Abstract:
The present invention provides a system for remote control of a plurality of driving apparatuses with transmitters. Each transmitter includes: a data transmission device for transmitting data including identification information peculiar to each transmitter and control information for controlling a driving apparatus; a reception device for receiving data transmitted from other transmitters; a timing setup device for setting a self-data transmission timing based on the identification information included in the received data; and a transmission control device for controlling the data transmission time according to the set timing. Each driving apparatus includes: a reception device for receiving transmission data from each transmitter; and a control device for comparing the identification information in the received data with self-identification information, and deciding whether the received data is a data transmitted to the self when a positive comparison is made, and carrying out an operation control based on the received data is transmitted to the self.

Description:
BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to a system for carrying out remote control with respect to driving apparatuses such as automobiles and robots, and in particular, to a remote control system, which is suitable in the case where there is a need of simultaneously controlling a plurality of driving apparatuses at the same place. 
     2. Description of the Related Art 
     In the case of carrying out remote control with respect to a plurality of driving apparatuses at the same place using an infrared ray or radio wave, a signal from each transmitter provided correspondingly to these driving apparatuses interferes with each other; for this reason, a problem arises such that no accurate control is carried out. As technique for solving the above problem, a system disclosed in Japanese Patent No. 2625617 has been known. In the system, different identification data is set with respect to a plurality of transmitters, and the same identification data as the corresponding transmitter is set with respect to each receiver. A transmission data from each transmitter is composed of combining a data section equivalent to actual control information, a unit data section comprising a space section having a time length more than a transmission time of the data section, and a wait section having a time length more than the unit data section. In accordance with the identification data allocated to each transmitter, the combination of the unit data section and the wait section is changed. By doing so, it is possible to produce a state such that the data section transmitted from each transmitter does not overlap with each other. 
     The above remote control system does not carry out a control for synchronizing a transmission timing of data from each transmitter, and each transmitter transmits data according to a transmission pattern in response to the self-identification data. For this reason, when the number of transmitters increases, a frequency that the transmission timing of data from each transmitter overlaps with each other increases, while a probability that data is transmitted from only one transmitter decreases. As a result, a problem arises such that each driving apparatus is not smoothly controlled. In particular, in the case where it is required to continue to operate many driving apparatuses, the above confusion arises at a high probability. 
     SUMMARY OF THE INVENTION 
     Accordingly, an object of the present invention is to provide a remote control system, which can smoothly carry out remote control with respect to a plurality of driving apparatuses at the same place. 
     In order to solve the above problem and to achieve the above object, the present invention provides a remote control system, which independently operates a plurality of driving apparatuses by remote control using a plurality of transmitters prepared so as to correspond to the driving apparatuses. Each of the plurality of transmitters comprising: a data transmission device for transmitting data including identification information peculiar to each transmitter for identifying each transmitter and control information for controlling the driving apparatuses; a reception device for receiving data transmitted from other transmitters; a timing setup device for setting a self-data transmission timing based on the identification information included in the received data; and a transmission control device for making the data transmission device transmit the data according to the set timing. Each of the plurality of driving apparatuses comprising: a reception device for receiving transmission data from each transmitter; and a control device for comparing the identification information included in the received data with an allocated self identification information, and making a decision whether or not the received data is a data transmitted to the self, and further, carrying out an operation control based on the data when the data is transmitted to the self. 
     According to the remote control system of the present invention, each transmitter can receive data transmitted from other transmitters, so that the data transmission timing can be adjusted between transmitters. As a result, the transmission timing of data from each transmitter is set so as to be mutually shifted, and therefore, it is possible to prevent data interference. By doing so, even in the case where a plurality of transmitters is simultaneously used, it is possible to smoothly operate the driving apparatus corresponding to each transmitter by remote control. 
