JP2010262595A - Operation management system for mobile body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To properly switch a relay device for communication as the object of communication when a mobile body reaches the boundary of traveling sections while performing radio communication with the mobile body in such a state that there is little risk that a radio signal interferes. <P>SOLUTION: An antenna part 14 of a plurality of relay devices 6 for communication for performing radio communication for each of a plurality of traveling sections is provided with: a sheet-shaped antenna body part 15 for outputting a radio signal in such a state that a communication region for propagating the radio signal to a two-dimensional direction for radio communication is formed along the surface; and a connection part 16 to which a connection line 13 is connected, wherein the antenna body part 15 is continuously formed along the longitudinal direction of the route, and installed so as to be arranged along the longitudinal direction of the route in an adjacent state, and the connecting position of the connection part 16 in the antenna main part 15 is set such that it is determined that conditions for switching determination have been satisfied when a passage timing when a mobile body 1 passes the boundary is reached. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a moving body that moves toward one side in the longitudinal direction of the path along a moving path, and a communication apparatus on the moving body that is provided separately for each of a plurality of travel sections in the moving path and is provided in the moving body. Operation management of the mobile unit by communicating management information between the plurality of communication relay units that perform wireless communication with the mobile unit and the mobile unit side communication unit via the plurality of communication relay units And when the mobile unit is determined that the switching determination condition is satisfied based on the reception strength of the radio signal received by the mobile unit-side communication device, the mobile unit is a communication target. The present invention relates to an operation management system for a mobile body provided with control means for executing relay device switching processing for switching a communication relay device to a communication relay device corresponding to the next travel section.

  In this type of mobile operation management system, conventionally, each of a plurality of communication relay devices has an antenna unit for communicating management information with a mobile device-side communication device using a radio signal. And an electromagnetic wave signal as an example of wireless communication performed between the communication device on the mobile body side and each communication relay device is transmitted in a three-dimensional direction to perform communication. A threshold for determination in which the reception intensity of a radio signal (specifically, an electromagnetic wave signal) received by the communication device on the mobile body is set in advance during communication between the communication device and the communication relay device. If it falls below, the reception strength of the radio signal from the other communication relay device is measured, and if the reception strength of the radio signal from any one of the communication relay devices is equal to or higher than the determination threshold, the communication relay device is communicated. Set as target, the following Had those to switch to the communication relay device corresponding to the line segment (for example, see Patent Document 1.).

  The mobile operation management system described in Patent Document 1 uses a spread spectrum communication method, for example, to perform communication by propagating an electromagnetic wave signal as an example of a radio signal in a three-dimensional direction. However, in the configuration in which communication is performed by propagating the wireless signal in the three-dimensional direction in this way, the wireless signal interferes with an external device existing in the vicinity, or the information being communicated can be easily transmitted to the outside. There were disadvantages such as the possibility of leakage. In addition, although the moving body moves along the moving path, the communication relay device is installed on the ground side in a fixed position, so that the communication relay device and the communication device on the moving body side have a large separation distance. There is a case. Therefore, it is necessary to increase the output of the electromagnetic wave signal so that the communication between them is performed satisfactorily, and there are disadvantages such as an increase in power consumption.

  By the way, recently, as a wireless communication method, instead of performing communication by propagating a radio signal in a three-dimensional direction, a radio signal is propagated in a two-dimensional direction, and a communication area capable of radio communication is formed along the surface. A sheet-like sheet device that outputs in a state to be formed, a connection line for inputting and outputting a radio signal to the sheet-like sheet device is connected, and a communication device main body for executing wireless communication; A sheet device that is connected to a sheet device by a connection line has been proposed (for example, see Patent Document 2).

In view of this, an operation management system for a moving body that uses such a sheet-like sheet device as an antenna body to perform communication between the moving body and the communication relay device is conceivable.
That is, the communication relay device is connected to the mobile device using the seat device as an antenna main body connected by a connection line to a relay device main body that can communicate with the management means via a communication line. It is the structure which communicates. And when using such a communication apparatus for the operation management system of a moving body, it forms so that an antenna main-body part may become elongate along the movement path | route of a moving body.

JP 2001-42940 A JP 2006-270165 A

  In the configuration in which communication is performed via the communication device including the sheet-like antenna main body as described above, the strength of the radio signal output from the surface of the antenna main body is also at both ends in the longitudinal direction of the antenna main body. It is conceivable to set the connection position of the connection portion at the central position in the longitudinal direction of the antenna main body so that the value is as large as possible. The following disadvantages are assumed in the operation management system of a moving body that performs communication between the communication device and the communication relay device.

  When a moving vehicle moves along a movement route and passes a boundary between a certain traveling section and the next traveling section, the communication relay device serving as a communication target corresponds to the next traveling section. When switching to a device, as the switching determination condition, for example, as described in Patent Document 1, the reception intensity of a wireless signal for communication communicated from the antenna main body corresponding to the traveling section on the upper side in the moving direction is If the reception intensity of a radio signal for communication communicated from the antenna main body corresponding to the traveling section on the lower side of the moving direction exceeds a threshold value for determination exceeding a predetermined threshold value, the switching is performed. When configured to determine that the determination condition is satisfied, the moving object has passed through the boundary until it is determined that the switching determination condition is satisfied. It takes time between, there is a possibility that processing for switching the communication relay apparatus is delayed corresponding to the new travel route as a communication target.

