Transmission method and transmission system

Abstract

To provide an effective transmission method while suppressing a communication delay.SOLUTION: A transmission method for transmitting control data to a mobile body 107 from a communication terminal 101, contains: a step of transmitting the control data to a transmitter 103 (a terminal side relay device) by USB communication from the communication terminal 101; a step of dividing the control data transmitted to the transmitter 103 into a plurality of pieces of division data with a predetermined size which can be received by the mobile body 107; a step of transmitting each piece of division data to a receiver 105 (a mobile body side relay device) by BLE communication; and a step of transmitting each piece of division data transmitted to the receiver 105 to the mobile body 107 by serial communication.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a transmission method and a transmission system. [Background technology]

[0002] Conventionally, there have been communication systems that communicate wirelessly, rather than via wires, between multiple mobile objects that move freely within a facility, for example, for transportation, and a communication terminal used to control the mobile objects (see, for example, Patent Document 1). In such communication systems, infrared communication has been used as a communication means for controlling the mobile objects (e.g., issuing commands). However, in a factory or other facility where multiple industrial machines are installed, there are many obstructions, and poor visibility can significantly hinder communication. Therefore, in recent years, communication using Bluetooth (registered trademark) Low Energy (hereinafter referred to as BLE) has become more common. When controlling a mobile object using BLE communication (BLE communication), control data generated by a program running on an operating system (OS) included in the communication terminal is transmitted from a communication terminal (equipped with a transmitter) that performs BLE communication to the mobile object (equipped with a receiver). The receiver, upon receiving the control data, relays the communication to the mobile object. When a communication terminal controls a mobile object, it is necessary to keep communication delay between the communication terminal and the mobile object to a short time (on the order of milliseconds). In addition, to prevent interference with control communications established separately from BLE communications for controlling the autonomous driving of mobile units, an upper limit is set on the size of control data that a mobile unit can receive at one time. Also, compared to wireless communications using the Bluetooth standard, BLE communications transmits smaller data sizes at one time in order to reduce power consumption associated with wireless communications. Therefore, multiple communications are required when transmitting control data to a mobile unit using BLE communications. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-150135 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned communication system, control of a mobile object is required to be immediate (for example, to stop it in an emergency), and therefore, it is required to keep the delay in communication between the communication terminal and the mobile object as short as possible (for example, in the order of milliseconds). Furthermore, depending on the communication system, it may be necessary to communicate with a higher-level system to control the running of the mobile object. In such cases, the size of communication data that the mobile object can receive at one time is limited so as not to affect the communication. Therefore, when transmitting control data to a mobile object, the communication terminal needs to transmit the data as efficiently as possible in the shortest possible time while taking into account the size limit.

[0005] In addition, in a communication system, for example, it is assumed that control data transmitted from a communication terminal to a mobile body is communicated between a transmitter (equipped with a BLE communication module) connected to the communication terminal via a USB (Universal Serial Bus) cable and a receiver (equipped with a BLE communication module) connected to the mobile body using BLE communication.

[0006] However, due to the specifications of the OS (e.g., Windows (registered trademark), etc.), there may be cases where the control of the BLE communication cannot satisfy the specifications of the communication system (e.g., millisecond units) (e.g., communication delays may occur). Furthermore, the size of control data that a mobile unit can receive and the timing at which communication is possible change constantly depending on the communication status with the upper system. Therefore, in control using conventional BLE communication, the number of communications increases or decreases depending on changes in the communication status of the mobile unit, resulting in the problem of inefficient communication.

[0007] The present invention has been made in consideration of the above circumstances, and its main purpose is to provide a transmission system etc. that can efficiently carry out communication related to the control of a mobile body while suppressing communication delays in communication between a communication terminal and a mobile body. [Means for solving the problem]

[0008] A transmission method according to one embodiment of the present invention is a transmission method for transmitting control data from a communication terminal to a mobile body, and includes the steps of transmitting the control data from the communication terminal to a terminal-side relay device via USB communication, dividing the control data transmitted to the terminal-side relay device into multiple divided data of a predetermined size that can be received by the mobile body, transmitting the divided data to the mobile body-side relay device via BLE communication, and transmitting the divided data transmitted to the mobile body-side relay device to the mobile body via serial communication.

[0009] According to this, the communication terminal transfers control data to be transmitted to the mobile unit to the terminal-side relay device in a single USB transmission, thereby eliminating one cause of increased communication delays in the communication system due to the specifications of the communication terminal's OS, etc. On the other hand, even if there is a limit to the size of communication data that the mobile unit can receive at one time, the control data to be transmitted from the communication terminal to the mobile unit is appropriately divided and transmitted in the terminal-side relay device according to the specifications of the mobile unit, thereby optimizing the number of BLE communications performed between the communication terminal and the terminal-side relay device and enabling efficient communication. Thus, the transmission method according to one aspect of the present invention enables efficient communication related to the control of the mobile unit between the communication terminal and the mobile unit while suppressing communication delays.

[0010] A transmission system according to one embodiment of the present invention is a transmission system for transmitting control data from a communication terminal to a mobile body, and includes a terminal-side relay device and a mobile body-side relay device. The terminal-side relay device includes a first communication unit that receives control data from the communication terminal via USB communication, a dividing unit that divides the control data into divided data of a predetermined size that can be received by the mobile body, and a second communication unit that transmits the divided data to the mobile body-side relay device via BLE communication. The mobile body-side relay device includes a third communication unit that receives the divided data transmitted from the terminal-side relay device via BLE communication, and a fourth communication unit that transmits the divided data to the mobile body via serial communication.

[0011] According to this, the transmission system according to one aspect of the present invention achieves the same effects as the above transmission method.

[0012] In addition, the mobile body provided in the above transmission system may be configured to send an abnormal response addressed to the communication terminal when abnormal divided data is received from the mobile body relay device, or when divided data is not received from the mobile body relay device within a predetermined period of time.

[0013] According to this, the mobile body provided in the transmission system can notify the communication terminal that it has failed to receive the control data transmitted from the terminal-side relay device.

[0014] A transmission method according to another aspect of the present invention is a transmission method for transmitting control data from a communication terminal to a mobile object, and includes the steps of transmitting the control data from the communication terminal to a relay device via BLE communication, dividing the control data received by the relay device into multiple divided data pieces of a predetermined size that can be received by the mobile object, and transmitting the divided data pieces to the mobile object via serial communication.