     In the present invention, various mobile elements such as vehicles, robots, and animal type toys and the like are included as the driving apparatuses. The present invention is applicable to the case where mutually different portions of single object are operated as mutually different driving apparatuses by remote control using a plurality of transmitters. In this case, the following transmitter is used; more specifically, a transmitter, which transmits a control signal or the like by using various transmission waves such as an infrared ray and a radio wave and the like, can be used as the transmitter of the present invention. An identification number can be used as the identification information allocated to the transmitter and the driving apparatus. 
     Further, the remote control system of the present invention may include the following preferred embodiments. 
     A period when each transmitter is allowed to transmit a data is predetermined so as not to overlap with each other in a predetermined cycle based on the identification information allocated to each transmitter, the timing setup device specifies, when receiving data transmitted from other transmitters, a time remaining until the self-data transmission timing comes in the cycle based on the identification information included in the receiving data, and the transmission control device makes the data transmission device start the data transmission when the specified time elapses. 
     By doing so, each transmitter can specify the self-data transmission timing when each transmitter should transmit the self data by referring to the data transmission from other transmitter. In addition, the data transmission of each transmitter is carried out every predetermined cycle; therefore, even if one transmitter interrupts data transmission on the midway, the remaining transmitter can transmit data for the period allocated to the self at the transmission timing allocated to the self. 
     The period when each transmitter is allowed to transmit the data in the predetermined cycle may be set to mutually equal time with respect to each transmitter. By doing so, the sequence of data transmission of each transmitter in the predetermined cycle is merely predetermined, and thereby, each transmitter can specify a period for transmitting the self-data. More specifically, if a time of the transmission period given to each transmitter is set as T, when data transmission is started from the transmitter having the first transmission sequence, the transmitter having the next transmission sequence starts data transmission after time T elapses, and further, the transmitter having the next transmission sequence starts data transmission after time 2T elapses. As described above, transmission start timing of one transmitter is found, and thereby, it is possible to readily specify transmission timing from transmission sequence and time allocated to each transmitter. 
     The timing setup device may set transmission timing of the data so that the self data transmission device repeats data transmission in the predetermined cycle in the case where it can not receive data from other transmitters. In this case, even in a state that data transmission from all transmitters excluding the self is stopped, it is possible to repeatedly transmit data from the transmitter itself at correct timing. 
     Each transmitter may include a hold device, which makes a decision whether or not the identification information included in the data transmitted from other transmitter is the same as the identification information set to the self, and holds, in the case where a decision is made such that both information are the same, a transmission timing setup by the timing setup device until receiving data including an identification information different from the self-identification information. In this case, it is possible to prevent interference in the case where identification information overlaps with each other between the plurality of transmitters. 
     Each transmitter may include a transmission data confirming device, which compares a data transmitted at the timing set by the timing setup device with a data received concurrently with the transmission, and makes the hold device carry out a procedure when both data are not correspondent. In this case, interference is detected as the result that data is simultaneously transmitted from other transmitters, and thereby, it is possible to adjust data transmission timing so that no interference is again generated. 
     Further, the present invention provides a transmitter for remote control system, which is prepared for each of driving apparatuses to independently operate the driving apparatuses by remote control, comprising: a data transmission device for transmitting data including identification information peculiar to the transmitter and control information for controlling the driving apparatus; a reception device for receiving data transmitted from other transmitters; a timing setup device for setting a self-data transmission timing based on the identification information included in the received data; and a transmission control device for making the data transmission device transmit the data according to the set timing. 
     The transmitter is prepared for each driving apparatus, and then, the same identification information is set to the paired driving apparatus and transmitter so that each driving apparatus is controlled based on the data including the same identification information, and thereby, the remote control system of the present invention is constructed. 
