JPH1042492A - Antenna fixing structure for mobile operation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform good communication with high reliability between a mobile and an operation controller, when a communication signal is superposed on an AC current flowing through a feeder line for the purpose of noncontact power supply to the mobile. SOLUTION: Feeder lines 19a, 19b are laid in parallel at predetermined intervals along a guide rail 3, and a communication signal is superposed on a AC current being fed through the feeder lines 19a, 19b. A power pickup coil 24 for a mobile is wound around the central protrusion 22b of a power supply core 22 having substantially E-shaped cross-section. The power supply core 22 is supported by a supporting bracket 15 at a steering part through a bracket 23. A transmission antenna 29 and a receiving antenna 30, communicating with an operation controller, are supported by supporting arms 27, 28 projecting from the bracket 23. A modem 31 is fixed to the rear of the bracket 23. The antennas 29, 30 are connected with the modem 31 through a coaxial cable 32.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the generation of an induced electromotive force based on an alternating current supplied to a power supply line wired along a guide rail. The present invention relates to an antenna mounting structure for a mobile operation system that supplies power via a pickup coil to be driven.

[0002]

2. Description of the Related Art Conventionally, a transport system for transporting a load by a moving body moving along a guide rail has been proposed and implemented, and the efficiency of physical distribution in factories and warehouses has been improved. Generally, a traveling motor is used for traveling of a moving body. Then, the driving power of the traveling motor is supplied via a power supply line (power trolley line) through which a high-frequency alternating current flows laid on the guide rail.

[0003] This power supply method includes a trolley type and a non-contact type. The trolley type is a method of supplying power by bringing a current collector provided on a moving body side into contact with a power supply line. The non-contact method is a method in which a pickup coil provided on a moving body side is arranged near a power supply line, and an induced electromotive force is generated in the pickup coil to obtain electric power. While the trolley type has problems such as necessity of maintenance due to abrasion of the current collector, generation of dust and sparks, the non-contact type has no such problems. Therefore, the non-contact type has attracted attention in recent years because it is superior to the trolley type in that respect.

[0004] By the way, operation control of a moving body traveling along the guide rail is performed based on a command signal from an operation control device (so-called ground station) installed on the ground. That is, the ground station is performing communication necessary for operation with the moving body running on the guide rail. In this communication method, a wireless device is mounted on a ground station and a mobile body, and communication is performed using the wireless device. Then, the mobile body communicates with the ground station while traveling, and its operation is controlled according to a command from the ground station.

[0005]

In the above communication method, a guide rail is laid in a wide area, and it is necessary for the ground station to communicate with a moving object traveling in the wide area no matter where it is traveling. Must be installed at multiple optimal locations. For this reason, labor and time are required for wiring a communication cable connecting the wireless device and the ground station. In addition, since each place where the ground station side radio device is installed needs to be able to reliably communicate with the mobile body, it takes time and effort to select the installation site.

Therefore, it is conceivable that a communication line connected to the ground station is laid along the guide rail in parallel with the power supply line, and the mobile unit communicates with the ground station via the communication line. However, since the communication line must be laid on the guide rail, the wiring work requires labor and time. Furthermore, in order for the current collector to contact the communication line,
Communication lines and current collectors wear. As a result, communication failures occur frequently, and replacement work must be performed periodically. In addition, the guide rail will be enlarged by the amount of the communication line.

In order to solve this problem, the applicant of the present invention first converts a communication signal from an operation control device for controlling the operation of the mobile unit to the mobile unit into an alternating current flowing through a feeder line wired to the guide rail. There is proposed a moving body operation system in which communication between the moving body and an operation control device is performed by being superimposed.

This mobile operating system requires a transmitting antenna and a receiving antenna used for communication between the ground station and the mobile, and a modem (modulator / demodulator). The antenna is located near the feeder line. It is important to equip the mobile object with the mobile terminal so that communication can be performed well. The antenna and the modem device are connected by a coaxial cable. Since the coaxial cable has poor bending resistance, if the antenna and the modem device move relative to each other when the moving body travels in a curved section, the coaxial cable deteriorates early and the reliability is reduced.

