JP6051787B2 - Communication apparatus and communication method - Google Patents

Description

  The present invention relates to a communication device and a communication method.

  In the underwater communication device, an omnidirectional sound wave is transmitted so that communication can be performed in an arbitrary direction. However, when an omnidirectional sound wave is used, there is a problem in that the received signal includes the influence of large noise and reverberation and communication quality deteriorates. Therefore, it is conceivable to provide directivity in the transmission direction to suppress noise and the like. However, in this case, if the function for tracking the communication target is not provided, communication loss or interruption occurs.

  For example, Japanese Patent Laid-Open No. 03-245625 proposes a method for controlling the beam patterns of a transmitter / receiver mounted integrally with a mother ship and underwater movement so that they are directed toward each other.

Japanese Patent Laid-Open No. 03-245625

  However, since the proposal according to Japanese Patent Laid-Open No. 03-245625 has a fixed communication method, accurate communication may not be performed when the SN ratio changes according to changes in the communication environment.

  That is, there are noises and the like due to various causes in the communication environment. Therefore, when the fixed communication method is easily affected by noise, the communication quality deteriorates.

  Therefore, a main object of the present invention is to provide a communication device and a communication method that can reduce the dependence on the communication environment and can track and communicate even with a moving communication target.

  In order to solve the above-described problems, an invention according to a communication apparatus is provided with a transducer that receives a sound wave from a communication target, outputs the signal as a reception signal, and transmits the sound wave based on the input transmission signal. A transmitter / receiver provided with n (n is a positive integer of 2 or more), and a transmission signal is output to the transmitter / receiver, and a reception signal obtained by receiving and receiving the signal is received and demodulated. A signal processing unit that detects the azimuth of the communication target from the n received signals, creates and outputs phasing data based on the azimuth detection result, and communicates with the communication target. A signal / azimuth detection circuit that determines the communication method and outputs the communication method as method data, and n sound waves transmitted to the communication target based on the phasing data match the direction of the communication target. Outputs transmission signals with different phases to the transmitter / receiver That comprises a transmitting unit, a receiving unit for demodulating adjusts the phase of the n received signals based on the phasing data.

  In addition, the invention according to the communication method receives a sound wave from a communication target by n transmitters / receivers (n is a positive integer of 2 or more), outputs the signal as a received signal, and inputs it. The transmission / reception procedure for transmitting sound waves based on the transmitted signal and the transmission signal used when transmitting the sound waves in the transmission / reception procedure are received, and the reception signal obtained by receiving in the transmission / reception procedure is received. And a signal processing procedure for demodulating the signal, the procedure for detecting the azimuth of the communication target from n received signals, the procedure for generating and outputting phasing data based on the azimuth detection result, the communication target The signal / azimuth detection procedure including the procedure for detecting the communication method and outputting the detection result as method data, and the sound beam transmitted to the communication target based on the phasing data is in the direction of the communication target N transmissions with different phases To the transmission unit procedure for outputting a signal for transmission and reception waves procedure, a receiving unit procedures for demodulating adjusts the phase of the n received signals based on the phasing data, comprising a.

  According to the present invention, since the communication method and communication direction are set according to the communication result with the communication partner, the dependency of the communication environment is suppressed, and even if the communication target moves, the communication target is tracked. Communication becomes possible, and communication quality can be improved.