To explain this point, when the connection position of the connection portion with respect to the antenna main body portion is set at the central position in the longitudinal direction of the antenna main body portion, the position on the longitudinal end portion side of the antenna main body portion is from the surface. The intensity of the output radio signal is weaker than that of the central portion in the longitudinal direction. FIG. 7 shows the measurement result of the intensity distribution of the received intensity when a radio signal (specifically, an electromagnetic wave signal) output from the antenna main body measured by the applicant is received. Incidentally, in this figure, the darker the color, the stronger the reception intensity.
As can be seen from the measurement results, the radio signal propagates in the antenna body in the two-dimensional direction and is output from almost the entire area in the longitudinal direction on the surface, but is received around the place where the connection is connected. The intensity is the strongest, and the reception intensity decreases as the distance from the connection position of the connection portion increases.

  And when using such a sheet-like antenna main body part for the operation management system of a mobile object, it will be equipped with a plurality of antenna main body parts along the path along the movement path of the mobile object. Since the reception intensity decreases as the distance from the connection position decreases, for example, when the moving body passes the boundary between the traveling section on the upper side in the moving direction and the traveling section on the lower side in the moving direction, the mobile body moves before passing the boundary. The reception intensity of the radio signal communicated from the antenna main body corresponding to the traveling section on the upper side of the direction and received by the communication device on the mobile body side gradually changes to a small value, and becomes the smallest value near the boundary passing position. On the other hand, after the mobile body has passed the boundary, the reception intensity of the radio signal that is communicated from the antenna main body corresponding to the travel section on the lower side in the moving direction and received by the communication device on the mobile body side Immediately after passing, it is the smallest, and then gradually changes to a larger value.

  Thus, before and after the timing when the moving body passes the boundary, since the reception strength of the radio signal is a small value, when it is determined that the switching determination condition as described above is satisfied, For example, as shown in FIG. 9, reception of a radio signal that is communicated from an antenna main body corresponding to a traveling section on the lower side of the moving direction and received by the communication device on the moving body after the moving body passes the boundary. Processing that switches the communication relay device that is the communication target to the communication relay device corresponding to the next travel section, because it takes time to determine that the strength is equal to or greater than the determination threshold value and that the switching determination condition is satisfied. May be delayed.

  As a result, since it takes time to determine that the switching determination condition is satisfied even though the moving object has passed the boundary, when the moving object has passed the boundary, The process of switching from the state of performing communication with the communication relay device corresponding to the travel section to the state of performing communication with the communication relay device corresponding to the travel section on the lower side of the moving direction is delayed, There is a possibility that the operation management of the moving body by the management means cannot be appropriately performed.

  For example, the control means on the mobile unit side determines the travel section in which the mobile unit is currently located from the content of communication with the communication relay device that is currently communicating. When the process of switching is delayed, the process of switching the communication relay device is delayed and located in the front travel section, even though the moving body actually moves over the boundary to the next travel section. If the vehicle is mis-determined and inappropriate control is performed, the management of the moving body by the management means may not be performed properly.

  An object of the present invention is a state in which an electromagnetic wave signal interferes with an external device or information that is being communicated is less likely to leak to the outside, and further, power consumption for communication is reduced to a low level. Thus, while enabling wireless communication between a plurality of communication relay devices and a mobile body, when the mobile body reaches the boundary of the travel section, the communication relay device to be communicated is The object of the present invention is to provide an operation management system for a moving body that can appropriately perform a relay device switching process for switching to a communication relay device corresponding to a travel section.

The operation management system for a moving object according to the present invention includes a moving object that moves toward one side in the longitudinal direction of the route along the moving route, and is provided separately for each of a plurality of travel sections in the moving route. Management information is communicated between a plurality of communication relay devices that perform wireless communication with the provided mobile communication device and the mobile communication device via the plurality of communication relay devices. Management means for managing the operation of the mobile body, and the mobile body has satisfied the switching determination condition based on the reception strength of the radio signal received by the communication device on the mobile body side. Is determined, control means for executing a relay device switching process for switching the communication relay device to be communicated to the communication relay device corresponding to the next travel section,
The first characteristic configuration is that the communication relay device is connected to the management device via a communication line so that the management information can be freely communicated with the management means, and connected to the relay device main body via a connection line. An antenna unit that communicates the management information with a communication device on the mobile body side by radio signal,
A connection in which the antenna portion is connected to the connection line and a sheet-like antenna main body portion that propagates the wireless signal in a two-dimensional direction and outputs a wireless communication area along the surface. And comprising
The antenna main body is formed in an elongated shape along the longitudinal direction of the path, and is installed in a state of being aligned along the longitudinal direction of the path in a state of being adjacent to each other,
When the moving body has reached a boundary passage timing that passes the boundary between the traveling section on the upper side in the moving direction and the traveling section on the lower side in the moving direction, the condition for switching determination is satisfied in the control means. As can be discriminated, the connection position of the connection portion in each of the plurality of antenna main body portions is set.

  That is, the antenna portion in the communication relay device propagates a wireless signal in a two-dimensional direction and outputs a wireless communication area along the surface, and outputs a sheet-like antenna body portion and a connection line. And a connecting portion to be connected. In other words, this sheet-shaped antenna main body does not perform communication by propagating a radio signal such as an electromagnetic wave signal in a three-dimensional direction, for example, but enables communication by propagating a radio signal in a two-dimensional direction. Communication is performed in such a manner that an area is output along a surface. Incidentally, as an example of the sheet-like antenna main body part, for example, a mesh-like conductor part is provided on one surface of the sheet-like dielectric part, and a planar conductor is provided on the other face of the dielectric part. There is a configuration including a section.