SUMMARY OF THE INVENTION An object of the present invention is to perform communication between a mobile unit and an operation control device by superimposing a communication signal on an alternating current flowing through a power supply line to supply power to the mobile unit in a non-contact manner. SUMMARY OF THE INVENTION An object of the present invention is to provide an antenna mounting structure for a mobile operating system capable of performing communication with an operation control device in a good and highly reliable state in the mobile operating system.

[0010]

In order to achieve the above object, according to the first aspect of the present invention, power used by a moving body moving along a guide rail is supplied to a power supply wired along the guide rail. It is supplied through a pickup coil that generates an induced electromotive force based on an alternating current supplied to the electric wire, and a communication signal from the operation control device that controls the operation of the moving object to the moving object is wired to the guide rail. A mobile body operation system in which the communication between the mobile body and the operation control device is performed by superimposing the AC current on the alternating current flowing through the power supply line, and an antenna for performing communication with the operation control device. A modem (modem and demodulator) that supports the traveling wheels of the moving body and is provided to be rotatable in accordance with the curvature of the curved section when the moving body passes through the curved section of the guide rail. It is attached to the ring section and arranged to position the antenna in the vicinity of the feed line.

According to the second aspect of the present invention, the pickup coil is wound around a central protruding portion of a power supply core having a substantially E-shaped cross section, and the modem is mounted on the back side of the power supply core.

According to a third aspect of the present invention, in the first or second aspect of the present invention, the feeder line is configured as a reciprocating line arranged in parallel at a predetermined interval, and the antenna is connected to the parallel line. It is arranged between the arranged round-trip lines.

According to a fourth aspect of the present invention, in the first aspect of the present invention, the moving body includes a pair of front and rear running wheels, and the steering wheel supports one of the running wheels. A pickup coil for supplying power used by the moving body is attached to the section, and the antenna and the modem are provided in a steering section that supports the other traveling wheel.

According to the first aspect of the present invention, the power used by the moving body that moves along the guide rail is supplied as an induced electromotive force generated in a pickup coil provided on the moving body. The moving body communicates with the operation control device, and the operation is controlled based on a communication signal from the operation control device. The communication signal from the operation control device is superimposed on the alternating current flowing through the power supply line and propagates. By extracting the communication signal superimposed on the alternating current flowing through the power supply line, communication between the operation control device and the mobile body is performed without providing a dedicated communication line.

When the moving body approaches the curved section of the guide rail, the steering section supporting the running wheels is turned in accordance with the curvature of the curved section, and the antenna also turns integrally with the steering section. Even in a curved section, the distance from the electric wire does not change so much as when the moving body passes through the straight portion of the guide rail. Further, since the antenna and the modem are fixed to the same steering unit, no tension is applied to the coaxial cable connecting the two even when the steering unit is rotated.

According to the second aspect of the present invention, in addition to the same operation as the first aspect of the present invention, the pickup coil is wound around a central projection of a power feeding core having a substantially E-shaped cross section. The modem is mounted on the back side of the power supply core. Therefore, disturbance noise to the modem is reduced by the shielding effect of the power supply core.

According to a third aspect of the present invention, in addition to the same operation as the first or second aspect of the present invention, the feeder line is configured as a reciprocating line arranged in parallel at a predetermined interval. And the antenna is arranged between the parallel reciprocating lines. Therefore, the receiving antenna can perform reception with high sensitivity, and the transmitting antenna can perform efficient superposition.

According to a fourth aspect of the invention, in addition to the same operation as the first aspect of the invention, the antenna and the modem include a steering wheel to which the pickup coil is attached. Since it is attached to the steering section and another steering section, the distance between the antenna and the feeder in the curved section is less likely to fluctuate.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment in which the present invention is embodied in an unmanned transport system in which a transport vehicle as a moving body travels on a guide rail provided on a ceiling will be described with reference to FIGS. .

FIG. 3 shows the layout of this transport system. The traveling path 2 of the moving body constituting the transfer system 1 as the moving body operation system is formed in a closed loop by a guide rail 3 erected on a ceiling, and a plurality of moving vehicles 4A on the guide rail 3 as moving bodies. ~ 4C travels around. A plurality of stations 5A along the guide rail 3
5C is installed. A conveyor (not shown) is provided in each of the stations 5A to 5C, and the transport carts 4A to 4C transfer loads at the stations 5A to 5C. The traveling and unloading control of each of the transport vehicles 4A to 4C is collectively controlled by an operation control device 6 installed on the ground.

