buoy 100B may determine whether or not to use a plurality of different communication paths according to the amount of information to be transmitted. The communication buoy 100B may determine that one communication path is used when the amount of information to be transmitted is less than the threshold value. That is, the communication buoy 100B may transmit information only to the communication buoy 100A, for example. The communication buoy 100B may determine that a plurality of communication paths are used when the amount of information to be transmitted is equal to or greater than the threshold value.

When the communication buoy 100B uses a plurality of communication paths, the communication buoy 100B may transmit information to the plurality of communication buoys 100 by multicast (or broadcast). The communication buoy 100B may transmit information to each communication buoy 100 by unicast.

When the communication path is dynamically changed, the communication buoy 100B may notify each communication buoy 100 of control information. The control information is information for notifying that the routing table of each communication buoy 100 has been changed (updated). The control information includes information indicating the changed routing table. The routing table contains information that indicates the nodes (metrics) in the route to the destination of each network.

The communication buoy 100B may transmit the control information together with the user information to be transmitted to the communication buoy 100 on the changed communication path. The communication buoy 100 that has received the control information similarly transmits the control information together with the user information to be transmitted to the communication buoy 100 on the changed communication path.

The communication buoy 100B may notify other communication buoys 100 of control information in addition to the user information to be transmitted. As a result, when the other communication buoy 100 that has received the control information receives the user information, it can be transmitted to the communication buoy 100 on the changed communication path.

The above-mentioned (communication quality estimation) and (communication control) are executed not only for communication between communication buoys 100, but also for communication between communication buoys 100 and small communication buoys 300, which will be described later. It may be (see the third embodiment).

(Operation of communication buoy 100B)
An example of the operation of the communication buoy 100B will be described with reference to FIG. FIG. 16 is a flowchart for explaining an example of the operation of the communication buoy 100B.

In step S510, the communication buoy 100B can measure parameters based on external physical forces that the communication buoy 100B cannot control (see, for example, S210 in FIG. 6). The communication buoy 100B acquires measurement information indicating the measured parameters.

In step S520, the communication buoy 100B can receive measurement information indicating the parameters measured in the communication buoy 100A from the communication buoy 100A (see, for example, S120 in FIG. 5).

One of steps S510 and S520 may be omitted.

In step S530, the communication buoy 100B can estimate the communication quality in communication with the communication buoy 100A based on the measurement information (see S140 in FIG. 5).

In step S540, the communication buoy 100B controls communication with the communication buoy 100A based on the measurement information (see S150 in FIG. 5). Specifically, the communication buoy 100B can execute the above-mentioned communication control.

As described above, the communication buoy 100B controls the communication with the communication buoy 100A based on the measurement information received from the communication buoy 100A. As a result, the communication buoy 100B can know the movement of the communication buoy 100A due to a natural phenomenon. Since the communication buoy 100B can communicate with the communication buoy 100A in consideration of the movement of the communication buoy 100A, it is possible to suppress deterioration of the communication quality between the communication buoy 100A and the communication buoy 100B.

The communication buoy 100B controls communication with the communication buoy 100A based on the measurement information indicating the parameters measured by the communication buoy 100B. As a result, the communication buoy 100B can communicate with the communication buoy 100A in consideration of the movement of the communication buoy 100B due to a natural phenomenon. As a result, deterioration of communication quality between the communication buoy 100A and the communication buoy 100B can be suppressed.

[Second Embodiment]
The second embodiment will be described. The description of the same parts as in the first embodiment will be omitted.

(Operation according to the second embodiment)
The operation according to the second embodiment will be described with reference to FIG. FIG. 17 is a sequence diagram for explaining the operation according to the second embodiment.

In the first embodiment, the case where the communication buoy 100 controls the communication has been described. In the second embodiment, a case where the control station 200 controls communication will be described.

As shown in FIG. 17, in step S610, each communication buoy 100 (communication buoy 100A-100C) measures a parameter based on an external physical force that each communication buoy 100 cannot control.

In step S620, each communication buoy 100 sends measurement information indicating the measured parameters to the control station 200. Each communication buoy 100 may relay the measurement information of the other communication buoy 100 to the control station 200.

In step S630, the control station 200 may acquire the determination information used for determining the communication path from another network device.

The determination information includes, for example, weather information in an area where a plurality of communication buoys 100 exist.

The determination information may include information indicating a map of an area where a plurality of communication buoys 100 exist. The determination information may include information about an artificial object located in an area where a plurality of communication buoys 100 exist.

In step S640, the control station 200 determines a communication path for relaying the information based on the measurement information from the plurality of communication buoys 100. The communication path is a communication path via at least one of a plurality of communication buoys 100.

The control station 200 may estimate, for example, the communication quality between the communication buoys 100 based on the measurement information from the plurality of communication buoys 100. For example, when the waves in the communication buoy 100C are rough due to rain in the communication buoy 100D, the control station 200 measures the measurement information from the communication buoy 100C (for example, information about the wave state) and the measurement from the communication buoy 100D. If the communication quality of the communication between the communication buoy 100A and the communication buoy 100B located between the communication buoy 100C and the communication buoy 100D is poor based on the information (for example, the information indicating the amount of rain and / or the information regarding the wave condition). It can be estimated (see FIGS. 1 and 8).

The control station 200 can estimate the communication quality between the communication buoys 100, for example, as in the communication buoy 100B of the first embodiment. The control station 200 may estimate the communication quality between the communication buoys 100 based on the determination information as well as the measurement information.

The control station 200 not only communicates the communication quality between the communication buoys 100, but also communicates between the communication device (for example, a maritime communication boat, a diving spacecraft, etc.) and the communication buoy 100 which is the source and / or destination of the information. Quality may be estimated. The control station 200 may receive measurement information indicating the parameters measured in the communication device via the communication buoy 100.

The control station 200 determines the optimum communication route based on the estimated information. For example, the control station 200 may determine a communication path for which the communication quality is good as a whole communication path as a relay communication path. For example, when the communication quality between the predetermined communication buoys 100 is less than the threshold value, the control station 200 may determine the communication route that does not pass between the predetermined communication buoys 100 as the relay communication route.

It is not easy for the control station 200 to estimate the actual movement of each communication buoy 100 floating on the sea surface from the weather information alone. The control station 200 can more accurately estimate the communication quality between the (future) communication buoys 100 by using the measurement information.

In step S650, the control station 200 transmits route information to the plurality of communication buoys 100.