  Since such an antenna main body part outputs a radio signal in a state where a radio signal can be wirelessly communicated along the surface, the antenna main body part is located away from the communication area formed on the surface of the antenna main body part. Wireless communication with a mobile unit can be performed in a state where there is little risk of interference of a wireless signal with an external device or leakage of management information being communicated to the outside. In addition, since the antenna main body is formed with a communication area capable of wireless communication along the surface, the power consumption for outputting the wireless signal can be reduced.

  And the connection line for connecting between the antenna body part and the relay apparatus body is connected at the connection part, and the reception strength of the radio signal is the strongest around the place where this connection part is connected. By using the fact that the radio signal reception intensity becomes weaker as the distance from the connection position of the connection section becomes smaller, the mobile body moves to the upper side in the movement direction by setting the connection position of the connection section with respect to the antenna body section to an appropriate position. When the boundary passage timing that passes through the boundary between the travel section and the travel section on the lower side in the moving direction is reached, it is determined by the control means that the switching determination condition is satisfied.

  FIG. 6 shows the result of measuring the reception intensity when receiving the radio signal output from the surface of the antenna main body when the connection position of the connection portion is set at one end in the longitudinal direction of the antenna main body. Yes. In this figure, the darker the color, the stronger the reception intensity. As can be seen from the measurement results, at one end portion in the longitudinal direction of the antenna body where the connection portion is close, the reception strength when receiving a radio signal is stronger than in other locations, At the end, the reception intensity when a radio signal is received is weaker than other parts.

  Therefore, the reception intensity at which the communication device on the mobile body side receives the radio signal output from the surface of the antenna body when the mobile body reaches the boundary passage timing passes through the boundary corresponds to the setting threshold value for determination. If the connection position of the connection portion is set so as to be strong, it is possible to determine that the switching determination condition is satisfied in accordance with the boundary passage timing when the moving body passes the boundary. is there. As a result, when the mobile body reaches the boundary of the travel section, it is possible to accurately switch the communication relay device.

  Therefore, according to the first feature configuration, there is little risk of interference of a radio signal with an external device, leakage of information being communicated to the outside, and the power consumption for communication is small. It is possible to perform wireless communication between a plurality of communication relay devices and a moving body in a state of being suppressed, but when the moving body reaches the boundary of the traveling section, the communication target It has become possible to provide a moving body operation management system capable of appropriately performing a relay device switching process for switching a relay device to a communication relay device corresponding to the next travel section.

The second feature configuration of the present invention is the first feature configuration,
The control means receives from the antenna unit positioned on the lower side in the moving direction of the boundary, and the reception intensity of the radio signal received from the antenna unit positioned on the upper side in the moving direction of the boundary is lower than the threshold for determining the upper side. When the reception intensity of the radio signal to be received exceeds a lower-side determination threshold, the switching determination condition is determined to be satisfied,
The antenna unit located on the lower side in the movement direction of the boundary and the antenna unit located on the upper side in the movement direction of the boundary are such that the connection position of the connection unit with respect to the antenna body unit is on the upper side in the movement direction in the path longitudinal direction. It is in the point set in the place.

  That is, when reaching the boundary passage timing when the moving body passes the boundary, the control means, the reception intensity of the radio signal received from the antenna unit located on the upper side in the movement direction of the boundary is below the upper side determination threshold, In addition, when the reception intensity of the radio signal received from the antenna unit located on the lower side in the moving direction of the boundary exceeds a lower-side determination threshold value, it is determined that the switching determination condition is satisfied, and communication that is a communication target The relay device for switching will be switched.

  And the antenna part located on the upper side in the moving direction of the boundary is set so that the connecting position of the connecting part with respect to the antenna main body part is set at the upper side in the moving direction in the longitudinal direction of the path. When the section is moved closer to the boundary, the strength of the radio signal at the antenna section located on the upper side in the moving direction becomes weaker, and the reception strength of the radio signal at the position before reaching the boundary is lower than the upper side set threshold value. become.

  In addition, the antenna unit located on the lower side in the moving direction of the boundary is set so that the connecting position of the connecting part with respect to the antenna main body unit is set at the upper side in the moving direction in the longitudinal direction of the path. If you enter the travel section on the lower side in the movement direction from the section, you will receive a radio signal from the antenna unit located on the lower side in the movement direction of the boundary, but the upper side in the movement direction of this upper antenna section Since the connection portions are close to each other, the reception intensity when receiving a radio signal is strong. As a result, when the mobile body crosses the boundary and enters the travel section on the lower side in the movement direction, the reception intensity when the radio signal is suddenly increased becomes strong, so there is little time delay after the mobile body passes the boundary. It is possible to set so that it can be determined that the switching determination condition is satisfied in the state.

  Therefore, according to the second feature configuration, the difference in the intensity of the radio signal before and after passing when the moving body passes the boundary of the traveling section becomes large, and as the moving body passes the boundary of the traveling section. Thus, it has become possible to accurately determine whether or not the switching determination condition has been satisfied, and it has become possible to provide an operation management system for a moving body that can accurately switch the communication relay device to be communicated.

  According to a third characteristic configuration of the present invention, in the second characteristic configuration, a plurality of the antenna units are provided for each of the relay device main bodies, and a plurality of the antenna units provided for the relay device main body are provided. Among these, the lowermost antenna unit located on the lowermost side in the moving direction and the uppermost antenna unit located on the uppermost side in the moving direction are such that the connection position of the connecting portion with respect to the antenna body portion is the path. It is set at a location on the upper side in the movement direction in the longitudinal direction, and the antenna position other than the lowermost antenna portion and the uppermost antenna portion is such that the connection position of the connection portion with respect to the antenna body portion is the length of the path. It is in the point set to the central part side location of a direction.