[0015] According to this, the communication terminal transfers control data to be transmitted to the mobile unit to the relay device in a single BLE transmission, thereby reducing the number of BLE communications between the communication terminal and the relay device and eliminating one cause of increased communication delays in communication systems due to the specifications of the communication terminal's OS, etc. Furthermore, because the control data is temporarily stored in the relay device close to the mobile unit, divided data can be transmitted to the mobile unit without BLE communications, further reducing delays. On the other hand, even if there is a limit to the size of communication data that a mobile unit can receive at one time, the control data to be transmitted from the communication terminal to the mobile unit is appropriately divided and transmitted in the relay device according to the specifications of the mobile unit. This optimizes the number of communications between the communication terminal and the relay device, enabling efficient communication. Thus, the transmission method according to another aspect of the present invention enables efficient communication related to the control of the mobile unit while reducing communication delays between the communication terminal and the mobile unit. Note that the relay device in the transmission method according to another aspect of the present invention corresponds to the receiver, or in other words, the mobile unit relay device, used in describing the second embodiment.

[0016] A transmission system according to another aspect of the present invention is a transmission system including a mobile body relay device for transmitting control data from a communication terminal to a mobile body, the mobile body relay device including a third communication unit that receives the control data from the communication terminal, a dividing unit that divides the control data into divided data of a predetermined size that can be received by the mobile body, and a fourth communication unit that transmits the divided data to the mobile body via serial communication.

[0017] According to this, the transmission system according to the other aspect of the present invention has the same effect as the transmission method according to the other aspect described above.

[0018] In addition, a mobile body provided with a transmission system relating to the other aspect described above may be configured to send an abnormal response addressed to the communication terminal when abnormal divided data is received from the mobile body relay device, or when divided data is not received from the mobile body relay device within a predetermined period of time.

[0019] According to this, the mobile object provided with the transmission system according to the other aspect can notify the communication terminal that it has failed to receive the control data.

[0020] In addition, the terminal-side relay device provided in the transmission system related to the other aspect above may include a first communication unit that receives control data from the communication terminal via USB communication and a second communication unit that transmits the control data to the mobile-side relay device via BLE communication, and the third communication unit may be configured to receive the control data transmitted from the terminal-side relay device via BLE communication.

[0021] According to this, the transmission system according to the other aspect can transmit control data to a mobile body using a USB interface provided in the communication terminal, thereby reducing the number of BLE communications between the communication terminal and the mobile body relay device. [Effects of the Invention]

[0022] According to the present invention, it is possible to provide a transmission system etc. that can efficiently perform communication related to the control of a mobile body between a communication terminal and the mobile body while suppressing communication delays. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a schematic diagram showing an overview of a communication system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing a functional configuration of a transmitter according to the first embodiment of the present invention. [Figure 3] FIG. 3 is a block diagram showing a functional configuration of a receiver according to the first embodiment of the present invention. [Figure 4] FIG. 4 is a flowchart showing the operation of the transmitter according to the first embodiment of the present invention. [Figure 5] FIG. 5 is a flowchart showing the operation of the receiver according to the first embodiment of the present invention. [Figure 6]FIG. 6 is a sequence diagram showing the flow of processing when control data is normally exchanged in the communication system according to the first embodiment of the present invention. [Figure 7] FIG. 7 is a sequence diagram showing a processing flow when an abnormality occurs in the transmission and reception of control data in the communication system according to the first embodiment of the present invention. [Figure 8] FIG. 8 is a block diagram showing a functional configuration of a transmitter according to the second embodiment of the present invention. [Figure 9] FIG. 9 is a block diagram showing a functional configuration of a receiver according to the second embodiment of the present invention. [Figure 10] FIG. 10 is a flowchart showing the operation of the transmitter according to the second embodiment of the present invention. [Figure 11] FIG. 11 is a flowchart showing the operation of the receiver according to the second embodiment of the present invention. [Figure 12] FIG. 12 is a sequence diagram showing the flow of processing when control data is normally exchanged in the communication system according to the second embodiment of the present invention. [Figure 13] FIG. 13 is a sequence diagram showing a processing flow when an abnormality occurs in the transmission and reception of control data in the communication system according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0024] Hereinafter, the embodiments will be specifically described with reference to the drawings. The embodiments described below each illustrate a preferred specific example of the present invention. The numerical values, shapes, components, component placement and connection configurations, steps, and step order shown in the following embodiments are merely examples and are not intended to limit the present invention. Furthermore, among the components in the following embodiments, components that are not described in the independent claims that represent the highest concept of the present invention will be described as optional components that constitute a more preferred embodiment. Note that identical components will be assigned the same reference numerals, and descriptions thereof may be omitted.

[0025] [First embodiment] An overview of a communication system according to an embodiment of the present invention will be described with reference to FIG.

[0026] 1, the communication system 100 includes a communication terminal 101, a communication link 102, a transmitter 103, a wireless link 104, a receiver 105, a communication link 106, and a mobile object 107. The communication system 100 is, for example, a mobile object control system that controls the mobile object 107 based on control data transmitted by the communication terminal 101.

[0027] The communication terminal 101 is, for example, a tablet terminal or a PC (Personal Computer). The communication terminal 101 transmits control data for controlling the mobile object 107 and receives response data, etc., including a response that may be transmitted from the mobile object 107. The communication terminal 101 is also used by an administrator who manages the communication system 100, and displays various information regarding communications in the communication system 100 and the operating status of the mobile object 107 using a display unit or the like provided on the communication terminal 101, and receives instructions, etc., for controlling the mobile object 107 from the administrator. The transmitter 103 and the receiver 105 are assumed to function transparently, i.e., the communication terminal 101 and the mobile object 107 are assumed to be in direct communication.

[0028] The communication link 102 connects the communication terminal 101 and the transmitter 103. The communication link 102 is realized by a bus communication standard such as USB.

[0029] Transmitter 103 is a relay device attached to communication terminal 101 and functions as a wireless relay device between communication terminal 101 and mobile object 107, and corresponds to a terminal-side relay device. Transmitter 103 communicates with communication terminal 101 via communication link 102, and also communicates with receiver 105 via wireless link 104, thereby relaying communication between communication terminal 101 and receiver 105. Transmitter 103 transmits control data transmitted by communication terminal 101 to receiver 105, and also transmits response data transmitted by receiver 105 to communication terminal 101.

[0030] The wireless link 104 connects the transmitter 103 and the receiver 105. The wireless link 104 is realized by a short-range wireless communication standard such as Bluetooth (specifically, BLE).

[0031] Receiver 105 is a relay device attached to mobile unit 107 and functions as a wireless relay device between communication terminal 101 and mobile unit 107, and corresponds to a mobile unit-side relay device. Receiver 105 communicates with transmitter 103 via wireless link 104 and with mobile unit 107 via communication link 106, thereby relaying communication between transmitter 103 and mobile unit 107. Receiver 105 transmits control data transmitted by transmitter 103 to mobile unit 107, and also transmits response data including a response transmitted by mobile unit 107 to transmitter 103.

[0032] The communication link 106 connects the receiver 105 and the mobile unit 107. The communication link 106 is realized by a bus communication standard such as RS-422 or USB.