As shown in FIGS. 2 and 4, the carriage 4A and the like have a driving wheel 7 and a driven wheel 8 as running wheels rolling on the guide rail 3, and a guide for holding a guide ridge 3a of the guide rail 3. Wheels 9a and 9b, and the guide rail 3
It is supported by. The transporting trolley 4A and the like are equipped with a lifting device (both not shown) for raising and lowering the belt by winding up and lowering a lifting table on which a load is placed.

As shown in FIGS. 2 and 5, the drive wheel 7 and the driven wheel 8 are supported by steering units 10 and 11 disposed in front and rear of the carrier 4A and the like. As shown in FIG. 2, a support frame 12 made of a square pipe is disposed substantially at the center of the upper part of the transport vehicle 4A or the like so as to extend below the guide rail 3 along the front-rear direction of the transport vehicle 4A or the like. A block 13 is fixed to a side surface of the support frame 12.
Both ends of the steering units 10 and 11 are blocks 13
A support shaft 14 rotatably supported by the block 13 so as to protrude upward and downward, a support bracket 15 fixed to the support shaft 14 so as to be integrally rotatable, and a support portion integrally provided on the support bracket 15. The guide wheels 9a and 9b are rotatably supported by the guide wheels 16. The steering units 10 and 11 have basically the same configuration as that previously proposed by the applicant of the present invention (Japanese Patent Laid-Open No. 8-72709).

As shown in FIG. 5, a traveling motor 17 equipped with a speed reducer, which is a three-phase induction motor, is fixed to the front steering section 10, and the drive shaft 7 is supported on the output shaft so as to be integrally rotatable. I have. A bearing 18 is fixed to the rear steering portion 11 so as to protrude on a side opposite to the side facing the guide rail 3, and the driven wheel 8 is supported on the bearing 18 via a support shaft. Support shaft 1 for steering units 10 and 11
Numerals 4 are arranged such that their axes substantially coincide with the vertical center line of the driving wheel 7 or the driven wheel 8.
Then, the driving wheels 7 are driven by the driving of the traveling motor 17, and the carrier 4 </ b> A and the like travel along the guide rail 3.

As shown in FIGS. 1 and 2, on the side surface of the guide rail 3, power supply lines 19 a and 19 b made of a litz wire are arranged on the side opposite to the surface of the guide rail 3 facing the drive wheel 7 and the driven wheel 8. The upper and lower support arms 20 are arranged in parallel at predetermined intervals vertically. Feeding line 19
a and 19b are round-trip lines as shown in FIG. 6, in which the feeder line 19a arranged on the upper side is the outward route, and the feeder line 19b arranged on the lower side is the return route. Feeding line 19a, 1
The beginning and end of 9b are connected to a power supply 21 installed on the ground. Then, the power supply device 21
a and 19b are supplied with AC power. In this embodiment, the AC power supplied from the power supply device 21 is a power supply having a high frequency sine waveform of 200 V and 10 kHz (kHz).

As shown in FIGS. 1 and 2, the carriage 4A or the like has a substantially E-shaped cross section so as to face the power supply lines 19a and 19b.
A power supply core 22 of a mold type is provided. As shown in FIGS. 2 and 5, the power supply core 22 is supported via brackets 23 fixed to the support brackets 15 of the steering units 10 and 11, respectively. The power supply core 22 is disposed so that the center thereof is located on a plane including the support shaft 14 and orthogonal to the guide rail 3.

The power supply core 22 is made of ferrite, and is provided between the upper protrusion 22a and the central protrusion 22b.
9a is fixed to the support bracket 15 so that the lower power supply line 19b passes between the central protrusion 22b and the lower protrusion 22c. Central protrusion 22 of power supply core 22
A pickup coil (induction coil) 24 is wound around b. Therefore, an induced electromotive force is generated in the pickup coil 24 by a change in magnetic flux generated in the power supply lines 19a and 19b due to the alternating current flowing through the power supply lines 19a and 19b. The induced electromotive force generated in the pickup coil 24 is supplied to a power supply device 2 (described later) mounted on the carrier 4A or the like.
5 and serves as a driving power source for the traveling motor 17 and an operation controller 2 mounted on the transport vehicle 4A or the like.
6 drive power supply. In addition, a pair of power supply cores 22 before and after
Are connected in series with each other.

