200302634 玖、發明說明 (發明說明應敘明：發明所屬之技術領域、先前技術、內容、實施方式及圖式簡單說明) 【發明所屬之技術領域】 本發明係爲，在將移動體以預定之路徑進行移動的系統 中，有關於沿著該路徑所舖設之通信用饋線與以非接觸所 結合之耦合裝置。 【先前技術】 過去以來，在製造物品的工廠等之中，已知係有一種移 動體輸送系統，係爲沿著預定路徑而使移動體進行輸送。 再者，亦已知有一種移動體輸送系統，係沿其路徑而舖設 通信用饋線的同時，將由該通信用饋線取出信號的耦合裝 置（與饋線之結合器）設在移動體上，經由該通信用饋線而 傳送控制信號，藉此來控制移動體。此外，上述構成之系 統係例如被記載於日本國的專利申請（特開平7-49397號公 報）裡。 不過，在已知之系統中，耦合裝置係具有例如爲與饋線 對向所安裝之線圈天線（coil antenna)等，與饋線之間的結 合度係難以稱之爲高。此外，在變化對於饋線之耦合裝置 的相對位置後，將隨之降低信號檢測感度’而具有移動體 與控制該移動體之輸送的控制裝置之間之通信品質惡化的 情形。另外，對於饋線之耦合裝置之相對位置的偏移係爲， 例如，不僅是在藉由舖設饋線時之設置誤差而產生’在移 動體通過弧形輸送路時亦會產生。 200302634 [發明內容】 本發明之目的係爲用以達成通信用饋線與耦合裝置之間 的結合穩定化。此外’本發明之其他目的係爲使採用有通 信用饋線之通信品質安定。 本發明之親合裝置係被設在輸送預定路徑之移動體上， 將與沿著上述路徑所舖設的通信用饋線結合者作爲前提， 而具備有第1電極與第2電極，係用以夾持相互呈平行地 舖設、且傳送相互呈逆極性的第1通信用饋線與第2通信 用饋線；上述第1電極與第2電極係被配置呈，在其中至 少一方爲在與上述第1通信用饋線、或是第2通信用饋線 之至少一方之間產生有容量性結合。 若藉由上述構造之耦合裝置，第1電極與第2電極係配 置呈用以夾持傳送相互逆極性之信號的第1通信用饋線與 第2通信用饋線’因此’在第1電極與第2電極方面，係 藉由與對應之饋線間之容量性結合而產生相互逆極性之電 位。因此，若構成爲檢測出產生在第1電極與第2電極中 之電位的差分時，相較於僅具有1個電極之耦合裝置，係 可獲得較大電壓而提昇感度。 此外，當上述饋線之相對位置在第1電極側上位移的情 況下，第1電極與上述饋線之間的容量性結合係爲增大的 同時，第2電極與上述饋線之間的容量性結合係爲減少。 另一方面，當上述饋線之相對位置爲在第2電極側上位移 的情況下，第1電極與上述饋線之間的容量性結合係爲減 少的同時，第2電極與上述饋線之間的容量性結合係爲增 一 7- 200302634 大。不過’在桌1電極與第2電極方面，因產生相互逆極 性之電位’故而該等電位差係爲一定値。從而，對於上述 IM線’ /¾:使耦[合裝置之位置爲相對性的位移，該等之間的 結合度係爲安定。 此外’在上述耦合裝置中，上述第1電極係被配置在較 上述第2通信用饋線而更靠近上述第1通信用饋線，上述 第2電極係亦可被配置在較上述第1通信用饋線而更靠近 上述第2通信用饋線。 此外，亦可使用第1線圈與第2線圈來取代第1電極與 第2電極。不過，在此情況下，第1線圈與第2線圈係必 須呈相互串聯狀的連接。 【實施方式】 以下，針對本發明之實施例而一面參照圖式來進行說 明。 第1圖所示，係爲說明具備有本發明實施例之耦合裝置 的移動體所使用之環境。具備有實施例之耦合裝置的移動 體1係爲，例如，在製造物品的工廠中，用以搬送構件或 完成品的搬送車或搬送機器人中，係輸送於預定之路徑。 而沿著該路徑係舖設有通信用饋線2。此外，通信用饋線2 係爲傳送電氣信號之金屬線纜。另外，通信用饋線2係傳 送用以控制移動體1之控制信號、或是用以通知移動體1 之狀態的通知信號。不過，在以下係爲了將說明簡單化， 爲針對送信裝置（例如，控制移動體1之輸送的控制裝置）3 所送出之控制信號爲經由通信用饋線2所傳送之案件來進 ~ 8 ~ 200302634 行說明。 通信用饋線2係由呈相互平行所舖設之1組饋線2 a、2 b 所構成。在而饋線2 a、2 b方面係如第2圖所示，爲藉由送 信裝置3而供給有相互極性爲反轉之控制信號。此外，相 對於1組饋線而供給相互極性爲反轉之信號的機能，係可 藉由已知之技術來實現。 耦合裝置4係被安裝至移動體1，而與通信用饋線2結 合。在此，所謂的「結合」係意味著與通信用饋線2呈電 氣性/磁氣性地結合。此外，「結合」係包含有將經由通信 用饋線2所傳送之控制信號進行拾取（pickup)、以及將信號 供給至通信用饋線2之兩者的涵義，不過，在實施例中， 係表示將經由通信用饋線2所傳送之控制信號進行拾取的 例子。 第3圖所示係爲耦合裝置4之構造示意圖。此外，通信 用饋線2 (2 a、2 b )係以在紙面於垂直方向延伸者來表示。 耦合裝置4係爲，當移動體1輸送於上述路徑時，爲由 配置呈以夾持通信用饋線2(2a、2b)之1組耦合電極5a、5b 所構成。具體而言，當移動體1輸送於上述路徑時，耦合 電極5 a爲較饋線2 b而更加靠近饋線2 a的同時，耦合電極 5 b配置呈較饋線2 a而更加靠近饋線2b。在此，耦合電極 5a ' 5b係分別可由、例如爲具有所定面積之金屬板來實現。 此外，於第3圖中，耦合電極5 a、5b係分別在垂直於紙面 方向上具有所定之長度。 耦合電極5 a、5 b係被連接至檢測電路1 1。在此，檢測 -9- 200302634 電路1 1係爲知測出轉合電極5 a、5 b間的電位差。解調電 路1 2係解調檢測電路1 1之輸出。而控制電路1 3係解釋藉 由解調電路1 2所解調之信號，且依據於此而控制移動體1 之動作。 在上述構造中’親合電極5a係在饋線2b之雙方之 間獲得產生有容量性地結合。然而，耦合電極5 a係靠近饋 線2 a，因此與饋線2 b之間的容量性結合係爲，相較於饋 線2 a之間的容量性結合係呈較弱。因此，耦合電極5 a與 通信用饋線2之間的容量性結合係形成爲支配耦合電極5a 與通信用饋線2 a之間的容量性結合。亦即，在耦合電極5 α 中，係產生有對應於經由饋線2 a所傳送之信號的電位。同 樣的，耦合電線5 b與通信用饋線2之間的容量性結合係形 成爲支配耦合電極5b與通信用饋線2b之間的容量性結合。 、 亦即，在耦合電極5b中，係產生有對應於經由饋線2b所 傳送之信號的電位。不過，在饋線2a、2b方面，係被傳送 有相互極性之已反轉的信號。從而，在耦合電極5 a、5b方 面，係形成爲產生有相互極性之已反轉的電位。 不過，經由通信用饋線2所傳送之信號係如上所述，爲 藉由耦合裝置4所拾取’且作爲該耦合裝置4之輸出電壓 而被取入至移動體1中。在此’鍋合裝置4之輸出電壓係 作爲耦合電極5 a、5 b間的電位差，而藉由檢測電路1 1所 檢測而出。而在耦合電極5a、5b方面係產生有相互極性之 已反轉的電位。從而’係如第4圖所示，相較於檢測出使 用單一耦合電極而經由通信用饋線所傳送之信號的情況 -10- 200302634 下，作爲該等差分而所獲得之耦合裝置4的輸出電壓係形 成爲較大電壓。亦即，實施例之耦合裝置係爲，信號檢測 感度爲較高。 如此’實施例之耦合裝置係爲，不使其尺寸增大而提昇 信號之檢測感度。 此外’耦合裝置4係爲輸出耦合電極5a、5b間的電位 差’因此即使是對於通信用饋線2之耦合裝置4之相對位 置有些許偏移，其輸出電壓仍爲穩定。亦即，如第5圖（a) 所示，當通信用饋線2在靠近耦合電極5 a之方向上（亦即， 通信用饋線2位在遠離於耦合電極5b之方向上）偏移後， 產生在耦合電極5a、5b之電位係如第5圖（b)所示，爲形 成不均衡狀。具體而言，產生在耦合電極5 a之電位的絕對 値係爲增大，而產生在耦合電極5b之電位的絕對値則是僅 縮小上述份量。然而，起因於對於通信用饋線2之耦合裝 置4之相對位置之偏移而產生在耦合電極5a、5b的電位即 使遭到變動，該等的差分係爲一定。亦即，使用於第3圖 所示之檢測電路1 1所檢測而出的耦合電極5 a、5b間之電 壓係呈一定，形成爲與於第4圖所示之情況下相同。 如此’實施例之耦合裝置係可常時地獲得已呈安定的信 號檢測感度。 此外，耦合電極5 a、5b之形狀並未有特別的限定。亦 即，耦合電極5 a、5b係可爲如於第3圖所示之平板狀，亦 可如於第6圖所示，爲用以包圍通信用饋線2而呈適當地 折曲狀、或是已彎曲之形狀均可。