[0033] The mobile object 107 is, for example, a transport vehicle that transports materials for industrial machines to produce products, or transports products produced by the industrial machines. The mobile object 107 operates based on control data transmitted by the communication terminal 101, and transmits a response to the communication terminal 101 according to the reception status of the control data and the status of the mobile object 107 itself (for example, status information associated with the execution of a specific task).

[0034] The second embodiment of the present invention will be explained after the first embodiment of the present invention. The transmitter 103 and the receiver 105 will be referred to as 103a and 105a, respectively, in the first embodiment of the present invention, and as 103b and 105b, respectively, in the second embodiment of the present invention, to distinguish between them.

[0035] FIG. 2 is a block diagram showing the functional configuration of the transmitter 103a according to the first embodiment of the present invention.

[0036] As shown in FIG. 2, the transmitter 103a includes a first communication unit 201, a division unit 202, a buffer 203, a second communication unit 204, and a storage unit 205. The above functions of the transmitter 103a are realized by hardware such as a central processing unit (CPU), a random access memory (RAM), a storage device (e.g., a non-volatile storage device such as a read-only memory (ROM), an embedded multimedia card (eMMC), a hard disk drive (HDD), or a solid state drive (SSD)), and a communication module included in the transmitter 103a. Specifically, the functions are realized by the CPU reading out a program stored in the storage device or the like and executing it in cooperation with the hardware. Furthermore, the control data and the divided data exchanged between the first communication unit 201 and the second communication unit 204 are converted as appropriate according to the type and structure of a communication packet according to a communication protocol that each communication unit can process.

[0037] In this embodiment, the transmitter 103a is premised on a data division function, and is realized as a separate device existing outside the communication terminal 101 in order to avoid limitations imposed by the OS running on the communication terminal 101 (for example, when it takes a long time to transmit multiple frames related to BLE communication).

[0038] The first communication unit 201 is realized by, for example, a USB communication module and a control program (for example, driver software that controls the hardware of the communication module and a program that supports communication associated therewith). The transmitter 103a receives control data transmitted by the communication terminal 101 via the first communication unit 201 and transfers the control data to the division unit 202. Furthermore, the first communication unit 201 receives response data that the second communication unit 204 has received from the receiver 105a, and transmits the response data to the communication terminal 101.

[0039] The dividing unit 202 generates a plurality of divided data by dividing the control data based on a predetermined size value stored in the storage unit 205. The dividing unit 202 executes a process of generating divided data by dividing the control data based on a predetermined size for dividing the control data using a program (application layer in the OSI (Open Systems Interconnection) reference model) such as application software (hereinafter also referred to as an application) pre-stored in the storage unit 205 of the transmitter 103a. Furthermore, the predetermined size value that determines the size of the divided data is optimized based on the size of data that the mobile object 107 can receive so as to minimize the number of wireless (e.g., BLE) communications, and is stored in the storage unit 205. Upon completing the generation of the plurality of divided data from the control data, the dividing unit 202 transfers each of the generated plurality of divided data to the buffer 203.

[0040] The buffer 203 temporarily stores the multiple pieces of divided data generated by the dividing unit 202. Furthermore, based on a request from the second communication unit 204, the buffer 203 transfers the divided data to the second communication unit 204. The buffer 203 is realized by providing a specific area for temporary storage on, for example, RAM or a non-volatile storage device.

[0041] The second communication unit 204 is realized by, for example, a wireless communication module and a control program. Based on a request transmitted from the receiver 105a, the second communication unit 204 sequentially transmits the divided data temporarily stored in the buffer 203 to the receiver 105a via the wireless link 104. The second communication unit 204 also receives response data transmitted from the receiver 105a and transfers the received response data to the first communication unit 201. Here, the response data may be, for example, data including a reception completion notification that notifies the second communication unit 204 that reception of all divided data has been completed from the receiver 105a, or data notifying an abnormality due to a timeout that has occurred when the second communication unit 204 is unable to receive response data including a reception completion notification from the receiver 105a (described later) for some reason. Note that the communication between the second communication unit 204 and the receiver 105a may be bidirectional wireless LAN communication such as Wi-Fi, but short-range wireless communication such as Bluetooth (specifically, BLE) is particularly desirable.

[0042] The storage unit 205 stores in advance an application for dividing the control data and generating divided data in the division unit 202, and a predetermined size value for the application to generate the divided data. The predetermined size value may be set in the transmitter 103a in advance by an administrator, or may be notified in advance from the mobile unit 107 to the transmitter 103a as an initial setting when the mobile unit 107 becomes able to communicate with the transmitter 103a.

[0043] FIG. 3 is a block diagram showing the functional configuration of the receiver 105a according to the first embodiment of the present invention.

[0044] As shown in Fig. 3, receiver 105a includes third communication unit 301, fourth communication unit 302, and response unit 303. The above functions of receiver 105a are realized by hardware such as a CPU, RAM, storage device, and communication module included in receiver 105a. Specifically, the functions are realized by the CPU reading out a program stored in a storage device or the like and executing it in cooperation with the hardware. Furthermore, control data and divided data are exchanged between third communication unit 301 and fourth communication unit 302 by converting the data according to the type and structure of the communication packet using a communication protocol that each communication unit can communicate with.

[0045] The third communication unit 301 is realized by, for example, a wireless communication module and a control program. The third communication unit 301 receives divided data from the transmitter 103a via the wireless link 104 and transfers the divided data to the fourth communication unit. The third communication unit 301 also transmits response data generated by the response unit 303 to the transmitter 103a via the wireless link 104. If the third communication unit 301 receives abnormal divided data, it discards the received abnormal divided data.

[0046] The fourth communication unit 302 is realized by, for example, a serial communication module and a control program, etc. The fourth communication unit 302 transmits the divided data received by the third communication unit to the mobile object 107, and also receives a reception confirmation notification transmitted by the mobile object 107 in response to the reception of the divided data (for example, a notification by an acknowledgment (acknowledgement) signal returned when data reception in communication via an RS-422 interface is successful), or a reception completion notification indicating that the last divided data of multiple divided data transmitted from the transmitter 103a to be received by the mobile object 107 has been received, and notifies the response unit 303 of the received abnormal response. Furthermore, when the mobile object 107 issues an abnormal response (for example, a response signal indicating that reception in communication via the RS-422 interface has failed), the fourth communication unit 302 notifies the response unit 303 of the received abnormal response.