     The transmitter of the present invention may include various preferred embodiments in the above remote control system. More specifically, a period when the transmitter is allowed to transmit a data is predetermined in a predetermined cycle based on the identification information, the timing setup device specifies, when receiving data transmitted from other transmitters, a time remaining until the self-data transmission timing comes in the cycle based on the identification information included in the receiving data, and the transmission control device makes the data transmission device start the data transmission when the specified time elapses. Further, the period when the transmitter is allowed to transmit the data in the predetermined cycle may be set to a time equal to time transmitting data with respect to other transmitters. Furthermore, the timing setup device may set transmission timing of the data so that the self data transmission device repeats data transmission in the predetermined cycle in the case where it cannot receive data from other transmitters. The transmitter may further include a hold device, which makes a decision whether or not the identification information included in the data transmitted from other transmitter is the same as the identification information set to the self, and holds, in the case where a decision is made such that both information are the same, a transmission timing setup by the timing setup device until receiving data including an identification information different from the self-identification information. The transmitter may further include a transmission data confirming device, which compares a data transmitted at the timing set by the timing setup device with a data received concurrently with the transmission, and makes the hold device carry out a procedure when both data are not correspondent. 
     Further, the present invention provides a remote control system program used for a transmitter, which includes a data transmission device for transmitting data including identification information peculiar to the transmitter and control information for controlling the driving apparatus, a reception device for receiving data transmitted from other transmitters, and a computer for controlling data transmission based on the received data, and which is prepared for each of driving apparatuses to independently operate the driving apparatuses by remote control, the program being constructed to allow the computer to serve as: a timing setup device for setting a self-data transmission timing based on the identification information included in the data received by the reception device; and a transmission control device for making the data transmission device transmit the data according to the set timing. 
     The computer of the transmitter reads and executes the program, and thereby, the transmitter of the present invention is constructed. 
     The program of the present invention may include various preferred embodiments in the above remote control system. More specifically, a period when the transmitter is allowed to transmit a data is predetermined in a predetermined cycle based on the identification information, the timing setup device specifies, when receiving data transmitted from other transmitters, a time remaining until the self-data transmission timing comes in the cycle based on the identification information included in the receiving data, and the transmission control device makes the data transmission device start the data transmission when the specified time elapses. Further, the period when the transmitter is allowed to transmit the data in the predetermined cycle may set to a time equal to time transmitting data with respect to other transmitters. Furthermore, the timing setup device may set transmission timing of the data so that the self data transmission device repeats data transmission in the predetermined cycle in the case where it can not receive data from other transmitters. The program may being constructed to allow the computer to serve further as a hold device, which makes a decision whether or not the identification information included in the data transmitted from other transmitter is the same as the identification information set to the self, and holds, in the case where a decision is made such that both information are the same, a transmission timing setup by the timing setup device until receiving data including an identification information different from the self-identification information. The program may being constructed to allow the computer to serve further as a transmission data confirming device, which compares a data transmitted at the timing set by the timing setup device with a data received concurrently with the transmission, and makes the hold device carry out a procedure when both data are not correspondent. 
     Further, the program of the present invention may be provided through a computer readable storage medium. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1 is a view showing a schematic configuration of remote control system according to the present invention; 
     FIG. 2 is a view showing a circuit configuration of transmitter; 
     FIG. 3 is a view showing a remote control data structure of one block outputted from a transmitter; 
     FIG. 4 is a view showing an automobile model as one embodiment of driving apparatuses; 
     FIG. 5 is a view showing a circuit configuration of control system mounted in the automobile model; 
     FIG. 6 is a view showing the way to take transmission timing in the case where four transmitters are simultaneously used; 
     FIG. 7 is a flowchart showing a procedure of power-on operation executed by a control circuit of transmitter until self-data transmission start from power-on; and 
     FIG. 8 is a flowchart showing a procedure of normal operation executed by the control circuit of transmitter following the procedure of FIG.  7 . 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     FIG. 1 is a view showing a schematic configuration of remote control system according to the present invention. In FIG. 1, there is shown the case where remote control is carried out with respect to three driving apparatuses  1  . . .  1  at the same place. 