It is a block diagram of the communication apparatus concerning an embodiment. It is a flowchart which shows the communication procedure from a communication target to a communication apparatus. It is a flowchart which shows the communication procedure from a communication apparatus to a communication target. FIG. 5 is a diagram illustrating an effect when band limitation is applied to a received signal, where (a) illustrates a reception circuit signal before band limitation, and (b) illustrates a reception circuit signal after band limitation. FIG. It is a figure explaining the determination of the communication system by a modulation map, (a) is a figure which shows a modulation map, (b) is a figure which shows the communication system matched with the modulation map. When detecting the direction of arrival of a sound wave, the received signal is subjected to band limitation to improve the SN ratio, (a) is a diagram showing a receiving circuit signal before band limitation, (b) FIG. 4 is a diagram illustrating a reception circuit signal after band limitation. It is a figure which shows the effect at the time of band-limiting with respect to the signal of communication sound, (a) is a figure which shows the signal level before band-limiting, (b) is the signal level after band-limiting. FIG. It is a figure which shows the improvement of an error rate and the improvement of transmission amount by applying a band limitation to the received signal, (a) is a figure which shows the improvement effect of an error rate, (b) is a figure which shows the improvement of transmission amount. . FIG. 4 is a diagram showing an improvement in sound transmission sound pressure in a communication sound band when band restriction is applied to a received signal, (a) is a diagram showing a sound pressure level of a non-directional sound wave, and (b) is a directivity set. It is a figure which shows the sound pressure level of a sound wave. It is a figure which shows the signal level improvement in the communication sound band at the time of band-limiting a received signal, (a) is a figure which shows the signal level of a non-directional sound wave, (b) is a sound wave with which directivity was set. It is a figure which shows the signal level of.

  An embodiment of the present invention will be described. FIG. 1 is a block diagram of a communication device 2 according to the present embodiment. The communication device 2 includes a transmission / reception unit 2A and a signal processing unit 2B as main components.

  Such a communication device 2 is installed on the seabed, and performs communication using underwater acoustics with an autonomous unmanned underwater vehicle that moves underwater and other communication devices 2 installed on the seabed. In addition, in this embodiment, although the case where the communication apparatus 2 is used for underwater communication is described as an example, it is added in advance that the present invention is not limited to underwater. Moreover, although the unmanned underwater vehicle is taken as an example as the communication partner (communication target) 3 of the communication device 2, it is not limited to this. Further, although there is no particular limitation on the function of the communication partner, it is assumed that it has at least a function capable of determining the communication direction and communication method as described later. Therefore, the case where the communication target 3 includes the function of the communication device 2 is not excluded.

  The transmitter / receiver unit 2A includes n (n is a positive integer) transmitter / receiver 1 (1_1 to 1_n) having both a plurality of transmission functions and reception functions. When transmitting the sound wave, the transmission signal G7 is output from the signal processing unit 2B to the transmission / reception unit 2A. The transmission / reception unit 2A converts the transmission signal G7 into a sound wave and transmits the sound wave. On the other hand, when an incoming sound wave is received, a signal based on the received sound wave is input to the signal processing unit 2B as a reception signal G8. And it becomes possible to give directivity to the azimuth | direction according to the phase of n signal each input into the n transmitter / receiver 1.

  The signal processing unit 2B includes a transmission unit 4a that outputs the transmission signal G7 to the transmission / reception unit 2A, a reception unit 4b that demodulates the reception signal G8 from the transmission / reception unit 2A, a signal / orientation detection circuit 28, and a switch 29. Contains. The transmission unit 4a includes a transmission circuit 21, a transmission-side variable phasing circuit 22, and a modulation circuit 23. The reception unit 4b includes a reception circuit 24, a reception-side variable phasing circuit 26, and a demodulation circuit 27.

  The modulation circuit 23 modulates a built-in data signal (input signal) G2 to be transmitted to the communication target 3 based on the method data G1 from the signal / orientation detection circuit 28, and uses this as a modulation signal G3 to transmit variable phasing Output to the circuit 22. The method data G1 includes information on a modulation method and a data rate.

  The transmission side variable phasing circuit 22 includes a method setting signal G4 (initial signal G4_1, recognition signal G4_2, method sound signal G4_3) from the signal / azimuth detection circuit 28, phasing data G5, and modulation from the modulation circuit 23. The signal G3 is input. Then, a phase difference is given to the azimuth setting signal G4 and the modulation signal G3 based on the phasing data G5, and n transmission side phasing output signals G6 are output.