[0047] Responding unit 303 generates response data according to the response content (reception confirmation notification, reception completion notification, or abnormal response) transmitted by mobile entity 107. The response data generated by responding unit 303 is transmitted to transmitter 103a via third communication unit 301. When fourth communication unit 302 receives a reception confirmation notification, responding unit 303 generates response data including a divided data transmission request for requesting transmitter 103a to transmit the next divided data, and transmits the response data to transmitter 103a via third communication unit 301. Furthermore, when fourth communication unit 302 receives an abnormal response from mobile entity 107, responding unit 303 generates response data including the abnormal response and transmits the response data to transmitter 103a via third communication unit 301.

[0048] [Explanation of the flow according to the first embodiment] Next, a series of processes performed by transmitter 103a according to the first embodiment in a communication system after receiving control data from communication terminal 101 until completing transmission of the control data to receiver 105a will be described with reference to FIG.

[0049] Step S401 is a step in which the first communication unit 201 receives control data from the communication terminal 101. The control data processing process by the transmitter 103a starts processing related to the transmission of control data when the control data is received.

[0050] In step S402, the dividing unit 202 generates divided data from the control data received in step S401 based on a size value (predetermined size value) that can be received by the mobile unit 107 and that is stored in the storage unit 205.

[0051] Step S403 is a step in which the buffer 203 stores each of the divided data generated in step S402.

[0052] Step S404 is a step in which the second communication unit 204 sequentially transmits the divided data to the receiver 105a.

[0053] Step S405 is a step in which second communication unit 204 determines whether or not it has received response data including an abnormal response from receiver 105a. If second communication unit 204 has received response data including an abnormal response (Yes in step S405), it executes step S409, and if second communication unit 204 has not received response data including an abnormal response, it executes step S406 (No in step S405).

[0054] Step S406 is a step for determining whether all divided data stored in buffer 203 have been transmitted. If all divided data have been transmitted (Yes in step S406), step S408 is executed. If the divided data to be transmitted has not been transmitted (divided data remains in buffer 203) (No in step S406), step S407 is executed. Specifically, for example, the determination of whether divided data to be transmitted exists may be made by assigning a sequence number to each of multiple divided data obtained when dividing the size of control data by a predetermined size value, and transmitting divided data including the sequence number that is the total number of divided data. Alternatively, this determination may be made by comparing the size of the control data received by transmitter 103a from communication terminal 101 (i.e., data to be transmitted by transmitter 103a to mobile unit 107) with the size of the data obtained by accumulating the sizes of the divided data currently transmitted by transmitter 103a, and when the two sizes match, second communication unit 204 determines that the last divided data has been transmitted.

[0055] Step S407 is a step in which second communication unit 204 accepts a divided data transmission request from receiver 105a. When second communication unit 204 receives response data including the divided data transmission request, it executes step S404 again. In this way, transmitter 103a sequentially transmits the plurality of divided data temporarily stored in buffer 203 to receiver 105a. Note that in step S407, second communication unit 204 may provide a timeout process or the like in case it is unable to receive response data including the divided data transmission request from receiver 105a for some reason, and if a timeout occurs, may send a notification to communication terminal 101 informing it of an abnormality (not shown).

[0056] Step S408 is a step in which second communication unit 204 waits to receive response data including a reception completion notification from receiver 105a. When second communication unit 204 receives the response data including the reception completion notification, step S409 is executed. Note that in step S408, second communication unit 204 may provide a timeout process in case it is unable to receive the response data including the reception completion notification from receiver 105a for some reason, and if a timeout occurs, may send a notification to communication terminal 101 informing it of an abnormality (not shown).

[0057] Step S409 is a step in which the second communication unit 204 transmits response data including an error notification (abnormal response) received in S405, such as a notification of an abnormality in steps S407 and S408, or response data including a reception completion notification received in step S408, to the communication terminal 101 via the first communication unit 201.

[0058] FIG. 5 is a flowchart showing the operation of the receiver 105a according to the first embodiment of the present invention. Step S501 is a step in which the divided data transmitted by the transmitter 103a is received by the third communication unit 301. Note that the reception process in Fig. 5 is performed when the third communication unit 301 receives the first divided data.

[0059] Step S502 is a step in which the fourth communication unit 302 transmits the divided data received by the third communication unit 301 to the mobile entity 107. When the fourth communication unit 302 has finished transmitting the divided data to the mobile entity 107, step S503 is executed.

[0060] Step S503 is a step in which the fourth communication unit 302 determines whether or not it has received a reception completion notification indicating that all divided data has been received from the mobile object 107. If it is determined that the fourth communication unit 302 has received the reception completion notification (Yes in step S503), it executes step S504, and if it is determined that the fourth communication unit 302 has not received the reception completion notification, that is, that there is still divided data to be received (No in step S503), it executes step S505.

[0061] In step S504, response unit 303 generates response data including a reception completion notification and transmits the generated response data to transmitter 103a via third communication unit 301. When fourth communication unit 302 receives the reception completion notification from mobile entity 107, it notifies response unit 303 of the reception completion notification. Upon receiving the notification, response unit 303 generates response data including the reception completion notification and transmits the generated response data (response data including the reception completion notification) to transmitter 103a via third communication unit 301.

[0062] Step S505 is a step in which the fourth communication unit 302 determines whether or not an abnormal response has been received from the mobile object 107. If the fourth communication unit 302 has received an abnormal response (Yes in step S505), step S506 is executed, and if the fourth communication unit 302 has not received an abnormal response (for example, an ack signal indicating completion of reception in communication via the RS-422 interface has been received) (No in step S505), step S507 is executed.

[0063] In step S506, response unit 303 generates response data including an abnormal response and transmits the generated response data to transmitter 103a via third communication unit 301. When fourth communication unit 302 receives the abnormal response from mobile object 107, it notifies response unit 303 of the abnormal response. Upon receiving the notification, response unit 303 generates response data including the abnormal response and transmits the generated response data to transmitter 103a via third communication unit 301.

[0064] In step S507, response unit 303 generates response data including a divided data transmission request and transmits the generated response data to transmitter 103a via third communication unit 301. When fourth communication unit 302 receives a response indicating that the divided data has been successfully received from mobile object 107, it notifies response unit 303 of the received response. Upon receiving the notification, response unit 303 generates response data including a divided data transmission request for requesting transmission of the subsequent divided data, and transmits the generated response data to transmitter 103a via third communication unit 301. After step S507 has been executed, step S501 is executed again, and the device waits for reception of the subsequent divided data to be transmitted from transmitter 103a.

[0065] [Description of Sequence According to the First Embodiment] Next, using the sequence diagram of Figure 6, we will explain a series of processes in the communication system related to the first embodiment of the present invention, until the control data transmitted by the communication terminal 101 is successfully received by the mobile unit 107 via the transmitter 103a and the receiver 105a.

[0066] First, the communication terminal 101 starts transmitting control data to the transmitter 103a (step S601). The control data transmitted from the communication terminal 101 is received by the transmitter 103a via the communication link .

