JPH0627169A - Measuring device for indoor electromagnetic environment - Google Patents

Abstract

PURPOSE:To measure an electromagnetic environment at any indoor space position three-dimensionally. CONSTITUTION:A movement block part 8 is constituted by a movement truck where an antenna 3 is mounted at the tip of a multi-joint robot arm 2C which can detect and indicate an arbitrary space position, thus moving the antenna 3 to any indoor space position and measuring an indoor electromagnetic environment three-dimensionally. Namely, the multi-joint robot arm 2C allows the antenna 3 to be freely moved and to be freely set to a position close to a wall, a floor, an instrument, etc.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an indoor electromagnetic environment measuring apparatus for three-dimensionally measuring an indoor electromagnetic environment using a mobile robot equipped with a measuring antenna.

[0002]

2. Description of the Related Art In recent years, various electromagnetic interference waves including amateur radio waves and CB radio waves, and interference waves emitted from electronic devices and the like have been increasing as an accident causing malfunctions and destruction of electronic devices. There is. In addition, the decrease in the resistance of the electronic device to electromagnetic interference waves due to the higher speed and lower power consumption of the semiconductor element has spurred this kind of problem.

Electromagnetic interference waves that cause troubles in electronic devices are generated by various mechanisms, and their temporal distribution and intrusion route into the inside of electronic devices are uncertain, and the reproducibility is often poor. Under such circumstances, an attempt has been made to measure an indoor electromagnetic environment using a mobile measuring device.

FIG. 6 is a diagram showing an example of an apparatus for performing such a measurement, in which a room 1 to be measured is provided with a mobile measuring unit 2 having an antenna 3 for electromagnetic environment measurement mounted therein.
The antenna 3 is connected to the control measurement unit 4 by a cable 5, and the movement measurement unit 2 has a structure that can be moved by moving wheels 6. Further, 7a is a disturbance wave source such as an air conditioner,
Reference numeral b is a disturbing wave source such as a fluorescent lamp, 7c is a power source line serving as a disturbing wave source, 7d is a disturbing wave source such as a computer, and 10 is a communication line of the computer 7d.

FIG. 7 is a view showing the structure of the movement measuring unit 2 of FIG. 6, 2a is a horizontal axis for moving the antenna 3 in the horizontal direction, and 2b is a vertical axis for moving the antenna 3 in the vertical direction.

FIG. 8 is a block diagram showing the electrical configuration of the apparatus shown in FIG. 6, in which the antenna 3 is connected to a measuring section 4a for measuring the electric field / magnetic field strength of a spectrum analyzer or the like.
The position of the movement measuring unit 2 is detected by the position detecting unit 4b, and the driving unit 4c drives the moving carriage 2, the horizontal shaft 2a, and the vertical shaft 2b. In addition, the control unit 43d
Controls the drive unit 4c, and the data processing device 4e controls the control unit 4c.
The position command is sent to d, and the position signal and the electromagnetic environment signal sent from the position detecting unit 4b and the measuring unit 4a are processed. The data processed by the data processing device 4e is stored in the storage device 4f and displayed on the display device 4g as necessary.

For the measurement, the moving measuring unit 2 is moved to the room 1 to be measured, and the electric field or magnetic field of the interfering wave source at that position is detected while moving the antenna 3 horizontally and vertically by the horizontal axis 2a and the vertical axis 2b. And antenna 3
The electromagnetic environment signal detected by the measuring unit 4a of the control measuring unit 4 is
Measured by. Then, the position data detected by the position detection unit 4b and the electromagnetic environment data from the measurement unit 4a are integrated by the data processing device 4e, stored in the storage device 4f, and displayed on the display device 4g.

[0008]

However, due to the recent diversification of wiring forms inside buildings, it is necessary to measure radiated interference waves from floor wiring and radiated interference waves from wall wiring. However, in the conventional measuring device, the antenna cannot be moved near the floor surface and the wall surface due to the structure of the moving measuring unit. Therefore, there is a problem that it is not possible to accurately measure the indoor electromagnetic environment including the vicinity of the floor surface and the vicinity of the wall surface. In addition, indoors often have desks, furniture, etc. that hinder the movement of the measuring device, which makes it difficult to measure the electromagnetic environment after they are installed.

The present invention has been made in view of the above circumstances, and it is possible to three-dimensionally measure the electromagnetic environment at any arbitrary spatial position indoors including the floor and the wall surface.