  That is, a plurality of antenna units are provided for each of the relay device main bodies, and among the plurality of antenna units provided for the relay device main body, the lowermost antenna unit located on the lowermost side in the moving direction, And, since the uppermost antenna portion located on the uppermost side in the moving direction is set at the upper position on the moving direction in the longitudinal direction of the path, the connection position of the connecting portion with respect to the antenna body portion is set as described above. Whether the difference in radio signal strength before and after the moving object passes through the boundary of the traveling section is large, and whether the switching determination condition is satisfied as the moving object passes through the boundary of the traveling section It is possible to accurately determine whether or not.

  On the other hand, the antenna part other than the lowermost antenna part and the uppermost antenna part, that is, the antenna part located in the middle part in the longitudinal direction of the route in the traveling section, has the connection position of the connecting part to the antenna body part. It is set at the center side position in the longitudinal direction of the path. As described above, when the connection position of the connection portion with respect to the antenna body portion is set at the central portion side in the longitudinal direction of the path, the wireless signal is wirelessly increased with the strength of the wireless signal at both ends in the longitudinal direction of the antenna body portion as much as possible. A signal can be output.

  In other words, in the central region of the travel section in the longitudinal direction of the route, there is no need to switch the communication relay device to be communicated at both ends in the longitudinal direction of the route. It is not necessary to set the direction end, and the radio signal strength is increased as much as possible over the entire longitudinal region, so that communication with the communication device on the mobile side is performed as stably as possible. Is possible.

  Therefore, according to the third characteristic configuration, in a travel section in which it is not necessary to switch the communication relay device to be communicated, the output of the radio signal output from the antenna main body unit is all transmitted in the longitudinal direction of the path of the antenna main body unit. It has become possible to provide an operation management system for a moving body that enables communication with the communication device on the moving body side to be as stable as possible in a state where the area is as large as possible.

  According to a fourth feature configuration of the present invention, in any one of the first feature configuration to the third feature configuration, the control unit controls the operation of the moving body based on management information communicated from the management unit, and When the relay device switching process is executed, this is communicated to the management means.

  In other words, the control means controls the operation of the mobile body based on the management information communicated from the management means via the communication relay device, but the communication to be communicated when the mobile body reaches the boundary of the travel section. The relay device can be switched appropriately, and the control means is configured to communicate the fact to the management means when the relay device switching process is executed. It is possible to determine which traveling section the moving body is moving and to perform good management of the moving body in a state suitable for the traveling section.

  Therefore, according to the fourth feature configuration, when the moving body passes the boundary, the communication relay device is appropriately switched, and the operation management of the moving body is favorably performed based on the management information by the management means. It has become possible to provide an operation management system for moving bodies that can be used.

  According to a fifth feature configuration of the present invention, in any one of the first feature configuration to the fourth feature configuration, the management unit manages the operation of the moving object under a management condition set for each of a plurality of travel sections. It is in the point where it is constituted to perform.

  That is, the management means performs the operation management of the moving body under the management conditions set separately for each of the plurality of travel sections. As the management conditions, for example, in the travel section corresponding to the straight route If there is, there are various management conditions such as setting the moving speed to a high speed and setting the moving speed to a low speed if the travel section corresponds to the curved route.

  And if the traveling section on the upper side in the moving direction and the traveling section on the lower side in the moving direction adjacent thereto have different management conditions, the traveling section before passing the boundary and the traveling section after passing through the boundary, Although the contents of control of the moving body by the control means may vary greatly, as described above, when the moving body passes the boundary, it is possible to accurately switch the communication relay device. This makes it possible to appropriately manage the operation of the moving body in the traveling section.

  Therefore, even if the content of control of the moving body by the control means is greatly different between the traveling section before the moving body passes the boundary and the traveling section after the passing, the operation management of the moving body in each traveling section is performed. It has become possible to provide a mobile operation management system that can be performed properly.

Plan view of moving path Block diagram showing schematic configuration of operation management system Block diagram showing the schematic configuration of the transport carriage Diagram showing antenna body Partial cutaway perspective view of coupler The figure which shows the measurement result of distribution of reception strength The figure which shows the measurement result of distribution of reception strength The figure which shows the relation between the connection state of the coupler near the boundary of the travel section and the change of reception strength The figure which shows the relation between the connection state of the coupler near the boundary of the travel section and the change of reception strength The figure which shows the connection state of the antenna part of another embodiment, and a coupler The figure which shows the connection state of the antenna part of another embodiment, and a coupler

Hereinafter, the case where the embodiment of the operation management system of the moving body which concerns on this invention is applied to the conveyance trolley 1 as a moving body is demonstrated based on drawing.
As shown in FIG. 1, as an example of a moving body that can move and travel with an article placed thereon, a transport carriage 1 is provided in a state that is guided in a movable manner by a traveling rail 2 provided in a loop shape, The transport carriage 1 is configured to move toward one side in the longitudinal direction of the path along the movement path 3 formed by the traveling rail 2. In addition, the transport carriage 1 is configured to carry in and out articles at a station 4 provided in the middle of the movement path 3.

Next, an operation management system for managing the operation state of the transport carriage 1 will be described.
As shown in FIG. 1, the travel route 3 along which the transport cart 1 moves is set by dividing a plurality of travel sections (A to L) in advance. Then, as shown in FIG. 2, wireless communication is performed with a cart-side communication unit 5 as a mobile-side communication device that is provided separately for each of a plurality of travel sections in the travel route 3 and provided in the transport cart 1. Management as management means for managing the operation of the transport carriage 1 by communicating management information between the plurality of communication relay apparatuses 6 to be performed and the cart side communication unit 5 via the plurality of communication relay apparatuses 6. Computer 7 is provided.