[0067] Next, when the transmitter 103a receives the control data from the communication terminal 101, the division unit 202 divides the received control data based on a predetermined size value that can be received by the mobile unit 107, and generates a plurality of divided data (step S602). The generated plurality of divided data is also temporarily stored in the buffer 203 provided in the transmitter 103a.

[0068] Next, the transmitter 103a transmits the first data of the plurality of divided data to the receiver 105a using the second communication unit 204 (step S603a).

[0069] Next, when the receiver 105 a receives the divided data transmitted by the transmitter 103 a using the third communication unit 301 , the receiver 105 a transmits the received divided data to the mobile object 107 using the fourth communication unit 302 .

[0070] Next, when the mobile unit 107 receives the divided data transmitted by the receiver 105a, it responds with a reception confirmation notification to the receiver 105a (step S604a).

[0071] Next, when the receiver 105a receives the reception confirmation notification sent by the mobile unit 107, the response unit 303 generates response data including a request to send the divided data, and uses the third communication unit 301 to transmit the generated response data to the transmitter 103a.

[0072] Next, when the transmitter 103a receives response data including a request to send divided data from the receiver 105a, it transmits the next piece of divided data stored in the buffer 203 (the next piece of divided data after the divided data sent to the receiver 105a in step S603a) to the receiver 105a (step S603b).

[0073] Thereafter, by repeatedly executing the processes from step S603b to step S603c and step S604b to step S604c as described above, all of the divided data stored in the buffer 203 of the transmitter 103a is transmitted sequentially using the receiver 105a, and the mobile unit 107 receives the transmitted divided data.

[0074] In step S604c, when the mobile entity 107 has received the last divided data (the last data of the divided data temporarily stored in the buffer 203), the mobile entity 107 transmits a reception completion notification to the receiver 105a (step S605).

[0075] Next, when the receiver 105a receives the reception completion notification, the response unit 303 included in the receiver 105a generates response data including the reception completion notification, and transmits the generated response data to the transmitter 103a via the third communication unit 301.

[0076] Subsequently, when the transmitter 103a receives response data including a reception completion notification at the second communication unit 204, the transmitter 103a transmits the received response data to the communication terminal 101 via the first communication unit 201 included in the transmitter 103a.

[0077] Finally, when the communication terminal 101 receives the response data transmitted by the transmitter 103a, it determines that transmission of all control data to the mobile unit 107 has been completed normally, and ends the series of processes (step S606).

[0078] [Description of a sequence diagram when an abnormal response occurs according to the first embodiment] Next, using the sequence diagram of Figure 7, we will explain a series of processes that occur when some kind of abnormality occurs in communication when control data sent by communication terminal 101 is transmitted to mobile unit 107 via transmitter 103a and receiver 105a in a communication system related to the first embodiment of the present invention.

[0079] First, the communication terminal 101 starts transmitting control data to the transmitter 103a (step S701). The control data transmitted from the communication terminal 101 is received by the transmitter 103a via the communication link .

[0080] Next, when the transmitter 103a receives the control data from the communication terminal 101, the division unit 202 divides the received control data based on a predetermined size value that can be received by the mobile unit 107, and generates a plurality of divided data (step S702). The plurality of divided data thus generated is temporarily stored in the buffer 203 provided in the transmitter 103a.

[0081] Next, the transmitter 103a transmits the first data of the plurality of divided data to the receiver 105a using the second communication unit 204 (step S703a).

[0082] Next, when the receiver 105 a receives the divided data transmitted by the transmitter 103 a using the third communication unit 301 , the receiver 105 a transmits the received divided data to the mobile object 107 using the fourth communication unit 302 .

[0083] Next, when the mobile unit 107 receives the divided data transmitted by the receiver 105a, it responds with a reception confirmation notification to the receiver 105a (step S704).

[0084] Next, when the receiver 105a receives the reception confirmation notification sent by the mobile unit 107, the response unit 303 generates response data including a request to send the divided data, and uses the third communication unit 301 to transmit the generated response data to the transmitter 103a.

[0085] Next, when the transmitter 103a receives a request to transmit divided data from the receiver 105a, the transmitter 103a transmits the next piece of divided data stored in the buffer 203 to the receiver 105a (step S703b).

[0086] Here, while the divided data stored in buffer 203 is being transmitted to receiver 105a, an abnormality occurs in the divided data (for example, the data is corrupted) due to, for example, wireless interference (step S705).

[0087] Next, upon receiving the abnormal divided data, the receiver 105a discards the data in the third communication unit (step S706). Note that the receiver 105a may notify the mobile unit 107 that an abnormality has occurred in the divided data.

[0088] Next, if the mobile entity 107 does not receive the divided data it is waiting to receive from the receiver 105a within a predetermined time, it transitions to a reception error state indicating that it has failed to receive the control data (step S707). Note that the mobile entity 107 may transition to the reception error state by receiving a notification indicating that the receiver 105a has discarded the divided data that it should have transmitted.

[0089] Next, the mobile unit 107 transmits an abnormal response addressed to the communication terminal 101 to notify the communication terminal 101 that the mobile unit 107 is in a reception error state. Specifically, the mobile unit 107 transmits an abnormal response to the receiver 105a indicating that reception of the divided data has failed (step S708), as follows.

[0090] Next, when receiver 105a receives an abnormal response from mobile object 107, response unit 303 generates response data including the received abnormal response. Third communication unit 301 transmits the generated response data to transmitter 103a.

[0091] Next, the transmitter 103a receives the response data from the receiver 105a at the second communication unit 204. Upon receiving the response data, the transmitter 103a transmits the response data to the communication terminal 101 using the first communication unit 201.

[0092] Finally, when the communication terminal 101 receives the response data transmitted by the transmitter 103a, it detects that an abnormality has occurred in the transmission of the control data to the mobile object 107. Thereafter, the communication terminal 101 displays the detected content on, for example, a display unit (not shown) of the communication terminal 101 and notifies the administrator (step S709).

[0093] In dealing with such an abnormality, the transmitter 103a and the receiver 105a function transparently from the communication terminal 101, and the communication terminal 101 always receives an abnormal response notification from the mobile unit in units of the control data before division, rather than in units of divided data.

[0094] According to the first embodiment of the present invention, the communication terminal 101 transfers control data to be transmitted to the mobile object 107 to the transmitter 103a in a single transmission, thereby reducing the number of BLE communications performed between the communication terminal 101 and the transmitter 103a, and eliminating one cause of increased communication delays in the communication system 100 due to the specifications of the OS of the communication terminal 101, etc. On the other hand, even if there is a limit to the size of communication data that the mobile object 107 can receive at one time, the control data to be transmitted from the communication terminal 101 to the mobile object 107 is appropriately divided and communicated by the transmitter 103a in accordance with the specifications of the mobile object 107, thereby optimizing the number of BLE communications performed between the communication terminal 101 and the transmitter 103a, and enabling efficient communication. In this way, the communication system of the present invention enables efficient communication related to the control of the mobile object between the communication terminal and the mobile object while suppressing communication delays.