The route information is information indicating a communication route for relay. For example, it is information indicating a communication route from a source of information to a destination of information transmission via the communication buoy 100. The route information may be, for example, information indicating that the communication route passes through the "diving spacecraft, maritime communication boat, communication buoy 100B, communication buoy 100A, control station 200". The route information may be information indicating a (updated) routing table.

The route information may include control information calculated based on the measurement information. The control information may include position information for moving the communication buoy. The control information may include control information for directing the beam to the antenna of another communication buoy.

The control station 200 does not have to transmit the route information to the communication buoy 100 (for example, the communication buoy 100C) that is not the target of relay.

Each communication buoy 100 relays information based on the route information. For example, the communication buoy 100A receives control information from the communication station to the diving spacecraft from the control station 200 based on the route information, and relays the control information to the communication buoy 100B. Based on the route information, the communication buoy 100A receives the user information from the diving spacecraft to the communication station from the communication buoy 100B and relays it to the control station 200. As a result, for example, control information for controlling the diving spacecraft is sent from the control station 200 to the diving spacecraft via the communication buoy 100A and the communication buoy 100B (and the maritime communication boat) based on the route information. Can be done. Underwater information (user information) acquired by the diving spacecraft can be sent from the diving spacecraft to the control station 200 via the communication buoy 100A and the communication buoy 100B (and the maritime communication boat) based on the route information. ..

As described above, the control station 200 determines the communication path for relaying the information based on the measurement information received from each of the plurality of communication buoys 100. As a result, the control station 200 can more accurately estimate the communication quality between the communication buoys 100 and then determine an appropriate communication route.

[Third Embodiment]
(Example of communication system)
An example of the communication system according to the embodiment will be described with reference to FIG. FIG. 18 is a diagram for explaining an example of the communication system according to the third embodiment.

As shown in FIG. 18, the communication system has, for example, a plurality of communication buoys 100 (communication buoys 100A-100C).

The communication system may have (s) small communication buoys 300. The communication buoy 100 can execute communication with another communication buoy 100 via the small communication buoy 300. For example, the communication buoy 100A and the communication buoy 100B can communicate with each other via the small communication buoy 300a and the small communication buoy 300b, respectively. The small communication buoy 300a is controlled by the communication buoy 100A. The small communication buoy 300b is controlled by the communication buoy 100B.

The small communication buoy 300 is a communication buoy that supports the communication of the communication buoy 100. The small communication buoy 300 may be a communication buoy that assists the communication of the communication buoy 100. The small communication buoy 300 may not be able to transmit data to another communication buoy 100 without the control of the communication buoy 100. The small communication buoy 300 may not be able to receive data from another communication buoy 100 without the control of the communication buoy 100.

(Small communication buoy)
The small communication buoy 300 will be described with reference to FIGS. 19 and 20. FIG. 19 is a block diagram of the small communication buoy 300. FIG. 20 is a block diagram of the small communication buoy 300 and the communication buoy 100.

As shown in FIG. 19, the small communication buoy 300 may have the same function as the communication buoy 100. That is, the small communication buoy 300 may include a receiving unit 310, a transmitting unit 320, a control unit 330, a power supply unit 340, and a measuring unit 350. The small communication buoy 300 may include a drive unit 360.

As shown in FIG. 20, the small communication buoy 300 may be physically connected to the communication buoy 100. For example, the communication buoy 100 and the small communication buoy 300 are connected by a connecting portion 170. In this case, the small communication buoy 300 may include a receiving unit 310, a transmitting unit 320, and a measuring unit 350 without providing a control unit. The small communication buoy 300 may include a drive unit. The small communication buoy 300 may include a control unit.

When the small communication buoy 300 does not include a control unit, the small communication buoy 300 is controlled by the control unit 130 of the communication buoy 100. Specifically, the receiving unit 310, the transmitting unit 320, and the measuring unit 350 are controlled by the control unit 130.

The connecting unit 170 may include an electric wire for transmitting and / or receiving information between the communication buoy 100 and the small communication buoy 300. The connecting portion 170 may be, for example, a cable composed of an electric wire, an insulator, and (a protective coating). The control unit 130 may control the reception unit 310, the transmission unit 320, and the measurement unit 350 via the connection unit 170 (cable). Therefore, the communication buoy 100 and the small communication buoy 300 may perform wired communication.

The connecting unit 170 may not be used to transmit and / or receive information between the communication buoy 100 and the small communication buoy 300. In this case, the small communication buoy 300 (control unit) performs wireless communication with the communication buoy 100.

At least one of the communication buoy 100 and the small communication buoy 300 may be able to control the length of the connecting portion 170 between the communication buoy 100 and the small communication buoy 300. The communication buoy 100 (and / or the small communication buoy 300) may shorten the length of the connecting portion 170 by, for example, winding (pulling) the cable which is the connecting portion 170. As a result, the distance between the communication buoy 100 and the small communication buoy 300 is shortened. The communication buoy 100 (and / or the small communication buoy 300) may increase the length of the connecting portion 170 by, for example, feeding out the cable which is the connecting portion 170. As a result, the distance between the communication buoy 100 and the small communication buoy 300 is extended.

In the present specification, for convenience, the small communication buoy 300 executes a process executed by at least one of the receiving unit, the transmitting unit, the control unit, the power supply unit, the measuring unit, and the driving unit included in the small communication buoy 300. It will be described as a process (operation).

(Operation according to the third embodiment)
(1) Operation example 1
(1.1) Outline of Small Communication Buoy 300 The operation (operation example 1) according to the embodiment will be described with reference to FIGS. 21 to 24. FIG. 21 is a sequence diagram for explaining the operation (operation example 1) according to the third embodiment. 22 to 24 are diagrams for explaining the operation (operation example 1) according to the third embodiment.

The communication buoy 100 can execute at least one of the first communication and the second communication. In the first communication, the communication buoy 100 communicates with the communication partner without going through the small communication buoy 300 under its control. Therefore, the first communication is not limited to the case where the communication buoys 100 directly execute communication, but also the case where the communication buoy 100 communicates via the small communication buoy 300 under the control of the other communication buoy 100. It may be included. In the second communication, the communication buoy 100 communicates with the communication partner via the small communication buoy 300 under its control. Therefore, the second communication may include not only the case where the small communication buoys 300 directly execute communication with each other, but also the case where the small communication buoy 300 directly executes communication with another communication buoy 100. ..

In FIG. 21, the communication buoy 100A controls the small communication buoy 300a. The communication buoy 100B controls the small communication buoy 300b. Since the operation of the communication buoy 100B is the same as the operation of the communication buoy 100A at least in steps S710 to 740, the description thereof will be omitted. The timings of the operations of steps S710 to 750 of the communication buoy 100A and the communication buoy 100B do not have to be the same. Since the operation of the small communication buoy 300b is the same as the operation of the small communication buoy 300a at least in step S750, the description thereof will be omitted.