1 and 5, a bracket 23 for supporting a power supply core 22 provided on the front steering section 10 is provided.
As shown in FIG. 7, support arms 27 and 28 are provided on both sides. A transmitting antenna 29 is attached to a tip of the first support arm 27, and a receiving antenna 30 is attached to a tip of the second support arm 28. The antennas 29 and 30 are respectively connected to a feed line 19a (outgoing path) and a feed line 1
9b (return path). In the present embodiment, the shape of each of the antennas 29 and 30 is a coil shape (in the figure, a rectangular shape is schematically illustrated), and the axis of the coil is arranged in the same direction as the axis of the pickup coil 24. Has been established.

A modem 31 is mounted on the back of the bracket 23, that is, on the back of the power supply core 22. The transmitting antenna 29 and the receiving antenna 30 are the modem 3
1 and a coaxial cable 32. The modem 31 is an operation controller 2 having a CPU (not shown).
6 via a flexible cable 33 for serial communication.

As shown in FIG. 7, the operation control device 6 installed on the ground has a ground-side modem 34, and a ground-side transmitting antenna 35 and a ground-side receiving antenna 36 are connected to the modem 34. Each of the antennas 35 and 36 has a coil shape and has a feed line 1 extending from the power supply device 21.
9a and 19b. The operation control device 6 includes a computer 6a, and in the computer 6a, creates a control command for traveling and delivery of each of the transport vehicles 4A to 4C, and outputs the control command to the ground-side modem 34 as a command signal.

The terrestrial-side modem 34 receives a digital command signal from the operation control device 6 at 200 to 300 MHz (MH).
z), and outputs to the ground-side transmitting antenna 35 as a communication signal SG. Also, the ground side modem 3
Reference numeral 4 denotes a ground-side receiving antenna 36 for receiving a communication signal SG from the carrier 4A or the like. A modem 31 on the carrier 4A extracts the communication signal SG from the induced electromotive force on which the communication signal SG is superimposed. After converting the extracted communication signal SG into a digital signal, the operation control device 6
And outputs it to the operation controller 26 as a command signal. The operation controller 26 determines whether or not the command signal from the modem 31 is a command signal for itself, and if it is a command signal for itself, drives and controls, for example, the traveling motor 17 based on the command signal. .

FIG. 6 shows an electric circuit of a power supply device 21 on the ground side for supplying high-frequency power to the power supply lines 19a and 19b and a power supply device 25 mounted on the carrier 4A or the like. The ground-side power supply device 21 includes an AC / DC conversion circuit 37, and the AC / DC conversion circuit 37 converts a 200-V, 60-Hz three-phase AC power supply 38 into a 200-V DC power supply. AC / DC conversion circuit 3
The DC power converted at 7 is supplied to a DC / AC conversion circuit 39.
Supplied to

The DC / AC conversion circuit 39 comprises a first drive circuit section 39a and a second drive circuit section 39b. The first and second drive circuit units 39a and 39b are connected to AC /
The DC conversion circuits 37 are connected in parallel with each other. The output terminal of the first drive circuit section 39a is connected to the start end of the power supply line 19a via the capacitor 40 for resonance. The output terminal of the second drive circuit section 39b is connected to the end of the power supply line 19b.

The first drive circuit section 39a comprises two upper transistors T1 and T2 and two lower transistors T3 and T2.
The collectors of the upper transistors T1 and T2 are connected to the positive pole of the AC / DC converter 37, and the emitters of the lower transistors T3 and T4 are connected to the negative pole of the AC / DC converter 37. I have. The connection point between the emitters of the upper transistors T1 and T2 and the collectors of the lower transistors T3 and T4 becomes the output terminal of the first drive circuit section 39a.

The second drive circuit 39b includes two upper transistors T5 and T6 and two lower transistors T7 and T6.
The collectors of the upper transistors T5 and T6 are connected to the positive pole of the AC / DC converter 37, and the emitters of the lower transistors T7 and T8 are connected to the negative pole of the AC / DC converter 37. I have. The connection point between the emitters of the upper transistors T5 and T6 and the collectors of the lower transistors T7 and T8 becomes the output terminal of the second drive circuit unit 39b.