[0095] [Second embodiment] Next, a second embodiment of the present invention will be described with reference to Figures 8 to 13. Note that the same components as those in the first embodiment will be described using the reference numerals in Figures 1 to 3 where appropriate.

[0096] A communication system 100A according to a second embodiment of the present invention will be described with reference to Fig. 8. The configuration of the communication system 100A according to the second embodiment of the present invention is the same as that of the communication system 100 according to the first embodiment of the present invention, except that the transmitter 103a is changed to a transmitter 103b (corresponding to a terminal-side relay device) and the receiver 105a is changed to a receiver 105b (corresponding to a mobile-side relay device). Transmitter 103b and receiver 105b will be described in detail below, but the other components are the same as those of the communication system 100 according to the first embodiment of the present invention, so detailed description thereof will be omitted.

[0097] First, a transmitter 103b according to a second embodiment of the present invention will be described with reference to FIG.

[0098] As shown in FIG. 8, transmitter 103b according to this embodiment includes first communication unit 801 and second communication unit 802. The above-described functions of transmitter 103b are implemented by hardware such as a CPU, RAM, storage device, and communication module included in transmitter 103b. Specifically, the functions are implemented by the CPU reading out a program stored in a storage device or the like and executing it in cooperation with the hardware. Furthermore, control data and response data are exchanged between first communication unit 801 and second communication unit 802 by converting the data according to the type and structure of communication packets using a communication protocol that each communication unit can communicate with. Furthermore, in this embodiment, the functions of transmitter 103b may be built into communication terminal 101.

[0099] The first communication unit 801 is realized by, for example, a USB communication module and a control program, etc. The transmitter 103b receives control data transmitted by the communication terminal 101 via the first communication unit 801 and transfers the control data to the second communication unit 802. The first communication unit 801 also receives notification of response data received by the second communication unit 802 from the receiver 105b, and transmits the received response data to the communication terminal 101.

[0100] The second communication unit 802 is realized by, for example, a wireless communication module and a control program. The second communication unit 802 transmits control data to the receiver 105b via the wireless link 104. The second communication unit 802 also receives response data transmitted by the receiver 105b and transfers the received response data to the first communication unit 801. Note that the communication used by the second communication unit 802 may be bidirectional wireless LAN communication such as Wi-Fi, but is preferably short-range wireless communication such as Bluetooth (specifically, BLE).

[0101] Next, a receiver 105b according to a second embodiment of the present invention will be described with reference to FIG.

[0102] As shown in FIG. 9, receiver 105b according to this embodiment includes third communication unit 901, division unit 902, buffer 903, fourth communication unit 904, storage unit 905, and response unit 906. The above functions of receiver 105b are implemented by hardware such as a CPU, RAM, storage device, and communication module included in receiver 105b. Specifically, the functions are implemented by the CPU reading out a program stored in a storage device or the like and executing it in cooperation with the hardware. Furthermore, control data and divided data are exchanged between third communication unit 901 and fourth communication unit 904 by appropriately converting the data according to the type and structure of communication packets based on a communication protocol that each communication unit can process.

[0103] The third communication unit 901 is realized by, for example, a wireless communication module and a control program, etc. The third communication unit 901 receives control data transmitted from the transmitter 103b via the wireless link 104 and transfers the control data to the division unit 902. The third communication unit 901 also receives response data including a notification of the mobile unit 107 received by the fourth communication unit 904 from the response unit 906 and transmits the response data to the transmitter 103b.

[0104] The dividing unit 902 divides the control data transferred from the third communication unit 901 based on a predetermined size value stored in the storage unit 905 to generate a plurality of divided data pieces. The dividing unit 902 executes a process of generating divided data pieces by dividing the control data based on a predetermined size for dividing the control data using, for example, a program such as an application (application layer in the OSI reference model) pre-stored in the storage unit 905 of the receiver 105b. The predetermined size value that determines the size of the divided data pieces is optimized based on the size of data that can be received by the mobile unit 107 so as to minimize the number of wireless (e.g., BLE) communications, and is stored in the storage unit 905. After completing the generation of the plurality of divided data pieces from the control data, the dividing unit 902 transfers each of the generated plurality of divided data pieces to the buffer 903.

[0105] The buffer 903 temporarily stores the multiple pieces of divided data generated by the division unit 902. Furthermore, based on a reception confirmation notification transmitted from the mobile object 107 and notified by the fourth communication unit 904, the buffer 903 transfers the divided data to the fourth communication unit 904. The buffer 903 is realized by providing a specific area for temporary storage on, for example, RAM or a non-volatile storage device.

[0106] The fourth communication unit 904 is realized by, for example, a serial communication module and a control program, etc. The fourth communication unit 904 sequentially transmits the divided data temporarily stored in the buffer 903 to the mobile entity 107, and also receives a reception confirmation notice transmitted by the mobile entity 107 in response to receiving the divided data, and notifies the buffer 903. The fourth communication unit 904 also receives a reception completion notice and notifies the responding unit 906, and if the mobile entity 107 makes an abnormal response, notifies the responding unit 906 of the abnormal response.

[0107] The storage unit 905 stores in advance an application for generating divided data when the division unit 902 executes the process of dividing the control data, and a predetermined size value for the application to generate the divided data. The predetermined size value may be set in the receiver 105b in advance by an administrator, or may be set by being notified in advance from the mobile unit 107 to the receiver 105b as an initial setting when the mobile unit 107 becomes able to communicate with the receiver 105b.

[0108] The response unit 906 generates response data according to the response content (a reception confirmation notification, a reception completion notification, or an abnormal response) transmitted by the mobile entity 107. The response data generated by the response unit 906 is transmitted to the transmitter 103b via the third communication unit 901. Furthermore, when the fourth communication unit 904 receives an abnormal response from the mobile entity 107, the response unit 906 generates response data including the abnormal response and transmits the response data to the transmitter 103b via the third communication unit 901.

[0109] [Explanation of the flow according to the second embodiment] Next, using Figure 10, we will explain a series of processes in the communication system of the second embodiment, from when transmitter 103b receives control data from communication terminal 101 and transmits the control data to mobile object 107 until the transmission of the control data to be transmitted is completed.

[0110] Step S1001 is a step in which the first communication unit 801 receives control data from the communication terminal 101. The transmitter 103b starts processing related to the transmission of the control data upon receiving the control data.

[0111] In step S1002, the second communication unit 802 transmits the control data received in step S1001 to the receiver 105b.