  The management computer 7 and each of the plurality of communication relay devices 6 are connected via a communication line 8 and configured as a wired LAN. Specifically, based on the standard communication standard [IEEE802.3 (100BASE-TX) or IEEE802u (10BASE-T)], the management computer 7 is assigned in advance to each of the plurality of communication relay devices 6. The management computer 7 and the plurality of communication relay devices 6 are capable of recognizing which of the plurality of communication relay devices 6 is based on the identification code that is present. It is configured to be able to communicate information with each other.

  On the other hand, as shown in FIG. 3, the carriage 1 travels along the carriage side communication unit 5 and the traveling rail 2 for performing communication with the communication relay device 6 as described above. The operation state of the transport carriage 1 based on the management information communicated from the management computer 7, and When it is determined that the switching determination condition is satisfied on the basis of the reception strength of the radio signal received by the side communication unit 5, the communication relay device 6 to be communicated corresponds to the next travel section. A control unit 11 is provided as control means for executing relay device switching processing for switching to the device 6.

The communication relay device 6 is connected to a relay device body 12 via a communication line 8 so that management information can be freely communicated with a management computer 7, and connected to the relay device body 12 via a connection line 13. The antenna unit 14 communicates management information with the side communication unit 5 by a radio signal, and the antenna unit 14 propagates the radio signal in a two-dimensional direction so that a communication area in which radio communication can be performed. A sheet-like antenna main body 15 that outputs in a state of being formed along the surface, and a coupler 16 as a connecting portion to which the connecting wire 13 is connected are configured.
Incidentally, as a communication format when communication is performed using a wireless signal, the communication format is based on the standard communication standard (IEEE802.11a) as in a general wireless LAN.

Next, the antenna body 15 will be described.
As shown in FIG. 4, the antenna body 15 includes a mesh-like conductor portion 17 made of a conductor formed in a mesh shape and a sheet-like dielectric portion 18 made of a dielectric formed in a sheet shape. And a sheet-like conductor portion 19 made of a sheet-like conductor, and insulated on the front surface side of the mesh-like conductor portion 17 and the back surface side of the sheet-like conductor portion 19, respectively. Sheet-like insulator portions 20 and 21 made of a body are provided, and they are bonded to each other in a laminated state to form a sheet as a whole.

  The sheet-shaped dielectric portion 18 uses a dielectric having a dielectric constant in a frequency band used for signal transmission larger than that of air, a magnetic permeability almost equal to that of air, and a transmission speed of electromagnetic waves smaller than that of air. . In other words, the speed of the electromagnetic wave as an example of the radio signal is determined by the product of the magnetic permeability and the dielectric constant. Therefore, the electromagnetic wave propagating through the inside of the sheet-shaped dielectric portion having a dielectric constant larger than air and the magnetic permeability equal to air. The velocity is smaller than the velocity of the electromagnetic wave propagating in the air. The mesh-shaped conductor portion 17 has a large number of openings 22 as shown in FIG.

Next, the configuration of the coupler 16 will be described.
As shown in FIG. 5, the coupler 16 includes an intermediate dielectric portion 25 between an inner electrode 23 and an outer electrode 24 arranged concentrically, and is connected to a connection line 13 to be connected to a relay device. A signal can be communicated with the main body 12. The internal electrode 23 and the external electrode 24 are each made of a metal material, and the intermediate dielectric portion 25 is made of the same material as that of the sheet-like dielectric portion.

  In other words, the internal electrode 23 has a disk-like plate body 23b integrally fixed to the tip of the central shaft 23a, and the bottom surface of the disk-like plate body 23b is a sheet-like antenna. It is provided so as to be parallel to the surface of the main body 15. The intermediate dielectric portion 25 includes a shaft covering portion 25a covering the central shaft 23a and a disk-shaped covering portion 25b covering the disk-shaped plate body 23b so as to cover all but the exposed surface of the internal electrode 23. Has been. Further, an external electrode 24 is disposed so as to cover the periphery of the intermediate dielectric portion 25, and the external electrode 24 is a cylindrical shaft portion 24a and a disc-shaped portion integrally fixed to the distal end portion of the cylindrical shaft portion 24a. 24b, and a cylindrical portion 24c extending downward from the peripheral edge of the disc-like portion 24b. For example, each connection terminal of the connection line 13 made of a coaxial cable or the like is connected to the central shaft 23 a of the internal electrode 23 and the upper end portion of the cylindrical shaft portion 24 a of the external electrode 24.

  When a signal corresponding to a radio signal is applied to the coupler 16 having such a configuration through the connection line 13, an electromagnetic wave as an example of the radio signal is generated along the bottom surface of the coupler 16 in a state where the magnetic field is parallel to the bottom surface. Are released in a radially expanding state. The electromagnetic waves thus emitted are sent to the sheet-like antenna main body 15 to which the coupler 16 is connected. When an electromagnetic wave is transmitted from the coupler 16 to the front surface of the sheet-like dielectric portion 18, an electromagnetic field caused by the electromagnetic wave is formed only near the surface of the sheet-like dielectric portion 18. This is called “evanescent wave”. The evanescent wave is attenuated exponentially in a direction perpendicular to the front surface of the sheet-like dielectric portion 18, and a significant electromagnetic field is not formed except in the vicinity of the surface.

