JP3826798B2 - Coupler device coupled with communication feeder line, signal detection device, and mobile object traveling system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
In a system in which a moving body travels on a predetermined route, the present invention relates to a coupler device that is connected in a non-contact manner to a communication feeder line laid along the route, and a signal detection device including the coupler device. Involved.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a moving body traveling system for traveling a moving body along a predetermined route in a factory or the like that manufactures an object is known. In addition, a communication feeder line is laid along the path, and a coupler device (coupler with the feeder line) that extracts a signal from the communication feeder line is provided on the moving body, and control is performed via the communication feeder line. There is also known a mobile travel system that controls a mobile body by transmitting a signal. The system having the above configuration is described in, for example, Japanese Patent Application Laid-Open No. 7-49397.
[0003]
[Problems to be solved by the invention]
However, in the existing system, the coupler device is, for example, a coil antenna attached to face the feeder line, and it cannot be said that the degree of coupling with the feeder line is high. Further, when the relative position of the coupler apparatus with respect to the feeder line is changed, the signal detection sensitivity is lowered accordingly, and the quality of communication between the center apparatus and the moving body may be deteriorated. The deviation of the relative position of the coupler device with respect to the feeder line is caused not only by, for example, an installation error when laying the feeder line, but also when the moving body passes through the curve traveling path.
[0004]
An object of the present invention is to stabilize the coupling between a communication feeder line and a coupler apparatus. Furthermore, it is to stabilize the quality of communication using the communication feeder line.
[0005]
[Means for Solving the Problems]
The signal detection device of the present invention is a device that detects a signal that is provided on a moving body that travels along a predetermined route and that is transmitted through a communication feeder line that is laid along the route. A coupler apparatus including a first electrode and a second electrode provided so as to sandwich a first communication feeder line and a second communication feeder line that are laid in parallel to each other and transmit signals of opposite polarities ; A detection circuit that outputs a difference between potentials generated in the first electrode and the second electrode. Then, at least one of the first electrode and the second electrode is capacitively coupled with at least one of the first communication feeder line or the second communication feeder line. Is arranged.
[0006]
According to the signal detection device configured as described above, the first electrode and the second electrode are arranged so as to sandwich the first communication feeder line and the second communication feeder line that transmit signals of opposite polarities to each other. Therefore, the first electrode and the second electrode generate potentials having opposite polarities due to capacitive coupling with the corresponding feeder line. Then, using the detection circuit, and detects the difference of potential occurring in the first electrode and the second electrode, can be compared with the coupler device comprising only one electrode, to obtain a large voltage, sensitivity is improved To do.
[0007]
In addition, when the feeder line is displaced toward the first electrode, capacitive coupling between the first electrode and the feeder line is increased, and the capacitive property between the second electrode and the feeder line is increased. The bond becomes smaller. On the other hand, when the feeder line is displaced toward the second electrode, the capacitive coupling between the first electrode and the feeder line is reduced, and the capacitance between the second electrode and the feeder line is reduced. Bonds grow. However, since potentials having opposite polarities are generated in the first electrode and the second electrode, the potential difference between them is constant. Therefore, even if the relative position of the coupler apparatus with respect to the feeder line is shifted, the degree of coupling between them is stable.
[0008]
In the signal detection device, the first electrode is disposed closer to the first communication feeder line than the second communication feeder line, and the second electrode includes the second communication feeder line. You may make it arrange | position so that it may approach the said 2nd communication feeder line rather than one communication feeder line.
[0009]
Further, instead of the first electrode and the second electrode, a first coil and a second coil may be used. However, in this case, the first coil and the second coil need to be connected in series with each other.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram illustrating an environment in which a mobile object including a coupler apparatus according to an embodiment of the present invention is used. The mobile body 1 including the coupler apparatus according to the embodiment is, for example, a transport vehicle or a transport robot that transports parts and finished products in a factory that manufactures an object, and travels on a predetermined route. A communication feeder line 2 is laid along the route. The communication feeder line 2 is a metal cable that transmits an electrical signal. Further, the communication feeder line 2 transmits a control signal for controlling the moving body 1, a signal for notifying the state of the moving body 1, and the like. However, in the following, in order to simplify the description, it is assumed that a control signal transmitted from a transmission device (for example, a center device that controls the traveling of the moving body 1) 3 is transmitted via the communication feeder line 2. To do.
[0011]
The communication feeder line 2 is composed of a pair of feeder lines 2a and 2b laid in parallel to each other. Then, as shown in FIG. 2, control signals whose polarities are reversed from each other are input to the feeder lines 2 a and 2 b. Note that the function of supplying signals whose polarities are inverted to each other to one set of feeder lines can be realized by a known technique.
[0012]
The coupler apparatus 4 is attached to the moving body 1 and is coupled to the communication feeder line 2. Here, “coupling” means that the communication feeder line 2 is electrically / magnetically coupled, and in the embodiment, means that a control signal transmitted via the communication feeder line 2 is taken out. , Including putting a signal on the communication feeder line 2.