     A transmitter  2  . . .  2  is prepared so as to make one-to-one correspondence to each driving apparatus  1 . Numbers  1  to  3  are given as identification number (ID) to these driving apparatuses  1  . . .  1  and transmitters  2  . . .  2 . The driving apparatus  1  and the transmitter  2  having the same identification number form a pair, and each driving apparatus  1  is operated by remote control based on a data from the transmitter  2  having the same identification number. An infrared ray is used in the remote control operation of each driving apparatus  1 . Thus, each transmitter  2  is provided with a remote control signal emitting section (unit)  3 ; on the other hand, each driving apparatus  1  is provided with a remote control signal receiving section  4 . Further, in order to take synchronization of data transmission from each transmitter  2 , each transmitter  2  is provided with a remote control signal receiving section  5 . 
     FIG. 2 is a view showing a circuit configuration of the transmitter  2 . The transmitter  2  is provided with the above remote control signal emitting and receiving sections  3  and  5 . Further, the transmitter  2  is provided with a control circuit  10  for generating a transmission data and controlling other circuits, an input device  11  such as operation key, switch or volume for controlling an operation of the driving apparatus  1 , and a switch  12  for setting an identification number. The operating state of the input device  11  by an operator is detected by an input circuit  13 , and an operation signal in response to the operating state of the input device  11  is inputted from the input circuit  13  to the control circuit  10 . The identification number set by an identification number setting switch  12  is read by the control circuit  10 . In this case, the identification number set by the identification setting switch  12  may be arbitrarily selected from a range predetermined by an operator or system administrator and the like, or may be fixed to a specified number predetermined by a manufacturer of the transmitter  2 . 
     The remote control signal emitting section  3  includes a light emitting device, for example, such as an LED or the like, and emits an infrared ray in response to an instruction from a transmission circuit  14 . The transmission circuit  14  outputs a transmission data to the remote control signal emitting section  3  according to a timing instructed from an output timing creating circuit  15 . The data outputted to the remote control signal emitting section  3  is generated by the control circuit  10 , and the transmission circuit  14  modulates the data generated by the control circuit  10  by a remote control signal carrier signal so as to drive the remote control signal emitting section  3 . The output timing creating circuit  15  counts time according to a timer setup value given from the control circuit  10 , and then, outputs a transmission instruction when a time corresponding to the timer setup value elapses. A frequency of the infrared carrier signal outputted from the remote control signal emitting section  3  is the same in all transmitters  2 . 
     On the other hand, the remote control signal receiving section  5  receives an infrared ray transmitted from other transmitters  2 , and then, outputs a signal eliminating a carrier component from the received infrared ray to a reception circuit  16 . The reception circuit  16  decodes the signal given from the remote control signal receiving section  5  into one block remote control data, and thereafter, outputs the data to a received data determining circuit  17 . In this case, the one block remote control data is composed of an identification number and control information on a pair of right and left motors (motor  28 ;  28  shown in FIG. 4) provided in the driving apparatus  1 , as shown in FIG.  3 . The control information on right and left motors is composed of information (F/R determination) for determining which the rotational direction of each motor is forward or rearward direction and information for specifying a driving speed of motor. The bit number of one block remote control data is always constant. Thus, time spent for transmitting one block remote control data is constant. 
     The received data determining circuit  17  determines an identification number of received data given from the reception circuit  16 , and thereafter, supplies the determination result to the control circuit  10 . Then, the control circuit  10  controls the operation of the transmission circuit  14  and the output timing creating circuit  15  based on information given from the received data determining circuit  17 , the identification number setup switch  12  and the input circuit  13 . Further, the control circuit  10  makes a decision as to whether or not interference is made and sets an output timing when the self-transmission data is to be transmitted, based on the identification number of received data given from the received data determining circuit  17  and the self-identification number set by the identification number setup switch  12 . Subsequently, the control circuit  10  sets a timer setup value with respect to the output timing creating circuit  15  in accordance with the set output timing. Further, the control circuit  10  generates a transmission data to the driving apparatus  1  having the same identification number as the self-identification number based on information given from the identification number setup switch  12  and the input circuit  13 , and thereafter, outputs the transmission data to the transmission circuit  14 . 