  In other words, the electromagnetic wave transmitted from the coupler 16 to the sheet-like dielectric part 18 propagates in the sheet-like dielectric part 18 in a two-dimensional direction, that is, concentrically. On the way, it oozes out to the surface through the opening 22 of the mesh-like conductor portion 17. At that time, as described above, it attenuates exponentially in the direction perpendicular to the front surface of the sheet-like dielectric portion 18, and no significant electromagnetic field is formed except in the vicinity of the surface. .

  Therefore, the sheet-like antenna main body 15 propagates a radio signal in a two-dimensional direction and outputs it in a state where a communication area capable of radio communication is formed along the surface.

  In contrast to the electromagnetic wave output from the coupler 16 propagating through the sheet-like antenna body 15, the electromagnetic wave is detected by the coupler 16 when the electromagnetic wave exists in the sheet-like antenna body 15. Then, it can be transmitted through the connection line 13 toward the relay apparatus main body 12 side.

As shown in FIG. 2, the sheet-like antenna body 15 is formed in a long shape along the longitudinal direction of the movement path 3 and is arranged along the longitudinal direction of the path in a state of being adjacent to each other. It is installed in a state.
Further, the carriage 1 is provided with an antenna 5a at a position where it can receive an electromagnetic wave in an electromagnetic field formed near the surface of the sheet-like antenna body 15 when moving along the movement path 3. The cart-side communication unit 5 can receive electromagnetic waves via the antenna 5a. This electromagnetic wave is superimposed with management information transmitted from the management computer 7 and constitutes a radio signal for information transmission.

  Therefore, when the transport carriage 1 is moving along the movement path 3, a radio signal can be received by the antenna 5 a at any position on the movement path 3. Information is transmitted to the relay device main body 12 of the communication relay device 6 to be communicated via the communication line 8, and further transmitted as a radio signal to the sheet-like antenna main body 15 via the connection line 13 and the coupler 16. Is done. On the transport carriage 1 side, a radio signal output from the sheet-like antenna main body 15 is received by the carriage-side communication section 5 via the antenna 5 a and transmitted to the control section 11. And the control part 11 can control the operation state of the conveyance trolley | bogie 1 based on the management information transmitted from the management computer 7 with a radio signal.

  And the management computer 7 is comprised so that operation management of the conveyance trolley | bogie 1 may be performed on the management conditions set separately for every some driving | running | working area. That is, the operation state of the transport carriage 1 is controlled by the control unit 11 based on management information transmitted from the management computer 7 for each of a plurality of travel sections.

  An example of the management conditions set for each of the plurality of travel sections will be described. For example, among the plurality of travel sections shown in FIG. 1, the travel sections (E, F, K, In L), in order to prevent a change in posture due to centrifugal force, the transport carriage 1 is moved at a curve setting speed that is lower than the set speed. In a traveling section (A, B, G, H) that is a straight path and does not require the conveyance carriage 1 to be stopped, the conveyance carriage 1 is moved at a set speed for straight advance that is higher than the set speed. In the traveling section (C, I) in which the station 4 for carrying in / out the goods is provided, a transport carriage that moves at a set speed for straight traveling from the traveling section (B, H) for high speed on the front side of the moving path 3 before that. 1 is decelerated and stopped at station 4. In the travel section (D, J) next to the travel section in which the station 4 is provided, the speed is gradually increased from the stop state to the curve setting speed.

  In addition, the control unit 11 detects that the reception intensity of the radio signal received by the cart side communication unit 5 in the communication with the communication relay device 6 on the upper side in the moving direction is lower than the upper side discrimination threshold, and moves. When the reception strength of the radio signal received by the cart side communication unit 5 in communication with the communication relay device 6 on the lower side of the direction exceeds the lower side determination threshold, it is determined that the switching determination condition is satisfied. Thus, it is configured to execute a relay device switching process for switching the communication relay device 6 to be communicated to the communication relay device 6 corresponding to the next travel section.

  Then, the control unit 11 is configured to communicate this to the management computer 7 when the relay device switching process is executed. As a result, the management computer 7 can confirm that the transport cart 1 has properly performed the process of switching the communication relay device 6 that is a communication target, and can perform subsequent communication appropriately. In other words, the management computer 7 can determine which travel section the transport carriage 1 is moving and can satisfactorily manage the operation of the transport carriage 1 in a state suitable for the travel section.

  As shown in FIG. 2, a plurality of antenna units 14 are provided for each of the relay device main bodies 12 (specifically, four each), and the relay device main body 12 has a distributor 26 built therein. Thus, the same signal is transmitted to (four) antenna units 14 in a state where the same signal is branched into four. Of the plurality (four) of the antenna units 14 provided for the relay device main body 12, the lowermost antenna unit 14A positioned on the lowermost side in the moving direction and the uppermost side positioned on the uppermost side in the moving direction. In the upper antenna portion 14B, the connection position of the coupler 16 with respect to the antenna main body portion 15 is set at a location on the upper side in the movement direction in the longitudinal direction of the path. On the other hand, among the plurality of antenna units 14 provided for the relay apparatus main body 12, the other antenna units 14 other than the lowermost antenna unit 14 </ b> A and the uppermost antenna unit 14 </ b> B are couplers 16 for the antenna main unit 15. The connection position is set at the center side position in the longitudinal direction of the path.

  FIG. 6 shows the reception intensity when the radio signal output from the antenna body 15 is received when the connection position of the coupler 16 to the antenna body 15 is set at one end side in the longitudinal direction of the path. The measurement result of intensity distribution is shown. In this figure, the darker the color, the stronger the reception intensity. As can be seen from this figure, at one end portion of the antenna body 15 in the longitudinal direction on the side close to the coupler 16, the reception intensity when receiving a radio signal is the highest, and the distance from the connection position of the coupler 16 increases. Since the reception intensity is small, the reception intensity is the smallest at the other end in the longitudinal direction.