[0013]
FIG. 3 is a diagram showing the configuration of the coupler apparatus 4. Note that the communication feeder line 2 (2a, 2b) extends in a direction perpendicular to the paper surface.
The coupler apparatus 4 includes a pair of coupler electrodes 5a and 5b arranged so as to sandwich the communication feeder line 2 (2a and 2b) when the moving body 1 travels on the above-described route. Specifically, when the moving body 1 travels along the path, the coupler electrode 5a is closer to the feeder line 2a than the feeder line 2b, and the coupler electrode 5b is closer to the feeder line 2b than the feeder line 2a. Placed in. Here, each of the coupler electrodes 5a and 5b can be realized by, for example, a metal plate having a predetermined area. In FIG. 3, each of the coupler electrodes 5a and 5b has a predetermined length in a direction perpendicular to the paper surface.
[0014]
The coupler electrodes 5 a and 5 b are connected to the detection circuit 11. Here, the detection circuit 11 detects a potential difference between the coupler electrodes 5a and 5b. The demodulation circuit 12 demodulates the output of the detection circuit 11. Then, the control circuit 13 interprets the signal demodulated by the demodulation circuit 12 and controls the operation of the moving body 1 accordingly.
[0015]
In the above configuration, the coupler electrode 5a can cause capacitive coupling with both the feeder wires 2a and 2b. However, since the coupler electrode 5a is close to the feeder line 2a, the capacitive coupling with the feeder line 2b is relatively weak compared to the capacitive coupling with the feeder line 2a. For this reason, the capacitive coupling between the coupler electrode 5a and the communication feeder line 2 is dominated by the capacitive coupling between the coupler electrode 5a and the feeder line 2a. That is, a potential corresponding to a signal transmitted through the feeder line 2a is generated at the coupler electrode 5a. Similarly, the capacitive coupling between the coupler electrode 5b and the communication feeder line 2 is dominated by the capacitive coupling between the coupler electrode 5b and the feeder line 2b. That is, a potential corresponding to a signal transmitted through the feeder line 2b is generated at the coupler electrode 5b. However, signals having opposite polarities are transmitted to the feeder lines 2a and 2b. Accordingly, potentials whose polarities are reversed are generated in the coupler electrodes 5a and 5b.
[0016]
By the way, as described above, the signal transmitted through the communication feeder line 2 is picked up by the coupler apparatus 4 and is taken into the moving body 1 as an output voltage of the coupler apparatus 4. Here, the output voltage of the coupler apparatus 4 is detected by the detection circuit 11 as a potential difference between the coupler electrodes 5a and 5b. The coupler electrodes 5a and 5b generate potentials having opposite polarities. Therefore, the output voltage of the coupler apparatus 4 obtained as a difference between them is compared with a case where a signal transmitted through the communication feeder line is detected using a single coupler electrode as shown in FIG. And a large voltage. That is, the coupler apparatus of the embodiment has high signal detection sensitivity.
[0017]
As described above, the coupler apparatus according to the embodiment improves the signal detection sensitivity without increasing its size.
Further, since the coupler device 4 outputs a potential difference between the coupler electrodes 5a and 5b, the output voltage is stable even if the relative position of the coupler device 4 with respect to the communication feeder line 2 is shifted. That is, for example, as shown in FIG. 5 (a), if the communication feeder line 2 is shifted in a direction approaching the coupler electrode 5a (ie, the communication feeder line 2 is moved away from the coupler electrode 5b), the coupler The potentials generated at the electrodes 5a and 5b are unbalanced as shown in FIG. 5 (b). Specifically, the absolute value of the potential generated at the coupler electrode 5a increases, and the absolute value of the potential generated at the coupler electrode 5b decreases accordingly. However, even if the potential generated in the coupler electrodes 5a and 5b varies due to the displacement of the relative position of the coupler apparatus 4 with respect to the communication feeder line 2, the difference between them is constant. That is, the voltage between the coupler electrodes 5a and 5b detected using the detection circuit 11 shown in FIG. 3 is constant and is the same as that shown in FIG.
[0018]
As described above, the coupler apparatus of the embodiment can always obtain stable signal detection sensitivity.
The shape of the coupler electrodes 5a and 5b is not particularly limited. That is, the coupler electrodes 5a and 5b may have a flat plate shape as shown in FIG. 3, or a properly bent shape or a curved shape so as to wrap the communication feeder wire 2 as shown in FIG. It may be. At this time, if the coupler electrode is formed so as to wrap the communication feeder line 2, the signal detection sensitivity is further improved.
