TW202308338A - System for monitoring the state of a line in an energy chain - Google Patents

Abstract

The invention relates to a monitoring system comprising a line-guiding device (1; 41) having a movable section and at least one line (13) led by the line-guiding device (1; 41) and having a line section (130) that is to be monitored, and a monitoring apparatus (10) having a first (200A) and a second module (200B) each provided on both sides of the line section that is to be monitored. According to the invention, the modules (200A, 200B) are embodied so as to interact in order to determine an electrical transmission property of the line section (13A; 13B) in relation to a predetermined radio-frequency (RF) signal during running operation. The first module (200A) comprises an RF generator coupled to the line (13) that is to be monitored in order to couple a predetermined RF signal as test signal to the line section (130). The second module (200B) has an RF receiver coupled to the line that is to be monitored in order to couple the RF signal out of the line section (130) and is configured to evaluate properties of the received RF signal in order to determine at least one value relating to the transmission quality over the line section (130).

Description

Line status monitoring system in energy supply drag chain

The present invention generally relates to the field of state monitoring of power lines, especially lines guided by dynamic line guiding devices such as energy supply drag chains, so as to supply power to mobile electrical equipment. The invention relates in particular to the monitoring of mobile lines.

Due to the movements required by the specific application, such lines - for example supply lines for data and/or power - have a limited lifespan and may lead to failure, which is unavoidable and can lead to critical situations and high costs.

The present invention is specifically related to a system and method for monitoring the state of a line during its real-time operation, including a monitoring device, the monitoring device includes a first module and a second module, and these modules are respectively set (for example connection or coupling) on both sides of the line segment to be monitored. The line section is usually arranged in a movable line guide for protectively guiding at least the line to be monitored, wherein the line guide is movable at and relative to the first connection point There is at least one movable section between the second connection points, and the section of the line to be monitored due to movement is guided by this section.

A system of this general type is given in the applicant's WO 2020/104491 A1. Two modules are arranged at the end of the line section to be monitored. These modules each use the attributes of the protocol layer of DTP to implement status monitoring. The disadvantage here is that by means of this principle only lines intended for, or at least adequately suited for, such digital data protocols as ETHERNET can be monitored. Furthermore, the actual data transmission - due to the protocol properties of data transmission to be exploited - may be at least slightly affected by the system due to additional data transmitted only for detection or line conditions.

In DE10112844A1 a solution is proposed for online line status monitoring during operation without affecting the actual transmission of useful data. Here, the test method detects inactive phases of the data transmission protocol, for example via a field bus line, in order to transmit test signals via the test device during the inactive phase without interrupting the transmission protocol. Monitor and evaluate reflections of test signals along transmission lines.

In contrast to WO 2020/104491 A1, most solutions to date, such as DE10112844A1, use reflection measurements, mostly by observing the reflected waveforms to determine the characteristics of electrical lines. An advantage of this is that faults can be localized. However, this method is technically very complex and generally not suitable for on-line use.

Therefore, a primary object of the present invention is to propose a solution that allows the condition monitoring of power lines during operation, wherein it is possible to Implement the solution without effort. This object is achieved independently of one another by the monitoring system according to claim 1 , the adapter system according to claim 2 or the use or method according to claim 15 .

As far as the monitoring system of the general type according to the preamble of claim 1 is concerned, the solution to achieve the above object is that the two modules are designed to work together to determine during operation the line section to be monitored with respect to the predetermined at least one power transfer characteristic of a determined high-frequency signal, in particular a high-frequency signal independent of the intended use of the line being monitored or not used as the intended signal, and preferably selected as undisturbed as possible, selecting Use with due consideration for possible interference. Here, according to a basic idea of the invention, values relating to the transmission quality of the undesired high-frequency signal via the line section, in particular values relating to the received signal strength or signal attenuation, are determined and used for the evaluation.

For this purpose, it is specifically provided that the first monitoring module comprises a high-frequency generator or a high-frequency source, which is coupled to the line to be monitored, so as to use a predetermined high-frequency signal as a separate signal independent of the intended use, to test the signal Applied to the portion of the line to be tested in the form of, for example, electrically applied or coupled (feeded, inserted, applied, etc.) to at least one conductor of the line.

On the other hand, the second module has a HF receiver or HF signal receiver suitable for HF signals, which HF receiver is coupled to the line to be monitored in order to receive HF signals from the line part, and the module or HF receiver is set It is possible to evaluate the properties of the received HF signal in order to determine at least one value which is related to the transmission quality of the route section traversed, in particular to the received signal strength or signal attenuation. Preferably, the second module is arranged to output this value to a higher-level unit via a further connection, in particular a wired or wireless connection.