  At this time, the phase adjustment is performed based on the azimuth setting signal G4 based on the phasing data G5 indicating the azimuth so that the main axis P of the transmission variable beam (sound beam) B1 for transmission coincides with the azimuth of the communication target 3. A phase difference is given to the modulation signal G3. Thereby, even if the communication target 3 is moving, the communication target 3 can always be tracked and communicated.

  The transmission circuit 21 amplifies the n transmission-side phasing output signals G6 from the transmission-side variable phasing circuit 22 and outputs the amplified signals to the transmission / reception unit 2A via the switch 29.

  The reception circuit 24 amplifies the power of the reception signal G8 from the transmission / reception unit 2A, and outputs the amplified signal to the reception-side variable phasing circuit 26 and the signal / orientation detection circuit 28 as a reception circuit signal G9. The transmission circuit 21 and the reception circuit 24 are provided with a gain adjustment function so that the amplified signal is not saturated.

  The reception-side variable phasing circuit 26 performs phase adjustment on the n reception circuit signals G9 and adds them. In this phase adjustment, the phase difference of the n reception circuit signals G9 is adjusted based on the phasing data G5 so as to reproduce the transmission / reception wave direction (the direction of the communication target 3). That is, the phase of each receiving circuit signal G9 is adjusted so that the receiving direction formed by the signals from the n transducers 1 is directed to the main axis P.

  The demodulation circuit 27 demodulates the reception-side phasing output signal G10 according to the method data G1 from the signal / orientation detection circuit 28, and restores the built-in data transmitted by the communication target 3.

  The signal / orientation detection circuit 28 limits the band of the n reception circuit signals G9 to improve the SN ratio. Then, threshold processing is performed on the band-limited reception circuit signal G9 to detect the peak of the signal corresponding to the initial signal sound B1_1, the recognition signal sound B1_2, and the like. Since this peak value changes depending on the receiving direction, the direction indicating the maximum peak value is set as the direction of the communication target 3.

  Further, the signal / orientation detection circuit 28 detects the S / N ratio of the signal received from the band-limited reception circuit signal G9. Then, using this S / N ratio, a communication method (modulation method and transmission rate) is determined with reference to a preset (built-in) modulation map. This communication method is output to the modulation circuit 23 and the demodulation circuit 27 as method data G1. As described above, since the communication method is determined by performing actual communication, high-quality communication according to the communication environment can be performed.

  The switch 29 connects the transmitting / receiving unit 2A and the transmitting circuit 21 when the transmitting / receiving unit 2A functions as a transmitting device, and connects the transmitting / receiving unit 2A and the receiving circuit 24 when functioning as a receiving device. Connect.

  Next, a communication procedure performed between the communication device 2 and the communication target 3 will be described. FIG. 2 is a flowchart showing a communication procedure from the communication target 3 to the communication device 2.

  Steps SA1 and SA2: The communication target 3 transmits a sound wave B2 having a predetermined frequency in order to transmit the built-in data acquired by a sensor (not shown) or the like to the communication device 2. The sound wave B2 includes an initial signal sound B2_1, a recognition signal sound B2_2, and a communication sound B2_3, and these sounds are sequentially transmitted. At this stage, the initial signal sound B2_1 is transmitted. The frequency of the initial signal sound B2_1 is fixed (hereinafter referred to as F1), and the frequency of the recognition signal sound B2_2 is fixed (hereinafter referred to as F2). Further, the frequency of the communication sound B2_3 is a frequency determined according to a procedure described later.

  The initial signal sound B2_1 from the communication target 3 propagates in water and is received by the wave transmitting / receiving unit 2A. The transmitting / receiving unit 2A converts the received initial signal sound B2_1 into an electrical signal, and outputs it as an initial received signal G8_1 to the signal processing unit 2B. At this time, since the switch 29 is in a reception state (a state where the transmission / reception unit 2A and the reception circuit 24 are connected), the initial reception signal G8_1 is input to the reception circuit 24. Note that since the transmitter / receiver unit 2A includes n transmitter / receivers 1, there are n initial received signals G8_1.