     In addition, the control circuit  10  is connected with a power switch and the like; however, these elements are omitted. Moreover, one transmitter  2  may be provided with two or more remote control signal receiving sections  5  having different detection direction. The control circuit  10  may be composed of combining a microcomputer and a predetermined program. The transmission circuit  14 , output timing creating circuit  15 , reception circuit  16  and received data determining circuit  17  may be composed as a logical circuit, and may be composed of combining a microcomputer and a predetermined program like the control circuit  10 . At least any one of the output timing creating circuit  15  and the received data determining circuit  17  may be integrated with the control circuit  10 . 
     FIG. 4 is a view showing an automobile model as one embodiment of driving apparatuses  1 . FIG.  4 ( a ) is a side view of the automobile model, FIG.  4 ( b ) is a bottom view thereof, and FIG.  4 ( c ) is a rear view thereof. In this case, the driving apparatus  1  comprises an automobile model  20 . The automobile model  20  has a chassis  21 , and a body  22  covering the upper portion of the chassis. The chassis  21  is provided with a front wheel  23  on the center at its front portion, and is provided with a pair of right and left rear wheels  24  and  24  at its rear portion. The front wheel  23  is rotatably attached to a support beam  25  via an axle  25   a . The support beam  25  is mounted so as to be rotatable around a turning shaft  26  vertical to the chassis  21 . By doing so, the front wheel  23  is freely rotatable around the turning shaft  26  in a range of 360°. In this case, the chassis  21  is attached with dummy wheels  27  and  27  on the right and left sides of the front portion. However, these dummy wheels  27  are floating, and thus, the chassis  21  is supported by the front wheel  23  and the rear wheels  24  and  24 . 
     The rear portion of the chassis  21  is provided with motors  28  and  28 , which are vertically overlapped with each other. Each motor  28  is provided in order to drive the rear wheel  28  independently. An output shaft  28   a  of each motor  28  is attached with a pinion  29 , and the rotation of the pinion  29  is transmitted via a gear train  30  to the rear wheel  24 , which is a driving object. In the manner as described above, right and left rear wheels  24  and  24  are independently driven by each motor  28 . Therefore, a rotational speed of the motors  28  and  28  is changed in right and left motor, and only one motor  28  is driven, or the motors  28  and  28  are rotated to a direction different from each other, and by doing so, various turning motions can be given to the automobile model  20 . 
     At the front portion of the motor  28 , there is mounted a battery  31 , and a control unit  32  comprising, for example, a one-chip microcomputer is provided above the battery  31 . The rear portion of the chassis  21  is provided with an LED  33  for making a decision whether or not power is turned on. Further, the upper central portion of the body  22  is provided with a remote control signal receiving section  34  for receiving an infrared ray from the transmitter  2 . 
     FIG. 5 shows a circuit configuration of control system mounted into the automobile model  20 . The automobile model  20  is provided with the aforesaid remote control signal receiving section  34 . The remote control signal receiving section  34  receives an infrared ray transmitted from the transmitter  2 , and then, outputs a signal eliminating a carrier component from the received infrared ray to a reception circuit  35 . The reception circuit  35  decodes a signal given from the remote control signal receiving section  34  into one block remote control data, and then, outputs the data to a control circuit  37 . The one block remote control data is as shown in FIG.  3 . The control circuit  37  determines an identification number of received data given from the reception circuit  35 , and then, compares the identification number with the identification number set by a identification number setup switch  38 , and thereafter, makes a decision whether the remote control data is valid or invalid. More specifically, if the identification number is not correspondent, the control circuit  37  makes a decision that the received remote control data is invalid, and thus, generates no driving signal of the motor  28 . On the other hand, if the identification number is correspondent, the control circuit  37  determines a rotating direction and a rotational speed of the motor  28  based on motor control information of the remote control data given from the reception circuit  35 . Thereafter, the control circuit  37  outputs a motor driving signal in response to the determined value to motor driving circuits  39  and  39 . Each motor driving circuit  39  controls a rotation of the motor  28  based on the given motor driving signal. In this case, the identification number setup switch  38  may be designed such that an operator, a system manager or the like can select any number from a predetermined range, or a manufacturer of the transmitter  2  may previously fix the identification number at a specific number. Moreover, the control circuit  37  is connected with a power switch  40 . The battery  31  and the LED  33  shown in FIG.  4  are omitted in FIG.  5 . 