The coupling to the line to be monitored can be conductive or non-conductive, for example capacitive and/or inductive. Depending on the application, it may be conductive for the data lines and preferably non-conductive for the lines carrying the supply voltage, eg for insulation protection.

As in usual high frequency (HF, RF in English is radio frequency) electrical engineering, the frequency range from about 10 kilohertz to the terahertz range is often called high frequency (HF) (ie not only shortwave or A more restricted high-frequency definition of the range between MF radios and VHF radios). In this context, high frequency is understood to mean in particular frequencies in the range from at least 1 MHz to 10 GHz, especially typical radio frequencies. Particularly preferably, one of the unlicensed ISM frequency bands (industrial, scientific and medical frequency bands) according to the ITU Radio Regulations (Edition 2102, Rule 5) can be used.

Also proposed is an adapter system for monitoring the line condition in operation, the system has two corresponding modules, each module can be connected in the form of an adapter to the first terminal and the second terminal of the line section to be monitored . Correspondingly provided herein according to the invention,

- the modules are interactively designed to determine during operation at least one power HF (high frequency) transmission performance of a line segment with respect to a predetermined high frequency signal, preferably

Is not related to the intended use of the line to be monitored, and - the first module includes a high-frequency generator, which can be coupled to the line to be monitored to apply a predetermined HF signal as a test signal; and - the second module includes a high-frequency receiver coupled to the line to be monitored to receive an applied high-frequency signal from the line section and arranged to evaluate the characteristics of the received high-frequency signal,

In order to determine at least one value related to the transmission quality of the route section traveled, in particular related to the received signal strength or signal weakening.

Furthermore, at least the second module can be arranged to output this value to a higher-level unit via a further connection, in particular a wired connection.

The invention is firstly based on a counter-intuitive approach, namely the use of the wires for high-frequency signals not intended for them, especially in the form of radio signals, which is also counter-intuitive, the aim being wireless transmission. The invention can provide radio signals for testing wired conductors, especially radio signals for wireless data communication. For example, it could be a radio signal with a high-frequency carrier frequency on which information can be printed by modulation, but its use is not critical to the intended use of the line.

Furthermore, the invention recognizes that an unfavorable match between line and HF signal is irrelevant if the HF signal is not intended for its actual signal function, eg information transmission. The absolute transmission quality of the test signal is not important for the invention.

Conversely, without wishing to be bound by theory, the radiation loss of a defective line, especially a single-wire or two-wire line, increases roughly with the square of the signal frequency. Accordingly, high-frequency signals are essentially suitable for identifying typical signs of wear in moving elastic cables, especially in energy chains, such as cross-sectional changes, kinks, broken strands or other defects caused by permanent bending cycles. However, the signal attenuation may be relatively low, such as with ideal one-wire or two-wire conductors.

In principle, the relative change in the transmission quality of the test signal is monitored as well as an indicator of line wear or wear-related degradation.

It is therefore provided in one embodiment that the predetermined high-frequency signal for monitoring is a radio data transmission signal.

In this case, the radio-frequency unit (radio-frequency generator and/or radio-frequency receiver) can each be designed as a component of the corresponding radio transceiver. Thus, for example commercially available inexpensive radio transceivers can be used.

An advantageous embodiment provides that the RF generator and the RF receiver are designed as components of an integrated circuit, in particular a radio IC (IC=integrated circuit). The HF unit can preferably be present as an element of the radio IC, which is identical in both modules, which in particular simplifies the design and reduces costs.

In such an embodiment, it is preferably provided that both the HF generator and the HF receiver are designed as components of a radio IC for data transmission according to commercially available wireless protocols or wireless standards, which are already inherently Has a function for estimating received signal strength. Examples of such radio ICs are ICs or chipsets such as WLAN, LoRaWAN, LTE or similar protocols/standards for wireless data transmission. The actual functions for data transmission need not or should not be used, but mainly integration functions for determining signal quality, in particular for estimating the relative quality of HF or radio signals received by the monitored part. For example, WLAN/WiFi provides RSSI measurements or RCPI measurements in the 2.4 GHz band (IEEE 802.11b/g/n) or 5 GHz band (IEEE 802.11a/h and IEEE 802.11n). RSSI shows the received power level. Also in terms of LoRa-WAN, for example, frequency bands in Europe around 433 MHz to 435 MHz (ISM band region 1) and 863 MHz to 870 MHz (SRD band) or in North America on band 902 to 928 (base frequency 915 MHz) RSSI measurement etc. are usually already provided as features in commercially available LoRa IC configurations. Other similar methods for assessing the signal strength or signal attenuation received by the line being monitored are also within the scope of the present invention.