The transistors T1 to T8 are turned on / off by a controller (not shown).
Power of 200 V, 10 kHz high frequency sine waveform is supplied to 9a and 19b. Incidentally, the upper transistors T1 and T2 of the first driving circuit unit 39a and the second driving circuit unit 39
The lower transistors T7 and T8 are controlled to be turned on and off in synchronization with each other, and the lower transistors T3 and T4 of the first drive circuit unit 39a and the upper transistors T5 and T6 of the second drive circuit unit 39b are connected to each other. On / off control is performed synchronously.
When the upper transistors T1, T2 and the lower transistors T7, T8 are on, the lower transistors T3, T3
When T4 and the upper transistors T5 and T6 are turned off, and conversely, when the upper transistors T1 and T2 and the lower transistors T7 and T8 are turned off, the lower transistors T3 and T6 are turned off.
4 and the upper transistors T5 and T6 are controlled to be turned on.

Next, the power supply device 25 mounted on the carrier 4A or the like will be described. The rectifier circuit 41 has an input terminal connected to a series circuit of the pair of pickup coils 24 and an output adjustment capacitor 42. The output terminal of the rectifier circuit 41 is connected to the traveling motor 17 via the inverter 43. Rectifier circuit 41 and inverter 43
And a smoothing capacitor 44 is connected. The inverter 43 is controlled by a command from the operation controller 26, and the frequency-converted three-phase AC power is
7 is supplied.

Next, the operation of the unmanned transport system configured as described above will be described. The operation control device 6 creates a control command for traveling and delivery of each of the transport carts 4A and the like, and converts it into a digital command signal to the ground-side modem 34.
Output to The terrestrial modem 34 converts the digital command signal into a 200-300 MHz analog signal and outputs it to the terrestrial transmitting antenna 35 as a communication signal SG. The communication signal SG is transmitted from the ground-side modem 34 to the ground-side transmitting antenna 35.
Output to the power supply lines 19a and 19b
The communication signal SG of 200 to 300 MHz is superimposed on the waveform PS of the Hz current. FIG. 8 is an explanatory diagram for explaining the superposition. The current waveform PSmix on which the communication signal SG is superimposed is the current waveform PSmix.
b.

Receiving antennas 30 of transport carts 4A to 4C
Generates an induced electromotive force relative to the current waveform PSmix on which the communication signal SG is superimposed. This weak induced electromotive force is output to the modem 31 provided on the transport vehicles 4A to 4C. The modem 31 extracts the communication signal SG from the induced electromotive force on which the communication signal SG is superimposed, converts the extracted communication signal SG into a digital signal, and outputs the digital signal to the operation controller 26 as a command signal from the operation control device 6. The operation controller 26 determines whether or not the command signal from the modem 31 is a command signal for itself, and if it is a command signal for itself, drives and controls, for example, the traveling motor 17 based on the command signal. And the operation controller 26
Outputs a control signal to the inverter 43 to control the rotation of the travel motor 17 when the transport carriage 1 travels.

The operation controller 26 mounted on each of the transport vehicles 4A to 4C has its own transport vehicle 4A.
A digital signal indicating the operation status of 4C is output to the modem 31. The modem 31 converts the signal from the digital signal to 200
Is converted to an analog signal of ~ 300 MHz and the communication signal SG
To the transmitting antenna 29. When the communication signal SG is output from the modem 31 to the transmission antenna 29, the communication signal SG of 200 to 300 MHz is superimposed on the waveform PS of the 10 kHz current flowing through the power supply lines 19a and 19b. Then, similarly to the above, the current waveform PSmix on which the communication signal SG is superimposed is propagated to the power supply lines 19a and 19b.

The ground receiving antenna 36 wound around the power supply lines 19a and 19b generates an induced electromotive force opposite to the current waveform PSmix on which the communication signal SG is superimposed. This weak induced electromotive force is output to the ground modem 34.
The ground modem 34 extracts the communication signal SG from the induced electromotive force on which the communication signal SG is superimposed, converts the extracted communication signal SG into a digital signal, and outputs the digital signal to the operation control device 6 as a signal from the transport vehicles 4A to 4C. I do. The operation control device 6 grasps the operation status of each of the transport vehicles 4A to 4C based on signals from the transport vehicles 4A to 4C. Then, a new command signal is created and output to the modem 34.