  FIG. 7 shows the strength of the reception intensity when the radio signal output from the antenna main body 15 is received when the connection position of the coupler 16 to the antenna main body 15 is set at the central portion in the longitudinal direction of the path. The measurement result of distribution is shown. In this figure, the darker the color, the stronger the reception intensity. As can be seen from this figure, the radio signal has the highest reception intensity around the central portion in the longitudinal direction of the path to which the coupler 16 is connected, and the reception intensity decreases as the distance from the connection position of the coupler 16 increases. Therefore, the reception intensity is the smallest in the vicinity of both end portions in the longitudinal direction of the antenna main body 15.

  When the transport carriage 1 moves along the movement path 3, it sequentially passes through a plurality of travel sections. At this time, the cart side communication unit 5 receives radio signals from the plurality of antenna units 14 arranged in a line along the longitudinal direction of the moving path 3 and is transmitted from the management computer 7. You will receive information.

  Next, the relay of the control unit 11 when the transport carriage 1 moves from the traveling section A as an example of the traveling section on the upper side in the moving direction to the traveling section B as an example of the traveling section on the lower side in the moving direction. The device switching process will be specifically described.

  When the transport carriage 1 moves in the travel section A and approaches the boundary with the next travel section B, the cart-side communication unit 5 moves in the direction of travel among the four antenna units 14 provided corresponding to the travel section A. A radio signal in the lowermost antenna unit 14A located on the lowermost hand side is received by the cart side communication unit 5 via the antenna 5a. In the lowermost antenna portion 14A, the connection position of the coupler 16 with respect to the antenna body portion 15 is set at the upper side in the movement direction in the longitudinal direction of the path, and therefore the strength of the radio signal gradually decreases toward the lower side in the movement direction. become.

  As a result, at the position before the transport carriage 1 reaches the boundary between the travel section A and the travel section B, the upper-side threshold value in which the reception intensity of the radio signal received by the carriage-side communication unit 5 is set in advance. Will be below. When the reception intensity of the radio signal received by the cart side communication unit 5 falls below the upper-side setting threshold, the control unit 11 transmits a radio signal for the communication relay device 6 corresponding to a travel section other than the travel section A. The search process is started.

  When the transport carriage 1 enters the travel section B from the travel section A across the boundary, the cart-side communication unit 5 transmits a radio signal from the communication relay device 6 provided corresponding to the travel section B, specifically Receives a radio signal from the uppermost antenna unit 14B among the four antenna units 14 in the communication relay device 6. In the uppermost antenna portion 14B, the connection position of the coupler 16 with respect to the antenna main body portion 15 is set at a location on the upper side in the movement direction in the longitudinal direction of the path, so that the wireless signal has the highest intensity immediately after passing the boundary. The radio signal strength becomes smaller as the radio signal becomes lower in the moving direction.

  As a result, as shown in FIG. 8, as soon as the transport carriage 1 enters the travel section on the lower side in the moving direction beyond the boundary, the communication provided corresponding to the travel section B received by the carriage-side communication unit 5. The reception intensity of the radio signal from the relay device 6 exceeds the preset lower-side discrimination threshold value Ps. Then, when the reception intensity of the radio signal from the communication relay device 6 provided corresponding to the travel section B received by the cart side communication unit 5 exceeds the lower side determination threshold value Ps, the control unit 11 performs the switching determination. The communication relay device 6 that is the object of communication is switched from the communication relay device 6 corresponding to the travel section A to the communication relay device 6 corresponding to the travel section B by determining that the service condition is satisfied. That is, when the transport carriage 1 enters the travel section on the lower side in the moving direction beyond the boundary, it can be determined that the switching determination condition is satisfied by the control unit 11 with a small time delay.

  Therefore, since the communication relay device 6 is appropriately switched when the transport carriage 1 passes the boundary, the management computer 7 determines which travel section the transport carriage 1 is moving in a time-delayed manner. It is possible to appropriately determine in a small number of states, and it is possible to satisfactorily manage the operation of the transport cart 1 based on management information by the management computer 7.

  Although not shown, the upper-side discrimination threshold value is set to be smaller than the lower-side discrimination threshold value Ps, so that malfunction due to noise is prevented and the upper traveling side in the moving direction is set in the traveling section. The reception strength of the radio signal from the communication relay device 6 provided correspondingly decreases, and the reception strength of the radio signal from the communication relay device 6 provided corresponding to the traveling section on the lower side in the movement direction increases. Thus, it is possible to reliably determine that the transport carriage 1 has exceeded the boundary of the travel section.

[Another embodiment]
Hereinafter, another embodiment will be described.

(1) In the above embodiment, four antenna units 14 are provided for the relay device main body 12, and the four antenna units 14 provided for the relay device main body 12 are positioned on the lowest side in the moving direction. The lowermost antenna portion 14A and the uppermost antenna portion 14B located on the uppermost side in the movement direction are set such that the connection position of the coupler 16 with respect to the antenna body 15 is the upper side in the movement direction in the path longitudinal direction. In addition, the antenna unit 14 other than the lowermost antenna unit 14A and the uppermost antenna unit 14B has a connection position of the coupler 16 with respect to the antenna main body unit 15 set at a central portion side place in the longitudinal direction of the path. Although illustrated, it may replace with such a structure and may be comprised as follows.

  As shown in FIG. 10, in all of the plurality of antenna portions 14 provided for the relay device main body 12, the connection position of the coupler 16 with respect to the antenna main body portion 15 is set at the upper side in the movement direction in the longitudinal direction of the path. It is good also as a structure to be made.