In the initial state of FIG. 21, the communication buoy 100A and the communication buoy 100B may execute the first communication.

In step S710, the communication buoy 100A measures a parameter based on an external physical force that the communication buoy 100A cannot control. As a result, the communication buoy 100A acquires measurement information indicating the measured parameters.

In step S720, the communication buoy 100A estimates the communication quality between the communication buoy 100A and the communication buoy 100B based on the measurement information. The communication buoy 100A can estimate the communication quality by the method described above.

In step S730, the communication buoy 100A determines whether or not to execute (start) communication via the small communication buoy 300a based on the measurement information. Specifically, the communication buoy 100A determines whether or not to execute communication (second communication) via the small communication buoy 300a based on the communication quality estimated from the measurement information.

The communication buoy 100A may determine that the second communication is not executed depending on the estimated communication quality being good (for example, the estimated communication quality is equal to or higher than the threshold value). The communication buoy 100A may determine to execute the second communication depending on the estimated communication quality being poor (for example, the estimated communication quality is less than the threshold value).

The communication buoy 100A may determine to execute the second communication in response to the determination that the first communication is blocked by the wave based on the measurement information. The communication buoy 100A may determine that the second communication is not executed in response to the determination that the first communication is not blocked by the wave.

The explanation will proceed on the assumption that the communication buoy 100A has determined to execute the second communication. When starting the second communication, the communication buoy 100A may start feeding out the cable which is the connecting portion 170. As a result, the communication buoy 100A may send out the small communication buoy 300a from the source of the communication buoy 100A.

In step S740, the communication buoy 100A transmits the first control information to the small communication buoy 300a.

The first control information may include information for controlling the movement of the small communication buoy 300a. The first control information includes, for example, position information indicating a destination of the small communication buoy 300a. The position information may indicate latitude and longitude. The position information may indicate the distance and direction from the reference point (for example, the communication buoy 100A). For example, the position information may indicate a position where the distance between the communication buoy 100A and the small communication buoy 300a satisfies λ / 2. λ is the wavelength of the wave. The position information may indicate a position where the distance satisfies "λ (k− (1/2))" (that is, λ / 2, 3λ / 2, 5λ / 2, ...). k is a natural number (1, 2, ...). As a result, the small communication buoy 300a is located in the wave peak at the timing when the communication buoy 100A is located in the wave valley. As will be described later, when the small communication buoy 300a is moved according to the wave, the position information may indicate an area indicating the movement range of the small communication buoy 300a.

As for the first control information, when the communication buoy 100A controls the length of the connecting portion 170 to move the small communication buoy 300a, the communication buoy 100A omits the transmission of the first control information. May be good.

The first control information may include allocation information of radio resources (time / frequency resources (communication period, communication timing, frequency band, etc.)) allocated to the small communication buoy 300a. The allocation information is, for example, a radio resource used for communication (transmission and / or reception) with the communication buoy 100A. The allocation information may be a radio resource used for communication (transmission and / or reception) with the communication buoy 100B (or small communication buoy 300b). When communication is executed between the communication buoy 100A and the small communication buoy 300a via the connecting unit 170, the allocation information indicates the time resources (communication period, communication timing, etc.) allocated to the small communication buoy 300a. You may. When the communication via the connecting unit 170 is executed, the first control information may not include the allocation information.

In step S750, the small communication buoy 300a moves based on the first control information.

The small communication buoy 300a may transmit information indicating that the movement is completed to the communication buoy 100A in response to the completion of the movement. That is, the small communication buoy 300a may transmit the information to the communication buoy 100 when the preparation for communication is completed. As the information, the small communication buoy 300a may transmit information indicating the position of the small communication buoy 300a measured at the destination to the communication buoy 100A.

The small communication buoy 300a may measure a parameter based on an external physical force that the communication buoy 100A cannot control at the destination. The small communication buoy 300a may transmit measurement information indicating the measured parameters to the communication buoy 100A. The communication buoy 100A may determine whether or not to further move the small communication buoy 300a based on the measurement information received from the small communication buoy 300a. If the communication buoy 100A determines that the small communication buoy 300a is to be moved, step S740 may be executed. If the communication buoy 100A determines that the small communication buoy 300a is not moved, step S740 may be omitted and step S760 may be executed.

In step S760, the communication buoy 100A transmits the second control information to the communication buoy 100B.

The second control information is information for executing (starting) the second communication. The second control information includes, for example, information about the small communication buoy 300a. The information may include information indicating the position (arrangement) of the small communication buoy 300a. The information may include information indicating the state of the wave in the small communication buoy 300a. The information may include information indicating a radio resource used for communication with the small communication buoy 300a. When communication is executed via the connecting unit 170, the information indicating the radio resource may indicate a time resource (communication period, communication timing, etc.). When the communication via the connecting unit 170 is executed, the second control information does not have to include the information indicating the radio resource. The information may include information indicating the antenna height of the small communication buoy 300a. The second control information may include information about the communication buoy 100A similar to the information about the small communication buoy 300a.

The communication buoy 100B has an optimum communication path, communication timing (communication period), and arrangement of communication buoys (communication buoy 100A, communication buoy 100B, small communication buoy 300a, and small communication buoy 300a, based on the second control information from the communication buoy 100A. At least one of the small communication buoys 300b) and the like may be calculated.

In step S770, the communication buoy 100A receives the second control information from the communication buoy 100B. The second control information from the communication buoy 100B may include information about the small communication buoy 300b. The second control information may include information about the communication buoy 100B. The second control information may include information calculated by the communication buoy 100B based on the second control information from the communication buoy 100A.

When the communication buoy 100A changes the position of the small communication buoy 300a based on the second control information from the communication buoy 100B, the communication buoy 100A may transmit new first control information to the small communication buoy 300a. The small communication buoy 300a changes its position by moving based on the new first control information. The new first control information may include allocation information indicating the changed radio resource.

In step S780, the communication buoy 100A and the communication buoy 100B execute the second communication based on the second control information of each other. The communication buoy 100A and the communication buoy 100B may execute not only the second communication but also the first communication.