     In the automobile model  20  as described above, in the case where the remote control data is simultaneously transmitted from tow two transmitters  2  or more and the remote control data identification number of one transmitter coincides with that of the automobile model  20 , the control circuit  37  regards the remote control data received at that time as valid. For this reason, the motor control information interferes with control information from another transmitter  2  having different identification number; as a result, there is a possibility that the motor  28  is erroneously controlled. In order to avoid the above disadvantage, in the remote control system of this embodiment, each transmitter  2  specifies self-transmission timing while receiving a remote control signal transmitted from other transmitters. By doing so, the transmission timing is synchronized so that the transmission timing of each transmitter  2  does not overlap with each other. The following is a description on this point. 
     FIG. 6 is a view showing the way to take transmission timing in the case where four transmitters  2  are simultaneously used. In FIG. 6, a transmission time of remote control signal transmitted by one transmitter  2  is T, and thus, each transmitter  2  repeats a remote control signal transmission at a cycle (period) equivalent to 4T (=number of transmitters  2 ×transmission time T). Moreover, the transmission timing of each transmitter  2  is shifted by T in succession from the identification number  1 . According to the above relation, each transmitter  2  controls the transmission timing, and thereby, it is possible to prevent the transmission timings from four transmitters  2  from overlapping with each other. In order to realize the above transmission control, for example, in the case of the transmitter  2  having the identification number  2  of FIG. 6, the transmission timing may be controlled in the following manner. 
     First, at the time t 1 , in the case where the transmitter  2  having the identification number  2  receives a data having identification number  1 , subsequently, the transmitter  2  starts a self-transmission data output, and then, completes the self-transmission data output at the time t 2 . When the transmission is completed, the transmitter  2  having the identification number  2  checks the received data of the reception circuit  16  (see FIG.  2 ), and thereafter, confirms that no signal interference is generated. Thereafter, the transmitter  2  having the identification number  2  sets the transmission timer counting the next output timing at 3T, and then, starts timer count. 
     At the time t 3 , in the case where the transmitter  2  having the identification number  2  receives the remote control data of the identification number  3 , the transmitter  2  having the identification number  2  resets the transmission timer at 2T, and then, starts timer count. At the time t 4 , in the case where the transmitter  2  having the identification number  2  receives the remote control data of the identification number  4 , the transmitter  2  having the identification number  2  resets the transmission timer at T, and then, starts timer count. 
     Thereafter, there is the case where the power of the transmitter  2  having the identification number  1  is turned off, or in the case where the transmitter  2  can not receive the data from the transmitter  2  having the identification number  1  due to noise or the like. In this case, the transmitter  2  having the identification number  2  starts an output of self-data at the point of time when the transmission timer count advances by time T after receiving the data of the identification number  4 . Further, in the case where the transmitter  2  having the identification number  2  can not receive the data from other transmitters  2 , it can continuously output the transmission data at a period 4T by using the time 3T set in the transmission timer when the self-data transmission is completed. 
     The above embodiment has described the case where the transmitter  2  is four. By adding the identification number, it is possible to control the transmission timing in the case where the transmitter  2  is five or more, likewise. The period of transmission timing of each transmitter  2  is N×T (N is number of transmitters). In this case, a blank time transmitting no data from any transmitters may be taken between times when each transmitter  2  transmits data, and thereby, the whole period may be set longer than the period NT. 