[0010]

In order to solve such a problem, the present invention provides an antenna for detecting an indoor electromagnetic field distribution to be measured, and an articulated articulation for moving the antenna to an arbitrary point in the room. The robot arm unit, the moving carriage unit equipped with the robot arm unit, and the first position detecting unit and the moving carriage unit for detecting the relative three-dimensional position of the moved point mounted on the robot arm unit from the moving carriage. A second position detection unit that measures the position of the mounted mobile carriage on a two-dimensional plane, a measurement unit that measures the electromagnetic field measured from the antenna, and a memory that stores the electromagnetic environment signal sent from the measurement unit. And a display unit for integrally displaying the electromagnetic environment signal and the position signal sent from the storage unit and the position detection unit, and a control unit for remotely controlling the robot arm unit and the moving carriage unit.

[0011]

The movable block 2d having the antenna 3 mounted at the end of the articulated robot arm 2i capable of detecting and pointing to any spatial position constitutes a moving block part, which allows the antenna to be located at any indoor spatial position. Move 3
It is designed to measure the indoor electromagnetic environment three-dimensionally.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a view showing an embodiment of the present invention, in which a moving block portion 8 movably mounted by a moving wheel 6 is placed in a room 1, and an antenna 3 has its moving block portion. 8 is attached via a robot arm 2c having a plurality of joints, and the data obtained from the antenna 3 is processed by a moving block unit 8 and is sent to a measurement control unit 9 via a cable 5 such as an optical fiber cable. Supplied. The device configured in this way is the robot arm 2
By freely moving a plurality of joints of c, the antenna 3 can be moved to an arbitrary space including the vicinity of the wall surface in the room 1.

2A and 2B are views showing an embodiment of the moving block portion 8 in FIG. 1, in which FIG. 2A is a front view and FIG. 2B is a side view. In the figure, a moving block portion 8 is mounted on a moving carriage 2d that is movable by moving wheels 6, and rotating shafts 2e to 2h provided with an encoder for detecting the amount of rotation of an arm are mounted on the moving block portion 8. A robot arm 2i composed of a plurality of arms rotatably supported at the portion is attached, and adjacent rotation axes are connected by a vertical holding belt 2j. Symbol 2
Reference characters k and 21 denote horizontal rotation shafts provided with a horizontal encoder that detects a horizontal rotation angle of the antenna 3 or the arm 2i.

FIG. 3 is a block diagram showing an electrical configuration. A moving block 2 is equipped with a moving block unit 8 and measurement data and position data sent from the moving block unit 8 are processed by a measurement control unit 9. There is.

The moving block unit 8 includes an antenna 3, electric / optical converters 8a and 8b for converting an electric signal into an optical signal and outputting the optical signal, a position detecting device 8c including each encoder, and position data sent from the position detecting device 8c. A position calculating device 8d for calculating and converting into three-dimensional Cartesian coordinates, a driving device 8e for driving the moving wheels 6 and the arm rotating shafts 2e to 2h, and a controlling device for controlling the driving device 8e and controlling the antenna 3 in an arbitrary space. 8 f, a moving block unit 8 and a transceiver 8 g for transmitting and receiving signals between the measurement processing unit 4.

The measurement control unit 9 connected to the moving block unit 8 is an optical / electrical converter 9a, a measuring device 9b such as an electric field (magnetic field) intensity meter or a spectrum analyzer for measuring electromagnetic environment measurement data, and an optical / electrical device. Converter 9c, transceiver 9
d, a computing device 9e, a storage device 9f, and a display device 9g.

Symbols 5a and 5b are optical fiber cables connecting the moving block section 8 and the measurement control section 9.

In the apparatus constructed as described above, the moving wheel 6 is used to move the moving carriage 2d in the indoor plane, and the robot arm 2i for supporting the antenna is used to avoid furniture and the like to move to an arbitrary indoor space. Supports the antenna 3,
The antenna 3 is supported near the wall surface and the floor surface.

The belt 2j for holding the antenna in the vertical direction is also provided.
The electromagnetic environment at an arbitrary spatial position is measured by maintaining the polarization plane. For position detection, an encoder (not shown) mounted on the moving wheel 6 of the moving carriage 2d is used to detect the position
Rotation axis 2e with encoder for arm that measures dimensional position
The horizontal position is measured from the respective angle detection signals and the like by the encoders for ~ 2h and the horizontal rotation shafts 2k, 2l.

The electric field or magnetic field at the position is detected by the antenna 3 supported at an arbitrary space position indoors, and the electric / optical converter 8a and the optical fiber cable 5a are detected.
The electric field or magnetic field at that position is measured by the signal supplied to the measurement control unit 9 via the.

The position data detected by the position detecting device 8c is calculated by the position calculating device 8d, the signal transmitted through the transmitter / receiver 8g is converted into an optical signal by the electric / optical converter 8b, and the optical fiber cable 5b. Is transmitted to the measurement control unit 9.

The sent data is integrated with electromagnetic environment information and position information in association with the plane position, spatial position information, and electromagnetic field intensity by the data processing / calculation device 9e, which is stored in the storage device 9f and displayed on the display device. The content based on the processing result is displayed at 9 g. After that, the data processing calculation device 9e sends a position movement command, and when it is transmitted to the movement block section 8, the control device 8f controls the drive device 8e according to the received command to move the antenna 3 to the next position. To do.