As shown in FIGS. 22 and 23, for example, the communication buoy 100A is the communication buoy 100B and the first in the first period (for example, the period from t1 to t2) when the vertical position of the communication buoy 100A is equal to or higher than a predetermined value. Can perform communication. The predetermined value is, for example, a value between the maximum value and the minimum value of the wave height. The first period may be a period in which the vertical position of the communication buoy 100A (for example, the antenna height h) is higher than the height of the wave between the communication buoy 100A and the communication buoy 100B. The communication buoy 100A may execute the first communication with the communication buoy 100B via the small communication buoy 300b in the first period.

The communication buoy 100A can execute the second communication with the communication buoy 100B in the second period (for example, the period from t2 to t3) when the vertical position of the communication buoy 100A is less than a predetermined value. The second period may be a period in which the vertical position of the communication buoy 100A (for example, the antenna height h) is lower than the height of the wave between the communication buoy 100A and the communication buoy 100B. Specifically, in the second period, the small communication buoy 300a communicates with the small communication buoy 300b (or communication buoy 100B).

The small communication buoy 300a can receive data to be transmitted from the communication buoy 100A at a timing when communication with the small communication buoy 300b is not executed, and can transmit the data received from the small communication buoy 300b to the communication buoy 100A.

As shown in FIG. 24, the small communication buoy 300a may move in time with the waves in the second period. Specifically, the small communication buoy 300a may move so that the small communication buoy 300a is located on the mountain of waves while executing communication with a communication partner (small communication buoy 300b / communication buoy 100B). For example, the small communication buoy 300a may move so that it is always located on the wave peak in the second period when the antenna height h of the communication buoy 100A is lower than the wave height. That is, the small communication buoy 300 may move with the wave crest at the same speed as the wave speed in the second period. The small communication buoy 300 may return to the original position where the second period was started in the first period when the antenna height h of the communication buoy 100A is higher than the wave height. When the small communication buoy 300a has a fixed position, even if the communication may be interrupted, the small communication buoy 300a moves according to the wave, so that communication can be continuously executed. As the small communication buoy 300a moves in accordance with the wave in this way, the period during which the small communication buoy 300a can communicate with the communication partner increases.

The movement of the small communication buoy 300a may be controlled by the communication buoy 100A. For example, the communication buoy 100A may measure parameters indicating the state of the wave (eg, wave direction and wave velocity). The communication buoy 100A may calculate the position of the small communication buoy 300a at a predetermined timing based on the measurement information (measured parameters). The communication buoy 100A may transmit the calculated control information to the small communication buoy 300a. The small communication buoy 300a may move based on the control information. Alternatively, the small communication buoy 300a may autonomously execute measurement and movement control.

The communication buoy 100A may periodically or aperiodically perform the measurement of step S710. The communication buoy 100A may continue the second communication depending on the determination that the communication quality estimated based on the measurement information is poor. The communication buoy 100A may terminate the second communication depending on the determination that the communication quality estimated based on the measurement information is good. The communication buoy 100A may wind up the cable, which is the connecting portion 170, when the second communication is terminated. As a result, the communication buoy 100A may return the small communication buoy 300a to the original communication buoy 100A.

As described above, the communication buoy 100A controls the second communication via the small communication buoy 300a based on the measurement information. For example, even if the communication buoy 100A and the communication buoy 100B are located in the valley of the wave and the communication is interrupted by the wave, the communication buoy 100A and the communication buoy 100A and the communication buoy 300b via the small communication buoy 300a and the small communication buoy 300b. 100B can continue communication. As a result, deterioration of communication quality can be suppressed.

(1.2) Control of Small Communication Buoy 300 (1.2.1) Judgment An example of judgment (S730 in FIG. 21) as to whether or not to execute communication (second communication) via the small communication buoy 300. , FIG. 25 will be described. FIG. 25 is a flowchart for explaining the control of the small communication buoy 300.

In step S810 of FIG. 25, the wave height Hw is measured. The communication buoy 100 can perform the measurement of the wave height Hw. When the small communication buoy 300 is away from the communication buoy 100, the small communication buoy 300 may perform the measurement of Hw. The communication buoy 100 receives measurement information indicating the wave height Hw from the small communication buoy 300.

The wave height Hw may be, for example, the difference between a wave peak and a wave valley. The wave height Hw may be the amplitude of the wave. The wave height Hw may be an absolute value from the reference point.

In step S820, the communication buoy 100 compares the antenna height Ha of the communication buoy 100 with the wave height Hw. When the antenna height Ha is less than the wave height Hw, the communication buoy 100 determines that the communication is blocked by the wave (communication quality is less than the threshold value). Therefore, the communication buoy 100 executes the process of step S830 according to the antenna height Ha being less than the wave height Hw (YES).

When the antenna height Ha is equal to or higher than the wave height Hw, the communication buoy 100 determines that the communication is not interrupted by the wave whose antenna height Ha is less than the wave height Hw (communication quality is equal to or higher than the threshold value). .. Therefore, the communication buoy 100 ends the process according to the antenna height Ha being equal to or higher than the wave height Hw (NO). If the communication buoy 100 has already executed the second communication, it may determine that the second communication is terminated.

The antenna height Ha is used to determine whether or not communication is blocked by waves. Therefore, the antenna height Ha may be the length from the wave valley to the tip of the antenna of the communication buoy 100 when the communication buoy 100 is located in the wave valley. The antenna height Ha may be an absolute value from the reference point used to calculate the wave height Hw.

In step S830, the communication buoy 100 executes (starts) control of communication (second communication) via the small communication buoy 300.

(1.2.2) Position Control of Small Communication Buoy 300 An example of position control of the small communication buoy 300 will be described with reference to FIGS. 26 to 30. FIG. 26 is a diagram for explaining an example of position control of the small communication buoy 300. 27 and 28 are flowcharts for explaining an example of position control of the small communication buoy 300. 29 and 30 are diagrams for explaining an example of position control of the small communication buoy 300.

As shown in FIG. 26, the communication buoy 100 and the small communication buoy 300 are connected by a cable. The explanation proceeds assuming that the wave moves in the direction of velocity V from right to left.

As shown in FIG. 27, in step S910, the communication buoy 100 measures the height HL (t) of the communication buoy 100 at a predetermined time t. The communication buoy 100 may measure the height HL (t) a plurality of times at different timings in order to grasp the state of the wave.

The communication buoy 100 may measure the wave height Hw. The communication buoy 100 may calculate the wave height Hw from the height HL (t).

In step S920, the small communication buoy 300 similarly measures the height HS (t) of the small communication buoy 300 at a predetermined time t. The small communication buoy 300 transmits measurement information indicating the height HS (t) to the communication buoy 100.