此時，若是將耦合電極 -11- 200302634 形成爲用以包圍通信用饋線2狀時，便可更加提昇信號檢 測感度。 此外，耦合裝置係爲，在第3圖至第6圖中所示之實施 例中係由1組耦合電極所構成，但是本發明並未限定在此 種構造。亦即，耦合裝置亦可如第7圖（a)或第7圖（b)所示， 爲以1組線圈所構成之線圏式耦合器。在此情況下，1組 線圈21a、2 1b係被配置呈夾持通信用饋線2(2 a、2b)。 線圈式耦合器係爲，在經由通信用饋線2而使信號傳送 時，藉由檢測出發生在其周邊的磁束之變化而拾取信號。 亦即’當通信用饋線2之周邊的磁束變化後，起因於此便 使得產生在線圈的誘導電壓亦進行變化，因此，藉由監視 該誘導電壓而檢測出經由通信用饋線2所傳送之信號。 在實施例之系統中，爲經由饋線2a、2b來使相互極性 已反轉之信號進行傳送。因此，在配置如第7圖（a)所示之 線圈2la、2 1b後，在該等線圈中便產生逆極性之誘導電壓。 亦即，若將線圈2 1 a、2 1 b適當地直列串聯時，便獲得發生 在各線圈中之誘導電壓之絕對値的加法値。此外，即使對 於通信用饋線2之耦合裝置的相對位置在圖面上之水平方 向上偏移，亦與一面參照第5圖所進行說明的原理相同， 耦合裝置之輸出電壓係爲保持穩定。如此，即使在第7圖（a) 中所示之構成中，亦可獲得與在第3圖至第6圖所示之構 成中相同的效果。 另一方面，在配置有如第7圖（b)所示之線圈21a、21b 的情況下，發生在饋線2a、2b周邊的磁束係可有效率的藉 -12- 200302634 由各線圈所檢測而出，從而，進而提昇信號檢測感度。 此外，在上述例中’雖針對拾取經由通信用饋線2所傳 送之信號的例子而進行說明，不過，實施例之耦合裝置亦 可在將信號由移動體1朝通信用饋線2進行供給的情況下 來使用。而實施例之耦合裝置係爲，縱使在將信號由移動 體1朝通信用饋線2進行供給的情況下，亦可享受到與將 信號由通信用饋線2進行拾取的情況下相同的效果。 〔發明之效果〕 藉由本發明’即使對於通信用饋線，耦合裝置之相對位 置爲偏移的情況下，該等之間的結合爲維持安定狀，因此 已利用通信用饋線之通信品質係爲安定。此外，因耦合裝 置之感度提昇，故而形成可增大耦合裝置與通信用饋線之 間的距離，提昇設計的自由度。 【圖式簡單說明】 第1圖所示具備實施例之耦合裝置之移動體所使用的環 境不意圖。 第2圖所示經由通信用饋線所傳送之信號的示意圖。 第3圖所不係耦合裝置之構成示意圖。 第4圖所τκ係親合裝置之輸出示意圖。 第5 ( a )、（ b )圖所示係爲，在對於通信用饋線之耦合裝置 之相對位置在已偏移的情況下，耦合裝置之輸出示意圖。 第6圖所示係於第3圖所示之耦合裝置的變形例。 第7(a)、（b)圖係其他實施例之耦合裝置之構成示意圖。 【主要部分之代表符號說明】 - 1 3 - 200302634 1 :移動體 2(2a、2b):通信用饋線 4 :耦合裝置 5 a、5 b :鍋合電極 1 1 :檢測電路 1 2 :解調電路 1 3 :控制電路200302634 发明 Description of the invention (the description of the invention should state: the technical field, prior art, content, embodiments, and drawings of the invention are briefly explained) [Technical field to which the invention belongs] The present invention relates to In a system in which a path moves, there is a coupling device in which a communication feeder line and a non-contact are laid along the path. [Prior Art] In the past, in factories and the like for manufacturing articles, a moving body conveying system has been known to convey a moving body along a predetermined path. Furthermore, a moving body conveying system is also known in which a coupling device (a coupler with a feeder line) for taking out signals from the communication feeder line is laid on the moving body while laying a communication feeder line along its path, The communication feeder transmits a control signal to control the moving body. The system having the above configuration is described in, for example, a Japanese patent application (Japanese Patent Application Laid-Open No. 7-49397). However, in the known system, the coupling device has, for example, a coil antenna installed opposite to the feeder, and it is difficult to call the coupling degree high. In addition, after changing the relative position of the coupling device to the feeder, the signal detection sensitivity will be reduced accordingly, and the communication quality between the moving body and the control device controlling the conveyance of the moving body may deteriorate. In addition, the offset of the relative position of the coupling device of the feeder is, for example, not only generated by a setting error when laying the feeder, but also generated when the moving body passes through the arc-shaped conveying path. 200302634 [Summary of the Invention] The object of the present invention is to stabilize the coupling between a communication feeder and a coupling device. In addition, another object of the present invention is to stabilize the communication quality using a communication credit feeder. The affinity device of the present invention is provided on a moving body that is transported along a predetermined path, and