  The reception circuit 24 amplifies the initial reception signal G8_1 while avoiding saturation, and outputs the amplified signal to the reception side variable phasing circuit 26 and the signal / orientation detection circuit 28 as a reception circuit signal G9.

  Step SA3: The phasing data G5 inputted to the receiving side variable phasing circuit 26 at this time is a value (initial value) that forms an omnidirectional initial signal beam B3 with respect to the n receiving circuit signals G9. Value).

  The reception-side variable phasing circuit 26 reproduces n reception circuit signals G9 when a sound wave is received in a non-directional state, and adds them to obtain one reception-side phasing output signal G10. Is output. The reception side phasing output signal G10 is input to the signal / orientation detection circuit 28 and the demodulation circuit 27. Accordingly, the signal / orientation detection circuit 28 receives the reception-side phasing output signal G10 from the reception-side variable phasing circuit 26 and the reception circuit signal G9 from the reception circuit 24.

  The initial signal sound is defined as a sound wave having the frequency F1. Therefore, the signal / orientation detection circuit 28 limits the frequency band of the frequency F1 to the reception circuit signal G9 (in this case, the reception circuit signal for the initial signal sound B2_1) using a bandpass filter.

  4A and 4B are diagrams showing the effect of the band limitation. FIG. 4A shows the signal level of the reception circuit signal G9 before band limitation, and FIG. 4B shows the band level after band limitation. It is a figure which shows the signal level of the receiving circuit signal G9. As is apparent from FIG. 4, the signal level of the reception circuit signal G9 is suppressed in a band other than the frequency F1 band by the bandpass filter, and the signal corresponding to the frequency F1 is clear. That is, the SN ratio between the signal of the frequency F1 and the signal of the other band is improved (SN1 → SN2). Since the S / N ratio is improved in this way, the initial reception signal G8_1 (the signal based on the initial signal sound B2_1) can be accurately detected by threshold processing.

  Step SA3: The signal / orientation detection circuit 28 sets the direction in which the peak level of the detected initial reception signal G8_1 is maximum as the arrival direction of the sound wave.

  Step SA4: Next, the signal / orientation detection circuit 28 generates phasing data G5 from the arrival azimuth of the sound wave, and outputs it to the transmission-side variable phasing circuit 22 and the reception-side variable phasing circuit 26. This phasing data G5 is data used when the transmission-side variable phasing circuit 22 adjusts the phase in order to make the main axis of the communication beam B1 coincide with the arrival direction.

  The transmission-side variable phasing circuit 22 calculates n phase differences in order to make the main axis P of the communication variable beam B1 coincide with the arrival direction based on the phasing data G5. Then, using this phase difference, the phase of the modulation signal G3 from the modulation circuit 23 is adjusted to generate n transmission-side phased output signals G6 each having a different phase and output to the transmission circuit 21. The transmission circuit 21 amplifies the transmission-side phasing output signal G6 and outputs it as a transmission signal G7 to the transmission / reception unit 2A via the switch 29. As a result, the communication variable beam B1 in which the main axis P coincides with the direction of the communication target 3 can be transmitted from the transmission / reception unit 2A.

  Steps SA5 and SA6: Next, the signal / orientation detection circuit 28 outputs the recognition signal G4_2 (frequency F2) to the transmission-side variable phasing circuit 22.

  The recognition signal G4_2 is input to the transmission circuit 21 via the transmission-side variable phasing circuit 22, amplified in power by the transmission circuit 21, and output to the transmission / reception unit 2A via the switch 29. And it transmits to the communication target 3 from this transmission / reception part 2A as recognition signal sound B1_2. The communication target 3 detects the recognition signal sound B1_2.

  Steps SA7 and SA8: When the communication target 3 detects the recognition signal sound B1_2, it transmits the initial signal sound B2_1 again. The initial signal sound B2_1 is received by the communication device 2, and converted into the reception circuit signal G9 by the reception circuit 24 in accordance with the procedure described above. The reception circuit signal G9 is output to the reception-side variable phasing circuit 26 and the signal / orientation detection circuit 28.