In step S930, the communication buoy 100 calculates the maximum difference Smax between the height HL (t) and the height HS (t). That is, the communication buoy 100 calculates the maximum difference Smax using the following formula.

Smax = HL (t) -HS (t)

In step S940, the communication buoy 100 uses the following equation to determine whether the small communication buoy 300 is located around the wave peak at the timing when the communication buoy 100 is located in the valley of the wave. ΔSth is a threshold value.

| Smax-Hw | <ΔSth

The communication buoy 100 ends the process depending on whether the above equation is satisfied (YES). That is, the communication buoy 100 determines that the small communication buoy 300 exists at an appropriate position.

On the other hand, the communication buoy 100 executes the process of step S950 according to the fact that the above equation is not satisfied (NO). That is, the communication buoy 100 determines that the small communication buoy 300 does not exist at an appropriate position.

In step S950, the communication buoy 100 executes the position control of the small communication buoy 300.

As shown in FIG. 28, in step S951, the communication buoy 100 measures the position PL of the communication buoy 100.

In step S952, the small communication buoy 300 measures the position PS of the small communication buoy 300. The small communication buoy 300 transmits measurement information indicating the position PS to the communication buoy 100.

Position PL and position PS are horizontal positions (eg, latitude and longitude). The processes in steps S951 and S952 may be executed in the processes (S910 and S920) in FIG. 27.

In step S953, the communication buoy 100 calculates the distance L between the communication buoy 100 and the small communication buoy 300.

In step S954, the communication buoy 100 calculates ΔL and ΔSmax. ΔL is the difference (displacement) between the distance Lt1 between the communication buoy 100 and the small communication buoy 300 at the predetermined time t1 and the distance Lt2 between the communication buoy 100 and the small communication buoy 300 at the predetermined time t2. ΔL may be indicated by the distance traveled by the communication buoy 100 and / or the small communication buoy 300. Therefore, ΔL can be calculated by the following formula.

ΔL = Lt2-Lt1

ΔSmax is the difference (displacement) between Smax1 at the predetermined time t1 and Smax2 at the predetermined time t2. Therefore, ΔSmax can be calculated by the following formula.

ΔSmax = Smax1-Smax2

The communication buoy 100 may control the position of the small communication buoy 300, for example, in order to calculate ΔL and ΔSmax. The communication buoy 100 may transmit control information to the small communication buoy 300 so as to be separated (or approached) by ΔL from the communication buoy 100. The communication buoy 100 may receive measurement information indicating the height HS (t) before and after leaving ΔL from the small communication buoy 300. The communication buoy 100 can calculate ΔL and ΔSmax based on the measurement information. The communication buoy 100 may calculate ΔL and ΔSmax by controlling the length of the connecting portion 170.

A case where the communication buoy 100 controls the position of the small communication buoy 300 in order to calculate ΔL and ΔSmax will be described with reference to FIGS. 29 and 30. In the state A1 of FIG. 29, the distance L is less than λ / 2. In the state B1 of FIG. 30, the distance L is λ / 2 or more.

As shown in the state A2, the communication buoy 100 may bring the small communication buoy 300 closer to the communication buoy 100 in order to reduce the distance L. The communication buoy 100 may bring the small communication buoy 300 closer to the communication buoy 100 by winding (carrying in) the connecting portion 170. In the communication buoy 100, the length of the wound connecting portion 170 may be ΔL. Since the distance L becomes smaller due to winding, ΔL is a negative value (ΔL <0). In the state A2, the movement of the small communication buoy 300 reduces Smax. ΔSmax is a negative value (ΔS <0).

As shown in the state A3, the communication buoy 100 may move the small communication buoy 300 away from the communication buoy 100 in order to increase the distance L. The communication buoy 100 may move the small communication buoy 300 away from the communication buoy 100 by extending the connecting portion 170. In the communication buoy 100, the length of the extended connecting portion 170 may be ΔL. Since the distance L increases due to the feeding, ΔL is a positive value (ΔL> 0). In the state A2, the movement of the small communication buoy 300 increases Smax. ΔSmax is a positive value (ΔSmax> 0).

In FIG. 30, the operation of the communication buoy 100 is the same. As shown in the state B2, in the communication buoy 100, ΔL is a negative value when the small communication buoy 300 is brought close to the communication buoy 100 (ΔL <0). ΔSmax is a positive value (ΔSmax> 0).

As shown in the state B3, in the communication buoy 100, ΔL is a positive value when the small communication buoy 300 is moved away from the communication buoy 100 (ΔL> 0). ΔSmax is a negative value (ΔSmax <0).

The communication buoy 100 can execute the process of step S955 after calculating ΔL and ΔSmax.

In step S955, the communication buoy 100 controls the position of the small communication buoy 300 based on ΔL and ΔSmax. The communication buoy 100 may transmit control information for moving the small communication buoy 300 to the small communication buoy 300. The communication buoy 100 may control the position of the small communication buoy 300 by adjusting the length of the connecting portion 170.

In the communication buoy 100, the position of the small communication buoy 300 is farther than the optimum position (L3) according to the satisfaction of "ΔL <0 and ΔSmax> 0" or "ΔL> 0 and ΔSmax <0" (state B2). Alternatively, it may be determined that the state is the state B3). That is, the communication buoy 100 executes control for bringing the small communication buoy 300 closer to the communication buoy 100A in response to the satisfaction of "ΔL <0 and ΔSmax> 0" or "ΔL> 0 and ΔSmax <0". (State A3). For example, the communication buoy 100 can execute control to wind up the connecting portion 170.

In the communication buoy 100, the position of the small communication buoy 300 is closer than the optimum position (L3) according to the satisfaction of "ΔL <0 and ΔSmax> 0" or "ΔL> 0 and ΔSmax <0" (state A2). Alternatively, it may be determined that the state is A3). That is, the communication buoy 100 executes control for moving the small communication buoy 300 away from the communication buoy 100A in response to the satisfaction of "ΔL <0 and ΔSmax> 0" or "ΔL> 0 and ΔSmax <0". (State A3). For example, the communication buoy 100 can execute control to pay out the connecting unit 170.

The communication buoy 100 can control the position of the small communication buoy 300 until the small communication buoy 300 arrives at the optimum position. As a result, the communication buoy 100 can move the small communication buoy 300 to a position where the distance between the communication buoy 100A and the small communication buoy 300a satisfies λ / 2.

(2) Operation example 2
The operation example 2 according to the third embodiment will be described. In operation example 2, the communication buoy 100 can control a plurality of small communication buoys 300. The description of the same part as that of the operation example 1 will be omitted.