[0019]
Moreover, although the coupler apparatus is comprised from 1 set of coupler electrodes in embodiment shown in FIGS. 3-6, this invention is not limited to this structure. That is, the coupler apparatus may be a coil-type coupler constituted by a set of coils as shown in FIG. 7 (a) or FIG. 7 (b). In this case, the pair of coils 21a and 21b are arranged so as to sandwich the communication feeder line 2 (2a and 2b).
[0020]
The coil-type coupler picks up a signal by detecting a change in magnetic flux generated around the signal when the signal is transmitted through the communication feeder line 2. That is, if the magnetic flux around the communication feeder line 2 changes, the induced voltage generated in the coil changes accordingly, so that the signal transmitted through the communication feeder line 2 by monitoring the induced voltage. Is detected.
[0021]
In the system of the embodiment, signals whose polarities are inverted are transmitted via the feeder lines 2a and 2b. For this reason, when the coils 21a and 21b are arranged as shown in FIG. 7 (a), induced voltages having opposite polarities are generated in these coils. That is, if the coils 21a and 21b are appropriately connected in series, an added value of the absolute value of the induced voltage generated in each coil can be obtained. Further, even if the relative position of the coupler apparatus with respect to the communication feeder line 2 is shifted in the left-right direction on the drawing, the output voltage of the coupler apparatus is stable as in the principle described with reference to FIG. Thus, even with the configuration shown in FIG. 7A, the same effects as the configurations shown in FIGS.
[0022]
On the other hand, when the coils 21a and 21b are arranged as shown in FIG. 7B, the magnetic flux generated around the feeder wires 2a and 2b is efficiently detected by each coil. Therefore, the signal detection sensitivity is improved.
In the above-described example, the case where the signal transmitted via the communication feeder line 2 is taken out has been taken. However, the coupler apparatus according to the embodiment is used when a signal is placed from the mobile unit 1 onto the communication feeder line 2. Can also be used. And the coupler apparatus of embodiment can enjoy the same effect as the case where a signal is taken out from the communication feeder line 2 also when putting a signal from the mobile body 1 to the communication feeder line 2.
[0023]
【The invention's effect】
According to the present invention, even when the relative position of the coupler apparatus with respect to the communication feeder line is shifted, the coupling between them is stable, so the quality of communication using the communication feeder line is stable. . Further, since the sensitivity of the coupler apparatus is improved, the distance between the coupler apparatus and the communication feeder line can be increased, and the degree of freedom in design is increased.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating an environment in which a moving object including a coupler apparatus according to an embodiment is used.
FIG. 2 is a diagram illustrating a signal transmitted through a communication feeder line.
FIG. 3 is a diagram illustrating a configuration of a coupler apparatus.
FIG. 4 is a diagram illustrating an output of a coupler apparatus.
FIG. 5 is a diagram illustrating an output of the coupler apparatus when a relative position of the coupler apparatus with respect to the communication feeder line is shifted.
6 is a modification of the coupler apparatus shown in FIG.
FIG. 7 is a diagram illustrating a configuration of a coupler apparatus according to another embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Mobile body 2 (2a, 2b) Feeder wire for communication 4 Coupler device 5a, 5b Coupler electrode 21a, 21b Coil

Claims (4)

A signal detection device that is provided in a moving body that travels on a predetermined route and detects a signal transmitted through a communication feeder line laid along the route,
A coupler apparatus including a first electrode and a second electrode provided so as to sandwich a first communication feeder line and a second communication feeder line that are laid in parallel to each other and transmit signals of opposite polarities ;
A detection circuit for outputting a difference between potentials generated in the first electrode and the second electrode,
The first electrode and the second electrode are arranged such that at least one of them is capacitively coupled with at least one of the first communication feeder line or the second communication feeder line. Has been
A signal detection device characterized by that . The signal detection device according to claim 1,
The first electrode is disposed closer to the first communication feeder line than the second communication feeder line, and the second electrode is more than the first communication feeder line. It arrange | positions so that it may adjoin to the said 2nd feeder line for communication. A coupler apparatus that is provided on a moving body that travels on a predetermined route and is coupled to a communication feeder line that is laid along the route,
A first coil and a second coil provided so as to sandwich a first communication feeder line and a second communication feeder line that are laid in parallel to each other and transmit signals of opposite polarities;
The first coil and the second coil are connected in series .
A coupler device coupled to a communication feeder line. A communication feeder line is laid along a predetermined route, and the mobile object travels in accordance with a signal extracted from the communication feeder line,
The communication feeder line includes a first communication feeder line and a second communication feeder line that are laid in parallel to each other and transmit signals of opposite polarities to each other,
The moving body includes a coupler apparatus including a first electrode and a second electrode provided so as to sandwich the communication feeder line, and detection for detecting a difference between potentials generated in the first electrode and the second electrode. With a circuit,
The first electrode and the second electrode are arranged such that at least one of them is capacitively coupled with at least one of the first communication feeder line or the second communication feeder line. A mobile traveling system characterized by

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