The traveling motor 17 is driven via the inverter 43 on the basis of a control signal from the operation controller 26, and the carriage 4A and the like move along the guide rails 3 to carry goods between predetermined stations. Will be Since the guide wheels 9a and 9b mounted on the steering units 10 and 11 sandwich the guide ridge 3a of the guide rail 3, FIG.
As shown in the figure, in the curved section of the guide rail 3, the steering units 10 and 11 are turned in accordance with the curvature of the curved section. The steering units 10 and 11 are relatively rotated with respect to a main body such as the carriage 4A. Accordingly, as shown in FIG. 5, the distance between the guide rail 3 and the predetermined position of the carrier 4A or the like varies between when traveling in a straight section and when traveling in a curved section.

As a result, the pickup coil 24, the transmitting antenna 29 and the receiving antenna 30 are connected to the steering unit 1.
If it is attached to a part other than 0 and 11,
a, 19b, pickup coil 24, transmitting antenna 2
9 and the distance from the receiving antenna 30 greatly fluctuate,
The induced electromotive force generated in the pickup coil 24 becomes unstable. Further, the receiving state of the receiving antenna 30 and the transmitting state of the transmitting antenna 29 also become unstable.

However, the pickup coil 24, the transmitting antenna 29 and the receiving antenna 30 are connected to the steering unit 1
Since the pickup coils 24 are attached to the steering coils 10 and 11, the pickup coil 24, the transmission antenna 29, and the reception antenna 30 are integrally rotated with the steering units 10 and 11 in a curved section. Accordingly, a change in the positional relationship between the pickup coil 24, the transmitting antenna 29, and the receiving antenna 30 with respect to the power supply lines 19a and 19b is reduced. As a result, the induced electromotive force generated in the pickup coil 24 is stabilized. In addition, the transmission antenna 29 can perform efficient superposition, and the reception antenna 30 can perform reception with high sensitivity.

This embodiment has the following effects. (B) Since the transmitting antenna 29 and the receiving antenna 30 are attached to the steering unit 10, the carrier 4
When A travels along the curved section of the guide rail 3, the antennas 29 and 30 rotate integrally with the steering unit 10. As a result, both antennas 29, 30 and feeder lines 19a,
The distance from the transport vehicle 4A to the vehicle 19A is the same even in the curved section.
And the like do not change much when traveling on the straight portion of the guide rail 3, the receiving antenna 30 can receive with high sensitivity, and the transmitting antenna 29 can perform efficient superposition.

(B) Since the transmitting antenna 29 and the receiving antenna 30 and the modem 31 are fixed to the same steering unit 10, even if the steering unit 10 is turned, the distance between the two antennas 29, 30 and the modem 31 changes. Without
No tension is applied to the coaxial cable 32. Therefore,
The life of the coaxial cable 32, which has poor bending resistance, becomes longer,
Communication reliability is also improved.

(C) The pickup coil 24 is wound around the central projection 22b of the power supply core 22 having a substantially E-shaped cross section, and the modem 31 is attached to the back side of the power supply core 22. Therefore, due to the shielding effect of the power supply core 22,
Disturbance noise to the modem 31 is reduced.

(D) The modem 31 is connected to the steering unit 10
, There is no need for a space for accommodating the modem 31 in the main body of the carrier 4A or the like, and the degree of freedom in the arrangement of relays, sequencers, and the like disposed in the main body is increased.

(E) The feed lines 19a and 19b are configured as reciprocating lines arranged in parallel at a predetermined interval, and the antennas 29 and 30 are connected in parallel to the feed lines 19a and 19b.
Placed between. Therefore, the reception antenna 30 can perform reception with high sensitivity, and the transmission antenna 29 can perform efficient superposition.

(F) The power supply core 22 is formed to have a substantially E-shaped cross section, and the power supply line 19 is disposed in parallel so as to sandwich the central projection 22b around which the pickup coil 24 is wound.
Currents flow in opposite directions in a and 19b. As a result, the magnetic fluxes generated from the two feeder lines 19a and 19b pass in the same direction when passing through the central protrusion 22b, so that the induced electromotive force is efficiently generated by the magnetic flux linking with the pickup coil 24.