For this reason, the functionality of commercially available radio ICs inherently implemented in the protocol or standard is preferably used for data transmission according to commercially available wireless protocols or wireless standards. Among other things, this avoids the cost of complex measurement techniques, as is common with TDR methods.

The HF signal used preferably has a frequency spectrum which is as independent as possible from the intended use of the actual application of the line to be monitored, in particular in a significantly higher frequency band, for example in particular in the vicinity of the fundamental frequency f, at 1 MHz to 10 GHz range, especially in the range of 100 MHz < f < 7 GHz. In this case, the carrier frequency used for agreed or standard intrinsic modulation may also/alternatively be within this range. The choice is made such that the HF signal interferes as little as possible with the useful signal of the line.

First tests with exemplary prototypes show that applying or inserting a LoRa radio signal on the ETHERNET line allows wear-sensitive monitoring using RSSI values without unduly disturbing ETHERNET transmissions.

It can thus advantageously be provided that at least the second module is configured, in particular the RF receiver or the radio IC is preconfigured for carrying out an RF attenuation measurement, in particular an RSSI measurement, of a received RF signal. In the case of the same IC structure, both modules demonstrate applicability and thus can also be used interchangeably with suitable design.

Especially when conventional radio ICs are used, these can be coupled or coupled to the line section to be monitored via a predetermined antenna connection, for which purpose suitable coupling units or coupling circuits are provided, if required.

In one embodiment, the two modules include:

Coupling circuit for galvanically coupling a high-frequency generator or high-frequency receiver to the line part to be monitored. The coupling circuit may advantageously comprise further functional units, in particular: - a first filter element, in particular with filter characteristics matched to the HF signal; - switching elements for selective coupling to different conductors of a multi-conductor line; and/or - Impedance matching components.

Further advantageous developments of the system or module can be found in appendixes 8-14.

Monitoring using the modules is preferably carried out continuously during nominal operation, if desired, for example at discrete times at predetermined regular or irregular times.

It should be pointed out here that the quality value of the test signal, which is an indicator of the transmission quality on the monitored line section, is preferably further processed externally. To this end, the module acting as a receiver can transmit certain values, such as RSSI values, possibly after conversion into digital values, in any suitable format to the separate evaluation unit.

It is thus provided in one embodiment that the system has a separate evaluation unit, which determines information about the state of the line to be monitored on the basis of a value relating to the transmission quality and for this purpose compares this value with prestored information, for example. .

In addition or instead of this, the second module can be or can be connected to the higher-level unit or the evaluation unit by means of a further connection, in particular a wired or wireless connection.

For this purpose, the evaluation unit can in particular compare transmission quality values, for example RSSI values, with prestored tolerance ranges. The tolerance range is usually application dependent, e.g. on line type, line length, connectors used and other parameters. The tolerance range can be defined during startup by initialization and/or during operation which is initially considered error-free and is stored, for example, in the evaluation unit. If, as an example only, the RSSI values fluctuate between -52 dBm and -56 dBm (decibel-milliwatts) during commissioning after a few movement trips of the energy chain, then +/-2 dBm values, i.e. from -50 dBm to – 58 dBm can be considered as acceptable nominal values. Any deviation from a predetermined tolerance range can be evaluated as a potential adverse condition. Decisions for bad cases should, in order to avoid false negative results, possibly have a decision tolerance, e.g. by integrating over the execution time window, to trigger the reaction. For example, this reaction could be a maintenance message for predictive maintenance or a control signal triggering a system stop for safety purposes.

The presently considered preferred method is to monitor eg the RSSI value or similar, which provides an indication of received signal strength or signal attenuation, and compare it to a pre-stored tolerance range. Pre-stored tolerance ranges, for example, can be programmed or parameterized based on empirical values, or taught by an initialization process to suit the application, among other methods are possible.

Continuous monitoring is generally preferred during operation of the line guiding device.

The proposed module allows a detachable plug-in connection in the case of conductive coupling with selected sockets matching the line to be monitored. Since one of the two modules is arranged specifically on the mobile consumer, outside the energy supply chain or the dynamic line guide, the proposed system can inherently identify the frequent occurrences in the plug on the mobile connection failure conditions. Errors often occur in practice due to moving stress, which is not caused by wear in the actual wiring, but mechanical stress, such as a pull on one of the wires, causing the connector to fail on the moving connection. In this case, a degradation of the transmission can also be inherently detected together.