  Steps SA9 and SA10: The signal / orientation detection circuit 28 compares the S / N ratio (corresponding to SN2 shown in FIG. 4B) after band limitation by the bandpass filter with the modulation map, and the modulation method and transmission rate. To decide. FIG. 5 is a diagram illustrating such a modulation map. 5A is a diagram showing a modulation map in which the vertical axis represents the SN ratio and the horizontal axis represents the frequency, and FIG. 5B is a table showing the communication method associated with each map point (□ area). FIG. When the detected SN ratio is SN2 as shown in FIG. 4A, it can be seen from FIG. 5A that the best frequency (frequency most suitable for the communication environment) is F5. Then, it can be seen from FIG. 5 (b) that the communication method for the frequency F5 is GMSK modulation and the rate is 4800 BPS. In the following description, the frequency thus obtained is assumed to be Fx.

  This modulation map is acquired in advance by theoretical examination or simulation, and is stored as shared data in the communication device 2 and the communication target 3.

  A system sound signal G4_3 indicating the communication system determined in this way is output from the signal / azimuth detection circuit 28 to the transmission-side variable phasing circuit 22, and the transmission circuit 21 and the switch 29 are passed through the phasing process described above. Via the transmission / reception unit 2A toward the communication target 3 as the system sound B1_3.

  Steps SA11 and SA12: When the communication target 3 receives the method sound B1_3, the communication target 3 detects the frequency Fx from the method sound B1_3 and compares it with the modulation map. Based on this verification, the communication method is determined and set.

  Steps SA13 and SA14: The communication target 3 modulates the built-in data based on the set communication method, and transmits the modulated data as the communication sound B2_3 (frequency Fx). The communication device 2 receives this communication sound B2_3, and the internal data transmitted by the communication target 3 is demodulated. As described above, communication from the communication target 3 to the communication device 2 becomes possible.

  Next, a communication procedure from the communication device 2 to the communication target 3 will be described with reference to FIG. FIG. 3 is a flowchart showing a communication procedure from the communication device 2 to the communication target 3.

  Steps SB1, SB2: First, the signal / orientation detection circuit 28 outputs an initial signal G4_1 to the transmission-side variable phasing circuit 22. Since the phasing data G5 is initialized at this time, the transmission-side variable phasing circuit 22 outputs the transmission-side phasing output signal G6 to the transmission circuit 21 in the form of the omnidirectional initial signal beam B3. . Then, the transmission circuit 21 amplifies the power of the transmission side phasing output signal G6, switches the switch 29 to the transmission circuit 21 side, and outputs it to the transmission / reception unit 2A as the transmission signal G7. The transmission / reception unit 2A transmits the transmission signal G7 as the initial signal sound B1_1 having the frequency F1. The communication target 3 receives the initial signal sound B1_1.

  Steps SB3 and SB4: When the communication target 3 receives the initial signal sound B1_1, it transmits the recognition signal sound B2_2 having the frequency F2. This recognition signal sound B2_2 is received by the communication device 2 and input to the reception circuit 24 as a recognition reception signal G8_2. The reception circuit 24 amplifies the recognition reception signal G8_2 and outputs it as a reception circuit signal G9 to the reception side variable phasing circuit 26 and the signal / orientation detection circuit 28.

  Step SB5: The signal / orientation detection circuit 28 detects the arrival direction of the recognition signal sound B2_2 from the reception circuit signal G9, that is, the direction of the communication target 3. These procedures are the same as the orientation detection procedure described above. FIG. 6 is a diagram when the S / N ratio is improved by applying a band limitation when detecting the arrival direction, and FIG. 6A is a diagram showing the reception circuit signal G9 before the band limitation is applied, FIG. (B) is a figure which shows the receiving circuit signal G9 after band-limiting. As apparent from FIG. 6, the signal level of the reception circuit signal G9 is suppressed in the band other than the frequency F1 by the bandpass filter, and the band signal of the frequency F2 is clear. That is, the SN ratio between the signal of frequency F2 and the signal of other band is improved (SN3 → SN4). Therefore, threshold processing is performed on the signal with improved S / N ratio to detect the azimuth with the maximum peak value.