(G) Regarding the communication between the carriages 4A to 4C and the operation control device 6, the waveform PS of the high-frequency current flowing through the power supply lines 19a and 19b is used as a carrier, and the communication signal SG is superimposed on the waveform PS. Was. Then, a current waveform PSmix on which the communication signal SG is superimposed is received by the receiving antenna 3.
0, 36, and the communication signals SG at the modems 31, 34
Are extracted, converted into digital signals, and output to the operation controller 26 and the operation control device 6, respectively.
Accordingly, a dedicated communication line is not required, and an operation of wiring a trolley line for communication on the side surface of the guide rail 3 is not required.
In addition, since the communication line is unnecessary, the guide rail 3 can be reduced in size and the structure can be simplified.

(H) Since the communication signal SG is superimposed on the alternating current flowing through the power supply lines 19a and 19b, the carrier 4A
４4C is at any position on the travel route 2
4C and the operation control device 6 can be reliably performed.

(I) The transmitting and receiving antennas 29 and 30 provided on the transport carts 4A to 4C are connected to the feeders 19a and 19b.
, The feeder lines 19a and 19b and the transmitting and receiving antennas 29 and 30 are not worn.
As a result, there is no replacement work due to wear.

The present invention is not limited to the above embodiment, but may be embodied as follows, for example. (1) The power supply core 22 is connected to both steering units 10 and 11.
The transmitting antenna 29, the receiving antenna 30, and the modem 31 are attached to the steering unit provided on only one of the two sides and not provided with the power feeding core 22. In this case, both antennas 29 and 30 can be attached to the center of the bracket fixed to the steering unit, similarly to the feed core 22. Accordingly, when the transport vehicle 4A and the like travels in the straight section and the curved section of the guide rail 3, the variation in the distance between the antennas 29 and 30 and the feed lines 19a and 19b is reduced, and the receiving antenna 30 is more stable. And the transmitting antenna 29 can be superposed more stably.

(2) In the above embodiment, each of the antennas 29, 30, 35, and 36 has a coil shape.
The present invention is not limited to this, and may be changed to a rod-like or plate-like one according to the mounting space or the like.

(3) The transmitting antenna 29 and the receiving antenna 30 may be shared by one antenna. Similarly, the transmission antenna 35 and the reception antenna 36 may be shared by one antenna on the ground side.

(4) Instead of winding the ground-side transmitting antenna 35 and the receiving antenna 36 around the feeder lines 19a and 19b, like the transmitting antenna 29 and the receiving antenna 30 on the transporting trolley side, between the feeder lines 19a and 19b. May be arranged.

(5) Instead of providing two pairs of upper and lower guide wheels 9a and 9b on each of the steering portions 10 and 11, one of the upper and lower guide wheels may be omitted. Further, only one pair of guide wheels 9a and 9b may be provided near the drive wheel 7 and the driven wheel 8, respectively. In this case, the guide wheel 9a,
Since the number of 9b is reduced, the structure is simpler than that of the embodiment.

(6) The supporting shafts 14 of the steering units 10 and 11 are respectively driven by the driving wheels 7 or the driven wheels 8.
May be arranged at a position other than the position substantially coincident with the vertical center line of the vertical direction.

(7) The present invention has been embodied in an unmanned transport system using a transport vehicle 4A or the like traveling on a guide rail 3 erected on the ceiling. However, an unmanned transport system using a transport vehicle traveling on a guide rail provided on the ground It may be applied to a transport system or a stacker crane in an automatic warehouse.

(8) Instead of folding one electric wire and arranging the feed lines 19a and 19b in the forward path and the return path close to each other and in parallel with each other, two power supply lines are generated based on the current flowing therethrough. The magnetic fluxes are arranged at intervals such that they do not interfere with each other, and current flows in the same direction.
In addition, the pickup coils 24 are disposed on the transport trolley so as to be able to pass through positions where magnetic fluxes generated around one of the power supply lines pass.

(9) The number of power supply lines may be one, or the shape of the power supply core 22 may be a shape other than the E-shape in cross section, for example, a C-shape. (10) The number of transport vehicles may be appropriately changed.

The inventions other than those described in the claims which can be grasped from the embodiment and the modified examples will be described below together with their effects. (1) In the invention according to any one of claims 1 to 4, the antenna includes a reception antenna and a transmission antenna, and is superimposed on an alternating current flowing through the power supply line via the reception antenna. A communication signal from an operation control device is received, and a communication signal from the moving object is superimposed on an alternating current flowing through the power supply line via a transmission antenna. In this case, since the transmitting and receiving antennas are separate antennas, the transmission and receiving control becomes easier as compared with the case where the transmitting and receiving antennas are shared by one antenna.