(2.1) Outline of a plurality of small communication buoys 300 A plurality of small communication buoys 300 will be described with reference to FIGS. 31 to 33. 31 to 33 are diagrams for explaining the operation (operation example 2) according to the embodiment.

As shown in FIG. 31, the communication buoy 100 may communicate with a communication partner via a plurality of small communication buoys 300 in the second communication. Specifically, the communication buoy 100A controls the small communication buoy 300a1, the small communication buoy 300a2, and the small communication buoy 300a3. The communication buoy 100B controls the small communication buoy 300b1, the small communication buoy 300b2, and the small communication buoy 300b3.

The communication buoy 100A can control the positions (arrangements) of the plurality of small communication buoys 300. For example, the communication buoy 100A may control the positions of the plurality of small communication buoys 300 so that the timing at which each of the plurality of small communication buoys 300a is located on the wave peak is different. As a result, the small communication buoys 300 located on the mountain of the wave are replaced with the passage of time, so that the time when the communication is cut off by the wave can be reduced.

The communication buoy 100A is provided so that the other small communication buoys 300a and / or the communication buoy 100A are not arranged on a straight line connecting the communication partner (communication buoy 100B / each small communication buoy 300b) and each small communication buoy 300a. The small communication buoy 300a may be controlled. The communication buoy 100A may control each small communication buoy 300a so that the small communication buoys 300a are not arranged in a straight line connecting the communication partner and the communication buoy 100A. As a result, it is possible to reduce the possibility that the communication is disturbed (shielded) by the radio signal hitting the small communication buoy 300a.

As shown in FIG. 32, each small communication buoy 300a may be connected to the communication buoy 100A. As a result, the communication buoy 100A can individually control each small communication buoy 300a.

As shown in FIG. 33, the communication buoy 100A and the small communication buoy 300a may be indirectly connected. The communication buoy 100A and the plurality of small communication buoys 300a may be connected in a beaded shape. For example, the communication buoy 100A and the small communication buoy 300a1 are directly connected by the connecting portion 170. The small communication buoy 300a1 is directly connected to the communication buoy 100A by the connecting portion 170. The small communication buoy 300a2 is directly connected to the small communication buoy 300a1 by the connecting portion 171. The small communication buoy 300a3 is directly connected to the small communication buoy 300a2 by the connecting portion 171. Therefore, the small communication buoy 300a2 and the small communication buoy 300a1 are not directly connected to the communication buoy 100A. As a result, since the plurality of connecting portions 170 do not exist, it is possible to reduce the possibility that the movement of the small communication buoy 300 is restricted by the contact between the plurality of connecting portions 170.

(2.2) Operation of Communication Buoy 100 An example of the operation of the communication buoy 100 that controls a plurality of small communication buoys 300 will be described with reference to FIGS. 34 to 36. FIG. 34 is a flowchart for explaining the operation of the communication buoy 100 according to the operation example 2 of the third embodiment. 35 and 36 are diagrams for explaining the operation of the communication buoy 100 and the small communication buoy 300 according to the operation example 2 of the third embodiment.

The communication buoy 100 can determine whether or not to execute communication via the plurality of small communication buoys 300 based on the measurement information.

Steps S1010 and S1020 of FIG. 34 correspond to steps S810 and S820 of FIG.

In step S1020, the communication buoy 100 executes the process of step S1030 according to the antenna height Ha being less than the wave height Hw (YES). The communication buoy 100 may execute the process of step S1030 depending on the estimated communication quality being less than the threshold value. The communication buoy 100 ends the process according to (NO) that the antenna height Ha is equal to or higher than the wave height Hw. The communication buoy 100 may end the process of step S1030 depending on whether the communication quality estimated from the measurement information is equal to or higher than the threshold value.

In step S1030, the communication buoy 100 determines the number Nb of the small communication buoy 300. The communication buoy 100 may determine the number Nb of the small communication buoy 300 according to the estimated communication quality. The communication buoy 100 may determine the number Nb of the small communication buoy 300 so that the worse the estimated communication quality, the larger the number Nb of the small communication buoy 300. The communication buoy 100 may determine the number Nb of the small communication buoy 300 so that the better the estimated communication quality, the smaller the number Nb of the small communication buoy 300.

For the communication buoy 100, for example, the number Nb of the small communication buoy 300 may be calculated by the following formula.

Nb = (Hw-Ha) / Hb

Hw is the height of the wave. Ha is the antenna height of the communication buoy 100. Hb is the antenna height of the small communication buoy 300. Nb is an integer greater than or equal to 0. Therefore, the value after the decimal point is rounded up.

As described above, the larger the wave height Hw, the larger the number of small communication buoys 300, and the smaller the wave height Hw, the smaller the number of small communication buoys 300.

In step S1040, the communication buoy 100 executes (starts) control of communication via the small communication buoy 300 having a determined number Nb.

An example in which the communication buoy 100A controls communication via the (plural) small communication buoys 300a will be described with reference to FIGS. 35 and 36.

In FIGS. 35 and 36, the state 1 shows the state of the communication buoy 100A when the wave height is small. State 2 shows the states of the communication buoy 100A and the small communication buoy 300a when the wave height is medium. The states 3 and 4 indicate the states of the communication buoy 100A and the plurality of small communication buoys 300a when the wave height is large.

In the state 1, since the height of the wave is small, the communication between the communication buoy 100A and the communication buoy 100B is not interrupted by the wave. The communication buoy 100A can continuously communicate with the communication buoy 100B.

In state 2, since the wave height is medium, it is assumed that the communication between the communication buoy 100A and the communication buoy 100B is blocked by the wave. The communication buoy 100A executes control of communication via one small communication buoy 300a1. The communication buoy 100B may control the communication by estimating the period (interruption time) during which the communication is interrupted by the wave based on the measurement information.

The communication buoy 100A directly communicates with the communication buoy 100B, for example, during the periods t10-t12 and t14-t16. The period may be a period in which the communication between the communication buoy 100A and the communication buoy 100B is not interrupted by the wave. On the other hand, the communication buoy 100A executes communication via the small communication buoy 300a1 during the period of t12-t14 and t16-t18 (see state 2 in FIGS. 35 and 36). The period may be a period in which communication between the communication buoy 100A and the communication buoy 100B is blocked by a wave.

In states 3 and 4, it is assumed that the communication between the communication buoy 100A and the communication buoy 100B is blocked by the wave because the wave height is large. The cutoff time is longer in the states 3 and 4 than in the state 2.