As described above, according to the present invention, by performing the optical fiber cable transmission, it is possible to perform the electromagnetic environment measurement without affecting the electromagnetic environment to be measured. By using the resistance fine coaxial cable, the optical / electrical converter is not necessary, and the moving block portion 9 can be configured to be lightweight.

Further, by using wireless transmission, restrictions on the movement of the movement block unit 8 can be reduced. In addition,
In the present embodiment, the series of work is shown to be performed automatically, but it is clear that the same effect can be obtained even if the operator manually carries out the control part.

FIG. 4 shows another embodiment of the robot arm 2i using a cylindrical coordinate type arm.
m, a vertical moving shaft 2n, a rotating arm 2p, and a polarization plane holding rotating shaft 2q. Is. The antenna 3 can be supported in a circle defined by the rotation direction axis 2m and the rotation arm 2p, and can be moved in a cylindrical surface in combination with the vertical movement axis 2m.

Then, by means of a moving carriage not shown in FIG.
It can be moved in the dimensional space. By using this configuration, the positioning accuracy in the height direction is improved.
The rotating arm 2p may have a telescopic structure, which improves the degree of freedom in positioning the antenna without moving the moving carriage.

Similarly, the rotating arm 2p may have a two-link structure, which improves the degree of freedom in positioning the measurement antenna without moving the moving carriage.

FIG. 5 shows another embodiment of the robot arm 2i, which is a slider 2s with an arm that moves on a vertical moving shaft 2r, a horizontal moving shaft 2t attached to the slider 2s, and a horizontal moving shaft 2t. It is composed of a slider 2u for moving. By using this configuration,
Since the position detection is obtained in rectangular coordinates, the detection accuracy is improved.

[0029]

As described above, according to the present invention, since the antenna is mounted on the multi-joint arm, it is possible to avoid obstacles such as desks and move it to an arbitrary field point. It has an effect that the electromagnetic environment can be measured in association with the dimensional position.

[Brief description of drawings]

FIG. 1 is a perspective view showing the structure of an embodiment of the present invention.

FIG. 2 is a diagram showing a detailed structure of an arm portion of FIG.

FIG. 3 is a block diagram of an apparatus for processing data.

FIG. 4 is a perspective view showing various examples of antenna mounting portions.

FIG. 5 is a perspective view showing various examples of antenna mounting portions.

FIG. 6 is a perspective view showing an example of a conventional device.

FIG. 7 is a diagram showing an example of a conventional antenna.

FIG. 8 is a block diagram showing a configuration of a conventional device.

[Explanation of symbols]

 1 Room to be measured 2 Moving measuring unit 2a Horizontal axis 2b Vertical axis 2c Robot arm 2d Moving carriage 2e to 2h Rotating axis 2i Arm 2j Belt 2k, 2l Horizontal rotating axis 2m Rotating direction moving axis 2n Vertical moving axis 2p Rotating Arm 2q Polarization plane maintaining rotary shaft 2r Vertical moving shaft 2s Armed slider 2t Horizontal moving shaft 3 Electromagnetic environment measuring antenna 4 Control measuring unit 4a Measuring unit 4b Position detecting unit 4c Driving unit 4d Control unit 4e Data processing device 4f Storage device 4g Display device 5 Cable 6 Moving wheel 7a, 7b, 7c, 7d Interfering wave source 8 Moving block part 8a, 8b Electric / optical converter 9a, 9c Optical / electrical converter 8c Position detecting device 8d Position calculating device 8e Driving Device 8f Control device 8g, 9d Transceiver 9 Measurement control unit 9b Measuring device 9d Transmission Receiver 9e Computing device 9f Storage device 10 Communication line

Claims (1)

[Claims] 1. An indoor electromagnetic environment measuring apparatus for measuring an indoor electromagnetic environment, comprising: an antenna for detecting an indoor electromagnetic field distribution to be measured; and an articulated robot arm section for moving the antenna to an arbitrary point inside the room. A moving carriage unit having the robot arm unit mounted thereon, a first position detecting unit for detecting a relative three-dimensional position of a point mounted on the robot arm unit and moved from the moving carriage unit, and the moving carriage unit. A second position detection unit that measures the position of the movable carriage mounted on the two-dimensional plane, a measurement unit that measures the electromagnetic field measured from the antenna, and an electromagnetic environment signal sent from the measurement unit. A storage unit that stores the detection result, a display unit that displays a detection result based on the electromagnetic environment signal and the position signal sent from the storage unit and the position detection unit, and the robot arm unit Indoor electromagnetic environment measuring apparatus characterized by constituting a control unit for controlling the pre said mobile carriage unit.