     FIG. 7 is a flowchart showing a procedure of power-on operation executed by the control circuit  10  of transmitter  2  until self-data transmission start from power-on. When the power is turned on, first, the control circuit  10  sets a time over timer (step S 1 ). Next, the control circuit  10  makes a decision whether or not the data from other transmitters  2  is received (step S 2 ). If the data is received, the control circuit makes a decision whether or not the identification number of the received data is the same as the identification number set with respect to the self-transmitter  2  (step S 3 ). If the identification number is correspondent, the control circuit  10  returns to step S 1 , and then, repeats the determining operation. By doing so, it is possible to prevent interference in the case where there exists a plurality of transmitters  2  having the same identification number. If the control circuit  10  makes a decision that the identification number is not correspondent in step S 3 , the control circuit  10  sets a self-output timing in accordance with the identification number of other transmitters  2  (step S 4 ). For example, if the transmitter  2  having the identification number  2  receives the data of the identification number  3 , it sets the self-output timing at 2T. 
     Subsequently, the control circuit  10  makes a decision whether or not the timer set in step S 1  is time over (step S 5 ), and if it is not time over, the control sequence returns to step S 2 . If the timer is time over, the control circuit starts the self-data transmission (step S 6 ). In this case, the output is actually started at the point of time when the output timing set in step S 4  comes. In the case where the data is not received until time over, the transmitter is solely operated; namely, no other transmitters exist, and therefore, data transmission is started at once in step S 6 . 
     When the processing of step S 6  ends, the control circuit  10  controls a data transmission according to the procedure of a normal operation shown in FIG.  8 . In the normal operation, first, the control circuit  10  makes a decision whether or not data from other transmitters  2  is received (step S 11 ). If the data is received, the control circuit  10  makes a decision whether or not the identification number of the received data is the same as the identification number set with respect to the self-transmitter  2  (step S 12 ). If the identification number is correspondent, the control sequence returns to the power-on operation shown in FIG.  7 . On the other hand, if the identification number of the received data is different from the self-identification number, the control circuit  10  sets the self-output timing to the transmission timer in accordance with the identification number of the received data (step S 13 ). Next, the control circuit makes a decision whether or not the transmission timer reaches time up (step S 14 ), and then, returns to step S 1  until the time up comes. 
     When a decision is made such that the time up comes in step S 4 , the control circuit  10  starts the self-data transmission (step S 15 ). At that time, the control circuit  10  concurrently receives data. Next, the control circuit  10  makes a decision whether or not the data transmission is completed (step S 16 ). If the data transmission is completed, the control circuit  10  compares the transmitted data with data received concurrently with the transmission (step S 17 ). If the data is not correspondent, a decision is made such that interference is generated, and then, the control sequence proceeds to the power-on operation of FIG.  7 . If the data is correspondent, no interference is regarded as being generated, and then, the control circuit  10  set the next output timing to the transmission timer (step S 18 ). Thereafter, the control sequence returns to step S 1 . 
     The present invention is not limited to the above embodiment, and various modifications may be made. For example, the driving apparatus is not limited to automobile models, and various mobile models may be used. Further, the transmitter maybe an operator portable type, or may be installed. A specific program is installed in portable (mobile) apparatuses such as a portable game machine and a mobile phone, and then, these apparatuses may be used as a transmitter. 
     As is evident from the above description, according to the remote control system of the present invention, each transmitter can receive data transmitted from other transmitters, so that the data transmission timing can be set so as not to overlap with each other between transmitters; as a result, it is possible to prevent data interference. By doing so, even in the case where a plurality of transmitters is simultaneously used, it is possible to smoothly operate the driving apparatus corresponding to each transmitter by remote control. Further, by the transmitter and program of the present invention, it is possible to readily realize the remote control system of the present invention.