The communication buoy 100A executes control of communication via the small communication buoy 300a1 and the small communication buoy 300a2. The communication buoy 100A directly communicates with the communication buoy 100B, for example, during the periods t10-t11 and t14-t15.

The communication buoy 100A executes communication via the small communication buoy 300a1 during the period of t11-t13 and t15-t17 (see state 3 in FIGS. 35 and 36). During this period, the small communication buoy 300a1 is located near the wave mountain. The period may be a period in which the antenna of the small communication buoy 300a1 exists at a position higher than the wave peak.

The communication buoy 100A executes communication via the small communication buoy 300a2 during the period of t13-t14 and t17-t18, for example (see state 4 in FIGS. 35 and 36). During this period, the small communication buoy 300a2 is located near the wave mountain. The period may be a period in which the antenna of the small communication buoy 300a2 exists at a position higher than the wave peak.

That is, in the state 3, the communication buoy 100A is located at a higher position than the small communication buoy 300a2 in the small communication buoy 300a1, so that the small communication buoy 300a1 is prioritized over the small communication buoy 300a2 with the communication buoy 100B. It may be a relay destination. On the other hand, in the communication buoy 100A, in the state 4, the small communication buoy 300a2 is located at a higher position than the small communication buoy 300a1, so that the small communication buoy 300a2 is prioritized over the small communication buoy 300a1 as the communication buoy 100B. It may be a relay destination of.

As described above, the communication buoy 100A controls communication with the communication buoy 100B via the plurality of small communication buoys 300. Even when the communication of the communication buoy 100A itself is blocked by the wave, if any one of the small communication buoys 300 can communicate with the communication buoy 100B, data is transmitted and / or received. be able to. As a result, deterioration of communication quality (communication delay) due to the influence of waves can be suppressed.

[Other Embodiments]
Although the content of this application has been described by the embodiments described above, the statements and drawings that form part of this disclosure should not be understood to limit the content of this application. Various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art from this disclosure.

In the above, switching between open-loop communication control and closed-loop communication control has been described, but the present invention is not limited to this. Open-loop communication control and closed-loop communication control may be switched stepwise. For example, the communication buoy 100 may switch communication control between open-loop communication control, first closed-loop communication control (the above-mentioned (normal) closed-loop communication control), and second closed-loop communication control.

Specifically, in the second closed-loop communication control, the communication buoy 100B controls communication with the communication partner (communication buoy 100A) by using at least a part of the information about the communication partner. Some information to be used in the second closed-loop communication control may be predetermined.

When the second closed-loop communication control is executed, the communication buoy 100A can omit the transmission of at least a part of the information about the communication buoy 100A. The communication buoy 100A may omit the transmission of information about the communication buoy 100A, which is used in the first closed-loop communication control but not in the second closed-loop communication control. For example, the communication buoy 100A may transmit measurement information indicating the horizontal position of the communication buoy 100A to the communication buoy 100B among a plurality of measured parameters. The communication buoy 100A may omit the transmission of measurement information indicating the first parameter regarding the wave state, for example.

When the second closed-loop communication control is executed, the communication buoy 100B may control the communication by using only a part of the information about the communication buoy 100A. For example, the communication buoy 100B may control communication with the communication buoy 100A by using the measurement information indicating the horizontal position of the communication buoy 100A without using the measurement information indicating the wave state in the communication buoy 100A. Good. Alternatively, the communication buoy 100B also communicates other information (wave state in the communication buoy 100A) other than some information to be used (for example, the horizontal position of the communication buoy 100A) among the information about the communication buoy 100A. When received from the buoy 100A, the communication with the communication buoy 100A may be controlled by using the other information.

The communication buoy 100 may execute open-loop communication control depending on the estimated communication quality Q being less than the threshold value Qth11. The communication buoy 100 may execute the second closed-loop communication control according to the estimated communication quality Q of the threshold value Qth11 or more and less than the threshold value Qth12. The communication buoy 100 may execute the first closed-loop communication control depending on the estimated communication quality Q being the threshold value Qth12 or more. The threshold value Qth11 is a value smaller than the threshold value Qth12.

The communication control between the open-loop communication control and the first closed-loop communication control may not be limited to the second closed-loop communication control. The communication buoy 100 is a plurality of closed-loop communication controls (second closed-loop communication control, third closed-loop communication control, ...) In which information used for communication control is limited according to the estimated communication quality. You may switch to either.

In this way, by gradually reducing (or increasing) the amount of information used for communication control by a plurality of threshold values, it is possible to execute communication with the optimum communication quality under the natural environment at that time.

In the above, the communication buoy 100A may execute the first communication and the second communication at the same time. For example, the communication buoy 100A transmits and / or receives the same information or different information not only through the direct communication path from the communication buoy 100A to the communication buoy 100B but also via the communication path via the small communication buoy 300. You may.

The communication buoy 100A may execute communication (second communication) via the (plural) small communication buoys 300 even when the estimated communication quality is good.

In the above, the communication buoy 100 (and the small communication buoy 300) floats on the sea, but the present invention is not limited to this. For example, the communication buoy 100 (and the small communication buoy 300) may float on the lake.

In the above, the communication buoy 100 (and the small communication buoy 300) may be replaced with another communication device used in a natural environment as long as it is a communication device capable of transferring information. For example, the communication buoy 100 (and the small communication buoy 300) may be replaced by a communication device capable of (continuously) communicating in the air. The communication buoy 100 (and the small communication buoy 300) may be replaced by a communication device capable of (continuously) communicating underwater (or under the sea).

In the above description, the control station 200 may determine not only the communication buoy 100 but also a communication path via another communication device capable of relaying information as a relay communication path. For example, the control station 200 may determine a communication path including a communication satellite as well as the communication buoy 100 as a relay node. For example, when the control station 200 determines that the sky above the communication buoy 100 is clear, but the waves around the communication buoy 100 on a predetermined route are rough based on the measurement information, the control station 200 sets the communication satellite. The communication path to be included may be determined.

In the above, the contents according to each embodiment may be executed in an appropriate combination. In addition, not all operations are indispensable in each of the above-mentioned sequences. For example, in each sequence, only some actions may be performed.

Although not particularly mentioned in each of the above-described embodiments, a program that causes a computer to execute each process performed by any of the above-mentioned nodes (communication buoy 100, control station 200, small communication buoy 300) may be provided. The program may be recorded on a computer-readable medium. Computer-readable media can be used to install programs on a computer. Here, the computer-readable medium on which the program is recorded may be a non-transient recording medium. The non-transient recording medium is not particularly limited, but may be, for example, a recording medium such as a CD-ROM or a DVD-ROM.