it is premised that it is combined with a communication feeder line that is laid along the path, and is provided with a first electrode and a second electrode. The first communication feed line and the second communication feed line are laid in parallel with each other and transmit reverse polarity to each other; the first electrode and the second electrode system are arranged so that at least one of them is communicating with the first communication line. There is a capacitive coupling between at least one of the feeder or the second communication feeder. With the coupling device having the above structure, the first electrode and the second electrode are arranged so that the first communication feeder line and the second communication feeder line for holding and transmitting signals of mutually opposite polarities are sandwiched between the first electrode and the first electrode. In the two-electrode aspect, potentials with opposite polarities are generated by the capacitive combination with the corresponding feeder. Therefore, when the difference between the potentials generated in the first electrode and the second electrode is detected, a larger voltage can be obtained and the sensitivity can be improved compared to a coupling device having only one electrode. In addition, when the relative position of the feeder is shifted on the first electrode side, the capacitive coupling between the first electrode and the feeder is increased, and the capacitive coupling between the second electrode and the feeder is increased. Department for reduction. On the other hand, when the relative position of the feeder is shifted on the second electrode side, the capacity coupling between the first electrode and the feeder is reduced while the capacity between the second electrode and the feeder is reduced. Sexual bonding is increased by 7-200302634. However, "the potentials of the electrodes of the table 1 and the second electrode generate mutually opposite polarities", so the potential difference is constant. Therefore, for the above-mentioned IM line '/ ¾: the position of the coupling device is a relative displacement, and the degree of coupling between these is stable. In addition, in the coupling device, the first electrode system is disposed closer to the first communication feeder line than the second communication feeder line, and the second electrode system may be disposed closer to the first communication feeder line. It is closer to the second communication feeder. In addition, the first coil and the second coil may be used instead of the first electrode and the second electrode. However, in this case, the first coil and the second coil system must be connected in series. [Embodiment] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Figure 1 shows the environment used by a mobile body equipped with a coupling device according to an embodiment of the present invention. The moving body 1 provided with the coupling device of the embodiment is, for example, a conveyance vehicle or a conveyance robot for conveying a component or a finished product in a factory that manufactures articles, and conveys it on a predetermined path. A communication feeder 2 is laid along this path. In addition, the communication feeder 2 is a metal cable for transmitting electrical signals. In addition, the communication feeder 2 transmits a control signal for controlling the mobile body 1 or a notification signal for notifying the status of the mobile body 1. However, in