Furthermore, the present invention relates to a method with the features of the method according to independent claim 15 or to the use of a system for monitoring the condition of a line during operation (online).

In addition to energy chains consisting of individual chain links, other types of dynamic line guidance concepts can also be considered, in which the lines are dynamically stressed during operation. By way of example only, for example, WO 2016/042134 A1 discloses a flexible line guide solution for clean rooms, to which the present invention is also applicable.

The proposed solution is suitable for condition monitoring of different lines during operation, in addition to data lines such as busbar lines, also for power lines. In particular, the lines can be guided in a dynamic line guidance device. This principle can be applied to various data lines such as ETHERNET (IEEE 802.3), PROFIBUS or other industrial field bus types such as CAN bus, EIA-485 or similar, or other control lines eg. However, unlike WO 2020/104491 A1, the proposed principle is also easily applicable to purely mains supply lines.

The proposed solution notably allows predictive or preventive maintenance to avoid breakdowns.

In FIG. 1 , a schematically illustrated energy supply chain is generally designated 1 as an example of a dynamic line guidance device. The energy supply chain 1 is used for protectively guiding electrical lines (not shown in detail) to mobile consumers. Between the moving chain 2 (here the upper chain) and the stationary chain 3 (here the lower chain), the energy supply chain 1 forms a moving deflection arc 4 with a defined curvature. The deflection arc 4 has a predetermined minimum radius of curvature to avoid wire breakage. The energy supply chain 1 thus ensures that the permissible radius of curvature of the guided cable is not undershot. The energy supply chain 1 usually forms an inner guide channel in which a number and type of pipelines depending on the application are guided. The design of the energy supply chain 1 is not decisive for the invention, for example all known dynamic line guidance concepts can be considered, possibly also those without individual chain links, such as belt-shaped line packs or flexible hoses in the routed package.

FIG. 1 shows, by way of example only, a typical arrangement of a linear energy supply chain 1 that is movable in a plane, for example movable horizontally. In FIG. 1 , the mobile chain 2 terminates at a first connection end 2A, for example in an end link of a drive fixed to a mobile machine part (not shown). The stationary chain 3 terminates in a second connection end 3A, for example in an end link fixed at a fixed point of a machine or device as schematically shown in FIG. 1 . Figure 4 shows another type of energy supply chain with spatially deflectable links that is often used on industrial robots, that is, a three-dimensionally movable energy supply chain.

Figure 1 schematically illustrates a monitoring device, generally designated 10, as an aspect of the invention. The monitoring device 10 comprises a first module 200A and a second module 200B comprising an HF (High Frequency) unit according to the invention, which will now be described in more detail.

The modules 200A, 200 interact to determine the line section 130 of a line guided in the energy supply chain 1 with respect to a predetermined HF signal during operation of the line 13 or a machine or installation powered by it ( FIG. 3B ) At least one electrical HF (high frequency) transmission characteristic of the predetermined HF signal is coupled to the line section 130 as a test signal for this purpose.

FIG. 2 very schematically shows a first module 200A with an HF generator (English: RF, radio frequency), which will here be represented schematically in FIG. 2 by a predetermined HF signal 20 Send or couple to the single wire 13A being monitored. Signal 13A is independent of signal 23 used in the intended use of line 13, shown schematically in dotted lines on single core 13A, and preferably will cause minimal or no significant interference thereto. For example, the actual operating signal 23 may be an Ethernet signal, a signal to any industrial busbar, or a signal from a non-packet based busbar system, or any digital or analog control or measurement line, such as for an actuator (drives, motors, etc.) or any sensor such as a rotary encoder.

In principle, the invention can also be applied to power supply lines. As shown schematically in FIG. 2 , the first module 200A has an HF generator 210 coupled to the line 13 to be monitored, here for example the single line 13A, in order to additionally apply a predetermined HF signal as a test signal to on a single wire 13A. In principle, any suitable conductive coupling (especially for data lines) or non-contact coupling, especially inductive coupling (especially for live power lines) can be considered for this purpose.

As shown in more detail in FIG. 3B , the second module 200B is connected to the other end of the line portion 130 to be monitored, for example by a plug-socket connection. These modules may be of the adapter type with input and output jacks matching the line being monitored, eg RJ-45 jacks for CAT7 ETHERNET lines, or other suitable jacks. Fig. 3B schematically illustrates several individual wires 13A, 13B etc., here exemplarily presented as four twisted pairs, but this is application-oriented, ie depends on the line 13 to be monitored.