(2) Any one of claims 1 to 3
In the invention described in the paragraph, the moving body is provided with a pair of front and rear traveling wheels, a pickup coil for supplying power used by the moving body is attached to a steering unit that supports each traveling wheel, and the antenna and the modem are either It is attached to one steering section. In this case, a larger electric power can be obtained as compared with the case where one pickup coil is used.

(3) In the invention according to claim 4,
The antenna for reception and transmission is integrated, and the antenna is arranged so that the center of the antenna is located on a plane including the support shaft of the steering unit and orthogonal to the guide rail. In this case, the distance between the antenna and the feed line in the curved section is less likely to fluctuate, and highly sensitive reception and efficient superposition can be performed.

[0065]

As described in detail above, claims 1 to 4 are provided.
According to the invention described in the above, the power supply to the moving body is performed in a non-contact manner by superimposing a communication signal on an alternating current flowing through a power supply line so as to perform communication between the moving body and an operation control device. In the mobile operation system described above, communication with the operation control device can be performed with good and high reliability.

According to the second aspect of the present invention, since the modem is mounted on the back side of the power supply core, disturbance noise to the modem is reduced by the shielding effect of the power supply core. According to the third aspect of the present invention, the reception antenna can perform reception with high sensitivity, and the transmission antenna can perform efficient superposition.

According to the fourth aspect of the present invention, the distance between the antenna and the feed line in the curved section is less likely to fluctuate, and the communication with the operation control device is improved in a better and more reliable manner. It can be carried out.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing an attached state of an antenna, a modem, and the like.

FIG. 2 is a partially cutaway schematic front view of the transport vehicle.

FIG. 3 is a schematic diagram showing a layout of an unmanned transfer system.

FIG. 4 is a schematic side view of a transport vehicle.

FIG. 5 is a schematic plan view of the transport vehicle in a curved section.

FIG. 6 is a circuit diagram illustrating a power supply device.

FIG. 7 is a block circuit diagram illustrating the relationship between a modem and a power supply line.

FIG. 8 is an explanatory diagram for explaining superposition of a current waveform and a communication signal.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 3 ... Guide rail, 4A-4C ... Transportation trolley as a moving body, 6 ... Operation control device, 7 ... Driving wheels as running wheels, 8
... Similarly, driven wheels, 10, 11 ... Steering unit, 19
a, 19b: power supply line, 22: power supply core, 22b: central projection, 24: pickup coil, 29: transmission antenna, 30: reception antenna, 31: modem, SG: communication signal.

Claims (4)

[Claims] An electric power used by a moving body that moves along a guide rail is supplied via a pickup coil that generates an induced electromotive force based on an alternating current supplied to a power supply line wired along the guide rail. A communication signal from the operation control device that supplies and controls the operation of the moving object to the moving object is superimposed on an alternating current flowing through a power supply line wired to the guide rail, so that the moving object and the operation control device In a mobile operating system adapted to perform communication between the mobile terminal, an antenna and a modem for performing communication with the operation control device, supporting the running wheels of the mobile, and the mobile being curved on a guide rail. Attached to a steering section that is provided rotatably in accordance with the curvature of the curve section when passing through the section, and arranged so that the antenna is located near the feeder line Antenna mounting structure of the mobile operating system. 2. The moving body according to claim 1, wherein the pickup coil is wound around a central projection of a power supply core having a substantially E-shaped cross section, and the modem is mounted on a back side of the power supply core. Antenna mounting structure for operation system. 3. The feed line according to claim 1, wherein the feed line is configured as a reciprocating line disposed in parallel at a predetermined interval, and the antenna is disposed between the reciprocating lines disposed in parallel. An antenna mounting structure for the mobile operation system described in the above. 4. The moving body is equipped with a pair of front and rear running wheels,
A pickup coil for supplying electric power used by a moving body is mounted on a steering unit supporting one traveling wheel, and the antenna and the modem are provided on a steering unit supporting the other traveling wheel. Item 4. An antenna mounting structure for a mobile operating system according to any one of Items 3.