[0112] In step S1003, the second communication unit 802 waits for the reception of response data. When the second communication unit 802 receives the response data from the receiver 105b, the second communication unit 802 notifies the first communication unit 801 of the received response data, and executes step S1004.

[0113] In step S 1004 , the first communication unit 801 transmits response data to the communication terminal 101 .

[0114] FIG. 11 is a flowchart showing the operation of the receiver 105b according to the second embodiment of the present invention.

[0115] Step S1101 is a step in which the third communication unit 901 receives the control data transmitted by the transmitter 103b. Note that the reception process in Fig. 11 is performed when the third communication unit 901 receives the control data.

[0116] Step S1102 is a step in which the division unit 902 divides the control data received in step S1101 based on a size value (predetermined size value) that can be received by the mobile unit 107 and that is stored in the memory unit 905, thereby generating divided data.

[0117] In step S1103, the buffer 903 stores each of the divided data generated in step S1102.

[0118] In step S1104, the fourth communication unit 904 sequentially transmits the divided data to the mobile unit 107.

[0119] Step S1105 is a step of determining whether or not the fourth communication unit 904 has received a response including an abnormal response. If the fourth communication unit 904 has received response data including an abnormal response (Yes in step S1105), step S1108 is executed, and if the fourth communication unit 904 has not received response data including an abnormal response (No in step S1105), step S1106 is executed.

[0120] Step S1106 is a step for determining whether or not all divided data stored in buffer 903 have been transmitted. If all divided data have been transmitted (Yes in step S1106), step S1107 is executed, and if divided data that should be transmitted has not been transmitted (divided data remains in buffer 903) (No in step S1106), step S1109 is executed.

[0121] Step S1107 is a step of transmitting response data including a reception completion notification. Specifically, fourth communication unit 904 waits for reception of a reception completion notification from mobile entity 107, and upon receiving the reception completion notification, notifies response unit 906 of the reception completion notification, and response unit 906 generates response data including the reception completion notification. Furthermore, upon generating the response data, response unit 906 transfers the generated response data to third communication unit 901, and third communication unit 901 transmits the response data to transmitter 103b. Note that in step S1107, a timeout process may be provided in case the reception completion notification cannot be received from mobile entity 107 for some reason, and if a timeout occurs, a notification of an abnormality may be sent to communication terminal 101 via transmitter 103b (not shown).

[0122] Step S1108 is a step in which the third communication unit 901 transmits response data including an abnormal response to the transmitter 103b. When the fourth communication unit 904 receives the abnormal response from the mobile entity 107 in step S1105, it notifies the response unit 906 of the abnormal response, and the response unit 906 generates response data including the abnormal response. Furthermore, when the response unit 906 generates the response data, it transfers the generated response data to the third communication unit 901, and the third communication unit 901 transmits the response data to the transmitter 103b.

[0123] Step S1109 is a step in which the fourth communication unit 904 waits for receipt of a reception confirmation notification from the mobile entity 107. When the fourth communication unit 904 receives the reception confirmation notification, it executes step S1104 again. In this way, the receiver 105b sequentially transmits the plurality of divided data temporarily stored in the buffer 903 to the mobile entity 107. Note that in step S1109, a timeout process may be provided in case a reception confirmation notification cannot be received from the mobile entity 107 for some reason, and if a timeout occurs, a notification of an abnormality may be sent to the communication terminal 101 (not shown).

[0124] [Description of Sequence According to Second Embodiment] Next, using the sequence diagram of Figure 12, we will explain a series of processes in communication system 100A related to the second embodiment of the present invention, until control data transmitted by communication terminal 101 is received by a mobile object via transmitter 103b and receiver 105b.

[0125] First, communication terminal 101 transmits control data to transmitter 103b and starts transmitting the control data (step S1201). The control data transmitted from communication terminal 101 is transferred to transmitter 103b via communication link 102. Transmitter 103b transmits the received control data to receiver 105b via wireless link 104 using second communication unit 802, and receiver 105b receives the transmitted control data.

[0126] Next, when receiver 105b receives control data from transmitter 103b, dividing unit 902 divides the received control data based on a predetermined size value that can be received by mobile object 107 and that is stored in storage unit 905, to generate a plurality of divided data (step S1202). The generated plurality of divided data is also temporarily stored in buffer 903 provided in receiver 105b.

[0127] Next, the receiver 105b transmits one of the plurality of divided data to the mobile object 107 using the fourth communication unit 904 (step S1203a).

[0128] Next, when the mobile entity 107 receives the divided data transmitted by the receiver 105b, it transmits a reception confirmation notice to the receiver 105b (step S1204a).

[0129] Next, when the receiver 105b receives the reception confirmation notification transmitted by the mobile entity 107, it transmits the next piece of the divided data stored in the buffer 903 to the mobile entity 107 (step S1203b).

[0130] Thereafter, by repeatedly executing the processes from step S1203b to step S1203c and step S1204b to step S1204c as described above, receiver 105b sequentially transmits all of the divided data stored in buffer 903, and mobile unit 107 receives the sequentially transmitted divided data.

[0131] When the moving entity 107 has received the last divided data in step S1204c, it transmits a reception completion notification to the receiver 105b (step S1205).

[0132] Next, when receiver 105b receives the reception completion notification, responding section 902 generates response data including the reception completion notification, and third communication section 901 transmits the response data to transmitter 103b.

[0133] Subsequently, when the transmitter 103b receives response data including a reception completion notification at the second communication unit 804, the transmitter 103b transmits the received response data to the communication terminal 101 via the first communication unit 801.

[0134] Finally, when the communication terminal 101 receives the response data transmitted by the transmitter 103b, the communication terminal 101 completes the transmission of the control data (step S1206).

[0135] [Description of a sequence diagram when an abnormal response occurs according to the second embodiment] Next, a series of processes when an abnormality occurs in the communication of control data transmitted by the communication terminal 101 in the communication system 100A according to the second embodiment of the present invention will be described with reference to the sequence diagram of FIG.

[0136] First, communication terminal 101 transmits control data to transmitter 103b and starts transmitting the control data (step S1201). The control data transmitted from communication terminal 101 is transferred to transmitter 103b via communication link 102. Transmitter 103b transmits the received control data to receiver 105b via wireless link 104 using second communication unit 802, and receiver 105b receives the transmitted control data.

[0137] Next, when receiver 105b receives control data from transmitter 103b, dividing unit 902 divides the received control data based on a predetermined size value that can be received by mobile unit 107 to generate a plurality of divided data (step S1202). The generated plurality of divided data is also temporarily stored in buffer 903 provided in receiver 105b.

[0138] Next, the receiver 105b transmits one of the plurality of divided data to the mobile object 107 using the fourth communication unit 904 (step S1203a).

[0139] Next, when the mobile entity 107 receives the divided data transmitted by the receiver 105b, it transmits a reception confirmation notice to the receiver 105b (step S1204a).