The second module 200B has an HF receiver, for example in the form of an HF transceiver 210 (cf. FIG. 3A ), which is coupled to the line to be monitored and taps or receives a test signal or HF signal 20 from the line part 130 . In particular, the second module 200B is arranged or configured to determine a value representative of the reception quality of the test signal, which indicates the signal strength of the HF signal 20 received in particular at the removable connection of the line 13 to the module 200 or signal attenuation. For this purpose, the HF transceiver 210 in the second module 200B is arranged, for example, to evaluate the properties of the received HF signal and thus generate an indication of the signal strength or signal attenuation for the transmission quality on the line part 130 .

As shown in Figure 1, the second module 200B is preferably arranged to output at least this value to a higher level monitoring unit via a further connection, such as a wired USB connection (which also provides power to the module 200B) 100, such as the modules available under the trade names "i.Cee:plus" or "iCom" from the company igus GmbH, 51147 Köln. The monitoring unit 100 can be specially arranged to communicate with the system technology in the desired application or with a cloud solution. In one embodiment, an integrated circuit with the same structure for wireless data transmission is used in the two modules 200A and 200B, referred to as radio IC 210 (English: radio), and the radio IC can be used as a transmitter ( Tx) or HF generator, can also be used as receiver (Rx). Thus, the HF generator and the HF receiver are preferably implemented by the transceiver (Trx) of the radio IC 210 .

A radio IC 210 for a commercial radio standard in the ISM band is preferably used, eg with RSSI measurement or similar (LoRa-WAN Long Range Wide Area Network: see https://lora-alliance.org/). WLAN ICs or chipsets, especially those based on the Wi-Fi or IEEE 802.11 series of standards, are also taken into account. Any radio IC 210 with RSSI (Received Signal Strength Indicator) or RSSI-like functionality is preferably considered, eg RCPI (Received Channel Power Indicator) according to IEEE-802.11. Thus, the receiver-side radio IC 210 in the second module 200B is inherently and at low cost suitable for providing desired values regarding received signal strength or signal attenuation, in particular as digital output values according to the manufacturer's specifications of the radio IC 210 . The HF receiver can output this value in any format, eg also as an analog voltage at the connection.

For example, in some commercially available radio ICs 210, the RSSI is sunk in the intermediate frequency (IF) stage before the IF amplifier. The RSSI output can be provided by the IC as an analog DC level, eg converted to a digital value externally. For example, any comparable analog value provided by a suitable radio IC 210 as a result of integrating received field strength measurements can be scaled and converted to RSSI values or dimensionless power levels in dBm or expressed as ASU depending on the device (arbitrary intensity units) and use them. This analog value from the IF stage in radio IC 210 can also be sampled by an internal analog-to-digital converter (ADC) in radio IC 210, which is provided digitally via an interface such as the peripheral processor bus result value. The exact method and value provided are not important.

The invention may in principle advantageously use any suitable type of sufficiently deterministic determination, estimation or measurement, in particular with regard to the quality of the received test signal, eg signal strength or signal attenuation or received field strength. It is particularly cost-effective to use a commercial radio IC 210 with functionality already integrated for this purpose, such as RSSI determination in a LoRa WAN IC or RCPI determination in a WiFi IC. Typically, this value is on a logarithmic scale from <0 dBm (ideal for lossless transmission) to -100dBm ([virtually] no signal reception). Other radio standards also provide such functionality, such as LTE.

Figure 3A illustrates a hardware implementation that can be used both as a first module 200A on the transmitter side and as a second module 200B on the receiver side. The modules 200A and 200B are designed with the same hardware, but may have different software configurations and programming, especially as transmitters (Tx) and receivers (Rx) with evaluation functions or received signal quality.

Thus, the radio IC 210 used, for example a LoRa WAN IC, is coupled via its antenna connection 212 to the line part 130 to be monitored. In the modules 200A, 200B a coupling circuit 220 is provided for coupling, here for example for the galvanic coupling of the antenna connection 212 to the line part 130 to be monitored, in particular to one or one of the several individual conductors 13A, 13B etc. Optional one etc.