  Steps SB6 and SB7: Thereafter, the phasing data G5 is created so that the main axis P of the communication variable beam B1 coincides with the detected azimuth, and is output to the transmission-side variable phasing circuit 22. The transmission-side variable phasing circuit 22 generates n transmission-side phasing output signals G6 having different phases based on the phasing data G5 and outputs them to the transmission circuit 21. The transmission circuit 21 amplifies the transmission side phasing output signal G6 and outputs it as a transmission signal G7 to the transmission / reception unit 2A via the switch 29. The transmission / reception unit 2A transmits the transmission signal G7 toward the communication target 3 as the recognition signal sound B1_2.

  Steps SB8 and SB9: When the communication target 3 receives the recognition signal sound B1_2, it transmits the initial signal sound B2_1 having the frequency F1 to the communication device 2 again.

  Steps SB10 to SB12: When receiving the initial signal sound B2_1, the communication device 2 determines and sets a communication method by collating with the modulation map according to the procedure described above. Then, the system sound B1_3 notifying the determined communication system is transmitted to the communication target 3.

  Steps SB13 and SB14: When the communication target 3 receives the system sound B1_3, the communication target 3 sets the communication system according to the content and waits for reception of the communication sound B1_4 from the communication device 2.

  Step SB15: After transmitting the system sound B1_3, the communication device 2 modulates the input signal G2 with the modulation circuit 23 after a predetermined time (time until the communication target 3 completes setting of the communication system), and transmits it. N transmission-side phasing output signals G6 are generated by the side-side variable phasing circuit. Then, these transmission-side phasing output signals G6 are amplified by the transmission circuit 21, and are transmitted as the communication sound B1_4 from the transmission / reception unit 2A via the switch 29.

  In this way, when performing underwater communication, directivity can be directed to the communication target side, so that, for example, even when the communication sound has a band, the SN ratio can be improved as shown in FIG. Accordingly, communication quality is improved. FIG. 7 is a diagram showing the effect when band limitation is applied to a signal corresponding to a communication sound. FIG. 7A is a diagram showing a signal level before band limitation, and FIG. ) Is a diagram showing a signal level after band limitation. It can be seen that the signal-to-noise ratio (SN6) of the signal after band-limiting is larger than the signal-to-noise ratio (SN5) of the signal before band-limiting, and the signal of the communication sound can be clearly detected by threshold processing.

  In addition, since the SN is improved in various modulation schemes, as shown in FIG. 8, it is possible to improve the error rate and the transmission amount. FIG. 8A is a diagram showing the effect of improving the error rate, and FIG. 8B is a diagram showing the improvement of the transmission amount. In any case, it can be seen that the error rate is improved and the transmission amount is improved by improving the SN ratio (SN5, SN7 → SN6, SN8).

  Furthermore, since directivity can be directed to the communication target 3, the transmitted sound pressure in the communication sound band is improved as shown in FIGS. FIG. 9A is a diagram showing the sound pressure level of a non-directional sound wave, and FIG. 9B is a diagram showing the sound pressure level of a sound wave for which directivity is set. FIG. 10A is a diagram illustrating the signal level of a non-directional sound wave, and FIG. 10B is a diagram illustrating the signal level of a sound wave for which directivity is set. As can be seen from these drawings, the sound pressure level is increased (α indicates the amount of increase) by setting the directivity. This increase amount α of the sound pressure level brings about an improvement in the S / N ratio, so that the error rate and the transmission amount can be greatly improved.

  In addition, since the modulation map is stored in advance in the signal processing unit 2B and the communication target 3, it is possible to set a communication method with good transmission efficiency according to the SN of the communication environment.