the following, in order to simplify the description, the control signal sent from the transmission device (for example, the control device that controls the transport of the mobile body 1) 3 is transmitted through the case transmitted through the communication feeder 2 ~ 8 ~ 200302634 Line description. The communication feeder 2 is composed of a group of feeders 2 a and 2 b laid in parallel with each other. The feeders 2a and 2b are provided with a control signal whose polarity is reversed by the transmission device 3 as shown in Fig. 2. In addition, the function of supplying signals with mutually reversed polarity with respect to one set of feeders can be realized by a known technique. The coupling device 4 is attached to the mobile body 1 and is coupled to the communication feeder 2. Here, the "combination" means that the communication feeder 2 is electrically and magnetically coupled. In addition, "combination" includes both the meaning of picking up a control signal transmitted via the communication feeder 2 and supplying the signal to the communication feeder 2; however, in the embodiment, it means An example of picking up via a control signal transmitted by the communication feeder 2. FIG. 3 is a schematic diagram showing the structure of the coupling device 4. In addition, communication feeders 2 (2a, 2b) are expressed as those extending vertically on the paper surface. The coupling device 4 is constituted by a set of coupling electrodes 5a and 5b arranged to hold the communication feeder 2 (2a, 2b) when the mobile body 1 is conveyed on the above path. Specifically, when the moving body 1 is transported along the above path, the coupling electrode 5 a is closer to the feeder 2 a than the feeder 2 b, and the coupling electrode 5 b is disposed closer to the feeder 2 b than the feeder 2 a. Here, the coupling electrodes 5a'5b can be realized by metal plates having a predetermined area, for example. In FIG. 3, the coupling electrodes 5a and 5b have a predetermined length in a direction perpendicular to the paper surface, respectively. The coupling electrodes 5 a and 5 b are connected to the detection circuit 11. Here, the detection -9-200302634 circuit 1 1 is to know and measure the potential difference between the turning electrodes 5 a and 5 b. The demodulation circuit 12 is the output of the demodulation detection circuit 11. The control circuit 1 3 interprets the signal demodulated by the demodulation circuit 12 and controls the movement of the mobile body 1 based on the signal. In the above-mentioned structure, the 'affinity electrode 5a is obtained to be capacitively bonded between both sides of the feeder 2b. However, the coupling electrode 5 a is close to the feeder 2 a, so the capacitive coupling system with the feeder 2 b is weaker than the capacitive coupling system between the feeder 2 a. Therefore, the capacitive coupling between the coupling electrode 5a and the communication feeder 2 is formed to govern the capacitive coupling between the coupling electrode 5a and the communication feeder 2a. That is, a potential corresponding to a signal transmitted through the feeder 2 a is generated in the coupling electrode 5 α. Similarly, the capacitive coupling system between the coupling wire 5b and the communication feeder 2 is formed to govern the capacitive coupling between the coupling electrode 5b and the communication feeder 2b. That is, a potential corresponding to a signal transmitted through the feeder 2b is generated in the