  In addition, a configuration in which a plurality of antenna units 14 are provided for the relay device main body 12, a configuration in which two or three antenna units are provided for the relay device main body 12, or a configuration in which the relay device main body 12 is provided. On the other hand, it is good also as a structure provided with five or more antenna parts.

  Furthermore, instead of a configuration in which a plurality of antenna units 14 are provided for each relay device body 12, one antenna unit 14 is provided for each relay device body 12 provided for each travel section, as shown in FIG. It is good also as a structure provided.

(2) In the above embodiment, the reception strength of the radio signal received from the antenna unit located on the upper side in the boundary moving direction is lower than the upper side discrimination threshold value, and the antenna unit located on the lower side in the boundary moving direction. It is configured to determine that the switching determination condition is satisfied when the reception intensity of the received radio signal exceeds the lower determination threshold that is larger than the upper determination threshold. However, the upper determination threshold and the lower determination threshold are determined. The side determination threshold value may be set to the same value.
Also, the radio signal reception strength in communication with the communication relay device on the lower side in the moving direction is set to the radio signal reception strength in communication with the communication relay device on the upper side in the movement direction. Various conditions can be used as the switching determination condition for switching the communication relay device that is the communication target, such as a configuration in which it is determined that the switching determination condition is satisfied when the value is larger than the amount. .

(3) In the above-described embodiment, the transport carriage 1 as a moving body is configured to move along one loop-shaped moving path 3. For example, a plurality of paths are merged at a joining point, A configuration may be adopted in which a plurality of movement routes 3 are provided such that the route becomes a route or one route branches into a plurality of routes in the middle. And in such a structure, the operation state of the conveyance trolley | bogie 1 is different in each of the driving | running | working area corresponding to the location near the moving direction of a merging location, and the driving | running | working area corresponding to the location below the moving direction of a merging location. It is also possible to perform control in such a form.

(4) In the above-described embodiment, as the moving body, the conveyance cart that transfers the article to and from the station is exemplified. However, the present invention is, for example, an article storage unit of a storage shelf provided in an automatic warehouse or the like. It can also be applied to stacker cranes that transfer articles between.

DESCRIPTION OF SYMBOLS 1 Mobile body 3 Movement path 5 Communication apparatus on mobile body 6 Communication relay apparatus 7 Management means 8 Communication line 11 Control means 13 Connection line 14 Antenna part 15 Antenna main body part 16 Connection part

Claims (5)

A moving body that moves toward the longitudinal direction of the path along the moving path;
A plurality of communication relay devices that are provided separately for each of a plurality of travel sections in the movement route and perform wireless communication with a communication device on a mobile body side provided in the mobile body;
Management means for performing operation management of the mobile body by performing communication of management information with the communication apparatus on the mobile body side via the plurality of communication relay devices,
When the mobile unit determines that the switching determination condition is satisfied based on the reception strength of the radio signal received by the communication unit on the mobile unit side, the communication relay device that is the communication target is moved to the next travel section. An operation management system for a moving body provided with a control means for executing a relay device switching process for switching to a communication relay device corresponding to
The relay device for communication is connected to the management means by a communication line so that the management information can be freely communicated with the management means, and is connected to the relay device main body by a connection line. An antenna unit that communicates the management information with a radio signal between
A connection in which the antenna portion is connected to the connection line and a sheet-like antenna main body portion that propagates the wireless signal in a two-dimensional direction and outputs a wireless communication area along the surface. And comprising
The antenna main body is formed in an elongated shape along the longitudinal direction of the path, and is installed in a state of being aligned along the longitudinal direction of the path in a state of being adjacent to each other,
When the moving body has reached a boundary passage timing that passes the boundary between the traveling section on the upper side in the moving direction and the traveling section on the lower side in the moving direction, the condition for switching determination is satisfied in the control means. An operation management system for a moving body in which the connection position of the connection portion in each of the plurality of antenna main body portions is set as determined. The control means is
The radio signal received from the antenna unit located on the lower side in the moving direction of the boundary when the reception intensity of the radio signal received from the antenna unit located on the upper side in the moving direction of the boundary is lower than the upper threshold for discrimination. Is configured to determine that the switching determination condition is satisfied when the received intensity exceeds the lower determination threshold.
The antenna unit located on the lower side in the movement direction of the boundary and the antenna unit located on the upper side in the movement direction of the boundary are such that the connection position of the connection unit with respect to the antenna body unit is on the upper side in the movement direction in the path longitudinal direction. The operation management system for a moving body according to claim 1, which is set at a location. A plurality of the antenna units are provided for each of the relay device main bodies,
Among the plurality of antenna units provided for the relay device main body, the lowermost antenna unit located on the lowermost side in the moving direction, and the uppermost antenna unit located on the uppermost side in the moving direction The connection position of the connection portion with respect to the antenna body portion is set at a location on the upper side in the movement direction in the longitudinal direction of the path, and other antenna portions other than the lowermost-side antenna portion and the uppermost-side antenna portion are The moving body operation management system according to claim 2, wherein a connection position of the connection portion with respect to the antenna main body portion is set at a central portion side position in the route longitudinal direction.   The control means is configured to control the operation of the mobile body based on management information communicated from the management means, and to communicate the fact to the management means when the relay device switching process is executed. The operation management system of the moving body of any one of Claims 1-3.   The mobile body according to any one of claims 1 to 4, wherein the management means is configured to perform operation management of the mobile body under management conditions set separately for each of a plurality of travel sections. Navigation management system.

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