  Also, as shown in FIG. 5, different frequencies are assigned, such as frequency F1 for the initial signal sound, frequency F2 for the recognition signal sound, frequency F3 to Fn for the system sound, and the frequency to be used for each operation sequence is set. Therefore, it becomes possible to easily limit the bandwidth. As a result, the signal-to-noise ratio can be improved, interference between signals can be avoided, and even a signal with a low signal level can be easily detected because it is a long distance.

  Furthermore, since the initial signal sound is omnidirectional and waits, it is possible to detect a wide range of communication target positions.

  In the above description, the communication method is determined on the communication device 2 side. However, the communication target 3 may have the same function, and the communication method may be determined in advance.

  In the above description, one type of initial signal sound is used. However, when performing communication between a plurality of signals, it is possible to call a specific communication target 3 by using sounds of a plurality of frequencies as address sounds. For example, three frequencies Fa, Fb, Fc are used, the communication device 2 is a frequency of Fa and Fb, the communication device is a frequency of Fa and Fc, and the communication target 3 is a combination of two frequencies of Fb and Fc. You may make it discriminate | determine 3 addresses.

  In addition, in the case of a communication target moving at high speed, the frequency detection of the initial signal sound is extended to the range in which the Doppler effect is predicted, the frequency of the incoming initial signal sound is measured, the Doppler deviation ΔV is measured, and the following The frequency of the recognition signal sound, the system sound, and the communication sound can be processed in consideration of the frequency shift of ΔV.

  In the above description, after the communication device 2 transmits the system sound, the communication sound is transmitted after a lapse of a certain time. However, on condition that the communication target 3 receives a signal notifying completion of the system setting. good.

  Furthermore, when there is noise from a specific direction in the sea or when confidentiality is required to communicate in a specific direction, the directivity corresponding to these directions can be set to avoid the noise direction. It is also possible to create directivity and narrow directivity.

  Each of the above embodiments is an example of a preferred embodiment of the present invention, and the present invention is not limited to this. For example, when the main axis P is determined, the main axis may be determined from the phase difference of the sound wave that has expired.

DESCRIPTION OF SYMBOLS 1 Transmitter / receiver 2 Communication apparatus 2A Transmission / reception part 2B Signal processing part 3 Communication target 4a Transmission unit 4b Reception unit 21 Transmission circuit 22 Transmission side variable phasing circuit 23 Modulation circuit 24 Reception circuit 26 Reception side variable phasing circuit 27 Demodulation circuit 28 Signal / Direction Detection Circuit

Claims (13)