A chip for wireless communication for executing each process performed by any one of the communication buoy 100 (control device 105), the control station 200, and the small communication buoy 300 may be provided. The chip may consist of a memory and a processor.

Japanese Patent Application No. 2017-105104 (filed May 26, 2017), Japanese Patent Application No. 2017-126285 (filed June 28, 2017), and Japanese Patent Application No. 2017-126294 (2017) The entire contents of (filed June 28, 2014) are incorporated herein by reference.

Claims (9)

It is a communication system
The first communication device and
Has a second communication device,
The first communication device measures a parameter based on an external physical force that the first communication device cannot control.
The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the first communication device, and the movement of the first communication device due to the physical force. At least one of the second parameters shown,
The first communication device sends measurement information indicating the measured parameter to the second communication device.
The second communication device controls communication with the first communication device based on the measurement information .
The measurement information includes information regarding a wave state in the first communication device.
The second communication device is moved to a position where the difference between the height of the first communication device and the height of the second communication device at a predetermined time is less than the threshold value, based on the information regarding the wave state. A communication system that executes control for moving a second communication device . A communication buoy that can relay information
A receiver that receives measurement information from the other communication buoy indicating parameters measured based on an external physical force that the other communication buoy cannot control.
A control unit that controls communication with the other communication buoy based on the measurement information is provided.
The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the other communication buoy, and a first parameter indicating the movement of the other communication buoy caused by the physical force. At least one of the two parameters,
The measurement information includes information about wave conditions in the other communication buoys.
The control unit is for moving the communication buoy to a position where the difference between the height of the other communication buoy and the height of the communication buoy at a predetermined time is less than the threshold value, based on the information regarding the wave state. A communication buoy that performs control. It is a communication system
The first communication device and
Has a second communication device,
The first communication device measures a parameter based on an external physical force that the first communication device cannot control.
The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the first communication device, and the movement of the first communication device due to the physical force. At least one of the second parameters shown,
The first communication device controls communication with the second communication device based on the measurement information indicating the measured parameter.
The first communication device is
A first communication control that controls communication with the second communication device based on the latest information while receiving the latest information about the second communication device from the second communication device.
One of the second communication control that controls the communication with the second communication device without using the latest information is executed.
The first communication device is a communication system that switches between the first communication control and the second communication control based on the measurement information. The second communication device measures a parameter based on an external physical force that the second communication device cannot control.
The parameter is a third parameter indicating the magnitude of the physical force that affects the movement of the second communication device, and the movement of the second communication device due to the physical force. It is at least one of the fourth parameters shown,
The second communication device transmits predetermined measurement information indicating the parameters measured by the second communication device to the first communication device as the latest information.
The first communication device is
In the first communication control, while receiving the predetermined measurement information, the communication with the second communication device is controlled based on the predetermined measurement information.
The communication system according to claim 3, wherein in the second communication control, communication with the second communication device is controlled without using the predetermined measurement information. A communication buoy that can relay information
The communication buoy is provided with a control unit that measures a parameter based on an uncontrollable external physical force and controls communication with another communication buoy based on the measurement information indicating the measured parameter.
The parameters are a first parameter indicating the magnitude of the physical force affecting the movement of the communication buoy, and a second parameter indicating the movement of the communication buoy caused by the physical force. At least one parameter
The control unit
A first communication control that controls communication with the other communication buoy based on the latest information while receiving the latest information about the other communication buoy from the other communication buoy.
One of the second communication control that controls the communication with the other communication buoy without using the latest information is executed.
The control unit is a communication buoy that switches between the first communication control and the second communication control based on the measurement information. It is a communication system
The first communication device and
A second communication device controlled by the first communication device, and
Having a third communication device, which is a communication partner of the first communication device,
The first communication device is
The first communication that communicates with the third communication device without going through the second communication device, and
At least one of the second communication communicating with the third communication device via the second communication device is executed.
The first communication device measures a parameter based on an external physical force that the first communication device cannot control.
The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the first communication device, and the movement of the first communication device due to the physical force. At least one of the second parameters shown,
The first communication device executes the second communication based on the measurement information indicating the measured parameter.
The first communication device controls the position of the second communication device so that the second communication device is located at the peak of the wave at the timing when the first communication device is located at the valley of the wave. Communications system. It is the first communication buoy that can relay information.
Equipped with a control unit to control the second communication buoy
The control unit
A first communication that communicates with a third communication buoy, which is a communication partner of the first communication buoy, without going through the second communication buoy.
At least one of the second communication communicating with the third communication buoy via the second communication buoy is executed.
The control unit measures parameters based on physical forces from the outside that the first communication buoy cannot control.
The parameters are a first parameter indicating the magnitude of the physical force that affects the movement of the first communication buoy, and the movement of the first communication buoy caused by the physical force. At least one of the second parameters shown,
The control unit executes the second communication based on the measurement information indicating the measured parameter.
The control unit controls the position of the second communication buoy so that the second communication buoy is located at the peak of the wave at the timing when the first communication buoy is located at the valley of the wave. Communication buoy. It is a communication system
The first communication device and
A second communication device controlled by the first communication device, and
Having a third communication device, which is a communication partner of the first communication device,
The first communication device is
The first communication that communicates with the third communication device without going through the second communication device, and
At least one of the second communication communicating with the third communication device via the second communication device is executed.
The first communication device measures a parameter based on an external physical force that the first communication device cannot control.
The parameter is a first parameter indicating the magnitude of the physical force that affects the movement of the first communication device, and the movement of the first communication device due to the physical force. At least one of the second parameters shown,
The first communication device executes the second communication based on the measurement information indicating the measured parameter.
The first communication device is physically connected to the second communication device by a connecting portion.
The first communication device is a communication system that controls the position of the second communication device by controlling the length of the connecting portion. It is the first communication buoy that can relay information.
Equipped with a control unit to control the second communication buoy
The control unit
A first communication that communicates with a third communication buoy, which is a communication partner of the first communication buoy, without going through the second communication buoy.
At least one of the second communication communicating with the third communication buoy via the second communication buoy is executed.
The control unit measures a parameter based on an external physical force that the first communication buoy cannot control.
The parameters are a first parameter indicating the magnitude of the physical force that affects the movement of the first communication buoy, and the movement of the first communication buoy caused by the physical force. At least one of the second parameters shown,
The control unit executes the second communication based on the measurement information indicating the measured parameter.
The first communication buoy is physically connected to the second communication buoy by a connecting portion.
The first communication buoy is a communication system that controls the position of the second communication buoy by controlling the length of the connecting portion.

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