coupling electrode 5b. On the feeders 2a and 2b, however, signals with mutually inverted polarities are transmitted. Therefore, the coupling electrodes 5a and 5b are formed so as to generate inverted potentials having mutual polarities. However, as described above, the signal transmitted through the communication feeder 2 is picked up by the coupling device 4 and taken into the mobile body 1 as the output voltage of the coupling device 4. Here, the output voltage of the 'cooking device 4 is detected by the detection circuit 11 as the potential difference between the coupling electrodes 5a and 5b. On the other hand, the coupling electrodes 5a and 5b have mutually reversed potentials. Therefore, as shown in FIG. 4, compared with the case where a signal transmitted through a communication feeder using a single coupling electrode is detected -10- 200302634, the output voltage of the coupling device 4 obtained as the difference The system is formed to a large voltage. That is, the coupling device of the embodiment is such that the signal detection sensitivity is high. The coupling device of this embodiment is to increase the detection sensitivity of the signal without increasing its size. In addition, the 'coupling device 4 is a potential difference between the output coupling electrodes 5a, 5b'. Therefore, even if the relative position of the coupling device 4 of the communication feeder 2 is slightly shifted, its output voltage is stable. That is, as shown in FIG. 5 (a), when the communication feeder 2 is shifted in a direction close to the coupling electrode 5a (that is, the communication feeder 2 is located in a direction away from the coupling electrode 5b), As shown in Fig. 5 (b), the potentials generated at the coupling electrodes 5a and 5b are uneven. Specifically, the absolute magnitude of the potential generated at the coupling electrode 5a is increased, and the absolute magnitude of the potential generated at the coupling electrode 5b is only reduced by the aforementioned amount. However, even if the potentials at the coupling electrodes 5a and 5b are changed due to a shift in the relative position of the coupling device 4 of the communication feeder 2, the difference between them is constant. That is, the voltage system between the coupling electrodes 5a and 5b detected by the detection circuit 11 shown in Fig. 3 is constant, and is formed in the same manner as in the case shown in Fig. 4. The coupling device of this embodiment can always obtain a stable signal detection sensitivity. The shape of the coupling electrodes 5 a and 5 b is not particularly limited. That is, the coupling electrodes 5 a and 5 b may have a flat plate shape as shown in FIG. 3, or may be appropriately bent to surround the communication feeder 2 as shown in FIG. 6, or It can be a curved shape. At this time, if the coupling electrode -11- 200302634 is formed to surround the communication feeder 2 shape, the signal detection sensitivity can be further improved. In addition, the coupling device is constituted by one set of coupling electrodes in the embodiments shown in Figs. 3 to 6, but the present invention is not limited to this structure. That is, as shown in FIG. 7 (a) or FIG. 7 (b), the coupling device may be a line-type coupler composed of one set of coils. In this case, one set of coils 21a, 21b is arranged to hold the communication feeder 2 (2a, 2b). The coil-type coupler picks up a signal by detecting a change in a magnetic beam occurring around the coil when