Receive a sound wave from a communication target, output a signal based on the sound wave as a received signal, and transmit / receive a sound wave based on the input transmission signal , where n is a positive integer of 2 or more, n and the number Bei obtain wave transceiver unit,
A signal processing unit that outputs a transmission signal to the transmission / reception unit and receives and demodulates a reception signal received by the transmission / reception unit, and
The signal processing unit
The direction of the communication target is detected from the n received signals, and phasing data is generated and output based on the direction detection result, and the communication method with the communication target is determined. A signal / azimuth detection circuit to output as method data;
A transmission unit that outputs the transmission signals having different n phases to the transmission / reception unit such that a sound beam transmitted to the communication target based on the phasing data matches the direction of the communication target;
A receiving unit that adjusts and demodulates the phases of the n received signals based on the phasing data;
A communication apparatus comprising: The communication device according to claim 1,
The transmitting unit is
A modulation circuit that modulates a signal to be transmitted to the target based on the method data and outputs the modulated signal;
Transmission that outputs n transmission-side phasing output signals in which a phase difference is given to each modulation signal so that the sound beam transmitted from the transmission / reception unit matches the direction of the communication target based on the phasing data Side variable phasing circuit,
and a transmission circuit that amplifies the n transmission-side phased output signals and outputs the amplified signals to the transmission / reception unit. The communication device according to claim 2,
The receiving unit is
A receiving circuit that amplifies n received signals from the transmitting / receiving unit and outputs them as receiving circuit signals;
A receiving-side variable phasing circuit that adjusts the phases of the n received signals based on the phasing data and outputs a receiving-side phasing output signal obtained by addition; and
And a demodulating circuit that demodulates the receiving side phasing output signal based on the method data. The communication device according to claim 3,
When detecting the communication method, the signal / orientation detection circuit limits the band of the reception circuit signal to improve the SN ratio, and then determines the direction in which the peak value becomes the largest as the direction of the communication target. A communication apparatus characterized by being derived as follows. The communication device according to claim 3 or 4,
When detecting the communication method, the signal / azimuth detection circuit is preliminarily set using the SN ratio at the peak value after band limiting is applied to the reception circuit signal to improve the SN ratio. A communication apparatus for determining a communication method from a modulation map. The communication device according to any one of claims 2 to 5,
The signal / orientation detection circuit outputs a method setting signal of a predetermined frequency for determining a communication method of communication performed with the communication target to the transmission-side variable phasing circuit. n and reception waves from a communication target by the n transducer which was 2 or more positive integer, and outputs a signal by the sound wave as a reception signal, transmitting a sound wave based on a transmission signal input Transmit / receive procedure to
A signal processing procedure for outputting a transmission signal used when transmitting a sound wave in the transmission / reception procedure and receiving and demodulating a reception signal received by the transmission / reception procedure,
The signal processing procedure includes:
A procedure for detecting the azimuth of the communication target from the n received signals, a procedure for generating and outputting phasing data based on the azimuth detection result, a communication method with the communication target, and detecting the detection result Signal / azimuth detection procedure including the procedure to output as method data,
A transmission unit procedure for outputting the transmission signals having different n phases to the transmission / reception procedure so that a sound beam transmitted to the communication target based on the phasing data is in the direction of the communication target;
A receiving unit procedure for adjusting and demodulating the phase of the n received signals based on the phasing data;
A communication method comprising:
The communication method according to claim 7, wherein
The transmission unit procedure is:
A modulation procedure for modulating a signal to be transmitted to the target based on the method data and outputting the modulated signal as a modulated signal;
N modulation signals are generated from the modulation signals, and a phase difference is set in each modulation signal so that a sound beam transmitted from the transmission / reception procedure matches the direction of the communication target based on the phasing data. A transmission-side variable phasing procedure for outputting the given n transmission-side phasing output signals;
and a transmission procedure for amplifying the n transmission-side phased output signals and outputting them to the transmission / reception procedure. The communication method according to claim 8, comprising:
The receiving unit procedure is:
A reception procedure for amplifying n received signals from the transmission / reception procedure and outputting them as reception procedure signals;
A receiving-side variable phasing procedure for adjusting a phase of the n received signals based on the phasing data and outputting a receiving-side phasing output signal obtained by addition; and
And a demodulation procedure for demodulating the receiving side phasing output signal based on the method data. The communication method according to claim 9, comprising:
The signal / azimuth detection procedure derives the communication target azimuth from the procedure for improving the S / N ratio by limiting the bandwidth to the reception procedure signal and detecting the communication method and the peak value. And a communication method characterized by comprising: The communication method according to claim 9 or 10, wherein
The signal / azimuth detection procedure is derived from a procedure for deriving a frequency indicating a peak after improving the SN ratio by applying a band limitation to the reception procedure signal when detecting the communication method. And a procedure for determining a communication method from a modulation map set in advance using a frequency. The communication method according to any one of claims 7 to 11,
The signal / orientation detection procedure includes a procedure for outputting a predetermined method setting signal for determining a communication method of communication performed with the communication target. The communication method according to claim 12, comprising:
The method setting signal includes at least one of an initial signal used to detect the presence of a communication partner, a recognition signal notifying that the communication partner has been recognized, and a method sound signal notifying the communication method with the communication partner. In addition, when outputting the initial signal, the phasing data is generated so that a sound wave based on the initial signal is transmitted as a non-directional sound wave from the transmission / reception procedure. Method.

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