[0140] Next, when the receiver 105b receives the reception confirmation notification transmitted by the mobile entity 107, it transmits the next piece of the divided data stored in the buffer 903 to the mobile entity 107 (step S1203b).

[0141] Here, while the divided data stored in buffer 903 is being transmitted to mobile unit 107, an abnormality (such as data corruption) occurs in the divided data due to, for example, noise generated outside the RS-422 interface used by communication link 106 in the communication signal of the interface (step S1305).

[0142] Next, the mobile unit 107 receives the abnormal divided data and transitions to a reception error state indicating that it has failed to receive the control data (step S1306).

[0143] Next, the mobile entity 107 transmits an abnormality response addressed to the communication terminal 101. Specifically, the mobile entity 107 transmits an abnormality response to the receiver 105b indicating that it has failed to receive the control data (step S1307), as follows.

[0144] Next, receiver 105b receives the abnormal response from mobile entity 107, generates response data including the abnormal response using response unit 902, and transmits the generated response data to transmitter 103b using third communication unit 901.

[0145] Subsequently, transmitter 103b receives the response data at second communication unit 802. Transmitter 103b transmits the received response data to communication terminal 101 using first communication unit 801 provided in the transmitter itself.

[0146] Finally, when communication terminal 101 receives the response data sent by transmitter 103b, it detects that an abnormality has occurred in the transmission of control data to mobile unit 107. After that, it displays the detected details on its own display unit (not shown) and notifies the administrator (step S1308). In dealing with such an abnormality, transmitter 103b and receiver 105b function transparently from the communication terminal, and communication terminal 101 always receives an abnormal response notification from the mobile unit in units of undivided control data, not in units of divided data.

[0147] According to the second embodiment of the present invention, the communication terminal 101 transfers control data to be transmitted to the mobile object 107 to the receiver 105b in a single transmission, thereby reducing the number of BLE communications performed between the communication terminal 101 and the receiver 105b, and eliminating one cause of increased communication delays in the communication system 100A due to the specifications of the OS of the communication terminal 101, etc. Furthermore, because the control data is temporarily stored in the receiver 105b close to the mobile object 107, divided data can be transmitted to the mobile object 107 without BLE communication, unlike the first embodiment of the present invention, thereby further reducing delays. On the other hand, even if there is a limit to the size of communication data that the mobile object 107 can receive at one time, the control data to be transmitted from the communication terminal 101 to the mobile object 107 is appropriately divided and transmitted in the receiver 105b in accordance with the specifications of the mobile object 107. This optimizes the number of communications performed between the communication terminal 101 and the receiver 105b, enabling efficient communication. In this way, in the communication system of the present invention, communication related to the control of the mobile body can be performed efficiently between the communication terminal and the mobile body while suppressing communication delays.

[0148] The present invention has been described above through two embodiments. Here, the division of data according to the receivable size of a mobile object, which is a feature of the present invention, is preferably performed at the application layer, as opposed to drivers for wireless aggregation or wireless communication. This allows for more flexibility in software design when changing the division size to suit the specifications of a mobile vehicle, etc., than when data division is performed by a program in a layer closer to the physical layer, such as a wireless driver. Therefore, even if the size of serial data communication varies depending on the individual mobile object, it is possible to flexibly change the division size of the control data.

[0149] The present invention can be realized not only as an apparatus, but also as a method in which the processing means constituting the apparatus are steps, as a program that causes a computer to execute those steps, as a computer-readable storage medium such as a CD-ROM on which the program is recorded, or as information, data, or signals that represent the program.These programs, information, data, and signals may be distributed via a communication network such as the Internet. [Industrial Applicability]

[0150] The present invention can be applied to a transmitter and a receiver that desire to reduce communication delays in communications between a communication terminal and a mobile object. [Explanation of symbols]

[0151] 100, 100A communication system 101 Communication terminal 102, 106 Communication links 103a, 103b transmitters 104 Wireless Link 105a, 105b receiver 107 Mobile 201, 801 First Communications Department 202, 902 division part 203, 903 buffer 204, 802 Second Communications Department 205, 905 Storage section 301, 901 Third Communications Department 302, 904 4th Communications Department 303, 906 Response Section

Claims

1. A transmission method for transmitting control data from a communication terminal to a mobile object, comprising: transmitting the control data from the communication terminal to a terminal-side relay device via USB communication; dividing the control data transmitted to the terminal side relay device into divided data pieces each having a size that can be received by the mobile unit and that minimizes the number of communications; transmitting the divided data to a mobile-side relay device via BLE communication; transmitting the divided data transmitted to the mobile-side relay device to the mobile body by serial communication; A transmission method including:

2. A transmission system for transmitting control data from a communication terminal to a mobile object, comprising: a terminal-side relay device and a mobile object-side relay device; The terminal side relay device a first communication unit that receives the control data from the communication terminal through USB communication; a division unit that divides the control data into divided data pieces each having a predetermined size that can be received by the mobile unit and that minimizes the number of communications; a second communication unit that transmits the divided data to the mobile-side relay device through BLE communication; Equipped with The mobile-side relay device a third communication unit that receives the divided data transmitted from the terminal-side relay device through BLE communication; a fourth communication unit that transmits the divided data to the mobile unit by serial communication; Equipped with Transmission system.

3. When the mobile object receives abnormal divided data including corrupted data from the mobile object relay device, or when the mobile object does not receive the divided data from the mobile object relay device within a predetermined time, the mobile object transmits an abnormal response addressed to the communication terminal. The transmission system according to claim 2 .

4. A transmission method for transmitting control data from a communication terminal to a mobile object via a relay device, comprising: transmitting the control data from the communication terminal to the relay device by BLE communication; dividing the control data received by the relay device into divided data of a predetermined size that can be received by the mobile unit and that minimizes the number of communications; transmitting the divided data to the mobile unit by serial communication; A transmission method including:

5. A transmission system including a mobile-side relay device for transmitting control data from a communication terminal to a mobile object, The mobile-side relay device a third communication unit that receives the control data transmitted from the communication terminal through BLE communication; a division unit that divides the control data into divided data pieces each having a predetermined size that can be received by the mobile unit and that minimizes the number of communications; a fourth communication unit that transmits the divided data to the mobile unit by serial communication; Equipped with Transmission system.

6. When the mobile object receives abnormal divided data including corrupted data from the mobile object relay device, or when the mobile object does not receive the divided data from the mobile object relay device within a predetermined time, the mobile object transmits an abnormal response addressed to the communication terminal.

6. The transmission system according to claim 5.

7. The terminal side relay device a first communication unit that receives the control data from the communication terminal through USB communication; a second communication unit that transmits the control data to the mobile object relay device through BLE communication; Equipped with 6. The transmission system according to claim 5.

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