the signal is transmitted through the communication feeder 2. That is, when the magnetic flux around the communication feeder line 2 changes, the induced voltage generated in the coil also changes because of this. Therefore, the signal transmitted through the communication feeder line 2 is detected by monitoring the induced voltage. . In the system of the embodiment, signals with mutually reversed polarities are transmitted via feeders 2a, 2b. Therefore, after the coils 2la, 21b shown in FIG. 7 (a) are arranged, induced voltages of reverse polarity are generated in the coils. That is, if the coils 2 1 a and 2 1 b are appropriately connected in series in series, the absolute value 値 of the induced voltage occurring in each coil is obtained. In addition, even if the relative position of the coupling device of the communication feeder 2 is shifted in the horizontal direction on the drawing, the principle is the same as that described with reference to FIG. 5, and the output voltage of the coupling device is kept stable. In this way, even in the configuration shown in Fig. 7 (a), the same effects as those in the configurations shown in Figs. 3 to 6 can be obtained. On the other hand, when the coils 21a and 21b are arranged as shown in FIG. 7 (b), the magnetic flux system occurring around the feeders 2a and 2b can be efficiently borrowed from each coil. Therefore, the signal detection sensitivity is further improved. In addition, in the above-mentioned example, 'the description is given for an example of picking up a signal transmitted via the communication feeder 2, but the coupling device of the embodiment may also supply a signal from the mobile body 1 to the communication feeder 2. Use it down. In the coupling device of the embodiment, even when a signal is supplied from the mobile body 1 to the communication feeder 2, the same effect as that in the case where the signal is picked up by the communication feeder 2 can be enjoyed. [Effects of the Invention] According to the present invention, even when the relative position of the coupling device is offset for the communication feeder, the combination between these is to maintain stability. Therefore, the communication quality of the communication feeder has been stable . In addition, the sensitivity of the coupling device is increased, so that the distance between the coupling device and the communication feeder can be increased, and the degree of freedom in design can be improved. [Brief description of the drawings] The environment used by the mobile body having the coupling device of the embodiment shown in FIG. 1 is not intended. FIG. 2 is a schematic diagram of a signal transmitted through a communication feeder. Fig. 3 is a schematic diagram of the structure of the coupling device. Figure 4 shows the output of the τκ affinity device. Figures 5 (a) and (b) are schematic diagrams of the output of the coupling device when the relative position of the coupling device for the communication feeder has been shifted. FIG. 6 shows a modification of the coupling device shown in FIG. 3. Figures 7 (a) and (b) are schematic diagrams of the structure of the coupling device in other embodiments. [Description of Representative Symbols of Main Section]-1 3-200302634 1: Moving body 2 (2a, 2b): Communication feeder 4: Coupling device 5 a, 5 b: Potting electrode 1 1: Detection circuit 1 2: Demodulation Circuit 1 3: Control circuit
2 1a、21b：線圈2 1a, 21b: coil
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