A first filter or a first filter element can be provided in the coupling circuit 220 , in particular with a filter characteristic adapted to the HF signal 20 , so that as little as possible of the desired signal 23 or no such signal reaches the antenna connection 212 . The filter elements can be arranged, for example, in the radio frequency band of the HF signal 20 as steep-side π filters or bandpass filters and can preferably be realized using analog technology with discrete components. If necessary, the coupling circuit 220 may comprise switching units or switching elements for selectable or adjustable coupling with different conductors or wires 13A, 13B, etc. (cf. FIG. 3B ) of the line part 130, especially if all operability of the line. If necessary, at least one impedance matching element may be provided in order to improve at least the matching between the wires 13A, 13B, etc. and the antenna connector 212 .

In general, no matter what type of coupling is used, e.g. in the case of inductive coupling, it is preferable to provide a suitable decoupling filter circuit, suppressing the test signal or HF signal 20 of all spurious, especially conducted, or unwanted propagation path, and limit the test signal to the monitoring line segment 130.

Furthermore, FIG. 3A shows a circuit element or means 230 for cycling through the line 13 or its individual conductors 13A, 13B in order to use the line being monitored as intended during monitoring. This circuit element 230 preferably includes a filter element 232 which essentially limits the transmission of the HF signal to one of the two connection points 201 , 202 of the line 13 to the line section 130 to be monitored. For this purpose, the filter element 232 can be designed, for example, as a band-stop filter, in order to prevent as far as possible the frequency band of spurious radio signals or test signals 20 from entering the components 15 , 16 of the client device.

The module preferably has the most comprehensive shielding implemented in or with the housing 204 to reduce radio emissions from the radio IC 210 as completely as possible, thereby eliminating as much as possible any undesired interference between the modules 200A, 200B. Air connection desired. The shielding of the housing 204 also prevents, for example, the interference of external radio signals and the temporary or permanent falsification of diagnostic signals.

The module can also have a control unit, in particular a programmable integrated circuit, such as a microprocessor 240 or the like, for controlling and/or signal evaluation or further processing of the values from the radio IC 210 . The microprocessor can be connected to the evaluation unit 100 via another suitable connection 203 for data connection, for example via a USB connection for controlling an HF generator or an HF receiver in a radio IC 210 . For example, via the microprocessor 240 and the connection 203, optional settings can also be made for the behavior of the transmitter used as the first module 200A or the behavior and evaluation of the receiver used as the second module 200B. It can be seen from the structure of Figure 3A that the illustrated module 200A/200B can be used as both a transmitter and a receiver, and only need to use the reverse connection (switching system side/energy chain side) and perform corresponding programming .

Power supply (not shown) can either be via the line 13 being monitored, or via the USB interface 203, for example, depending on whether the module is used as a transmitter module 200A or a receiver module 200B, since the receiver module 200B It can preferably be connected via an interface 203 to a higher-level separate evaluation unit 100 and is installed for example together with it in a control cabinet.

The evaluation unit 100 continuously receives current values concerning the transmission quality, such as RSSI values, from the module 200B or the radio IC 210, if necessary via the control unit 240 and the interface 203 or via a further external wireless connection not shown, and compares them with the previously stored compared with reference information (preferably with tolerance range) and/or forward this value to a higher level computer controller which evaluates these values and can perform system optimization if necessary Intervention, e.g. triggering an emergency stop.

The evaluation unit 100 or another unit, preferably separate from the compact low-cost modules 200A, 200B, determines status information about the condition of the monitored line from the values received at the module 200B about the quality of reception, which information is As to undesired physical changes in the line part 130 to be monitored and in the plug connection of the module with the interface 201 or 202 .

In one embodiment, the evaluation unit 100 itself evaluates the RSSI value by comparing with a previously stored tolerance range. If the tolerance range is undershot or exceeded, the evaluation unit 100 sends warning or error messages to higher-level monitors, preferably via a separate channel. This allows for predictive maintenance, since degradation of the receiver module 200B usually occurs before the line 13 fails completely.

FIG. 4 shows an exemplary application of the monitoring device 10 , namely an articulated arm robot 40 , for example for fully automatic handling of workpieces in a production process. For example, starting from the fixed base 40A of the articulated-arm robot, a first linearly displaceable energy drag chain 1 similar to that shown in FIGS. A strip energized drag chain 41 (for example according to WO 2004/093279 A1 ) continues to an end effector 42 or end robotic tool. The end effector 42 is usually equipped with a certain number of actuators and sensors, which are already adapted to the common field bus protocol or eg the PROFINET protocol.

These actuators and sensors can also be powered by a line 13 , a portion 130 of which line ( FIG. 3B ) is guided by a second energy supply chain 41 . In this way, the monitoring device 10 can, according to the principle of Fig. 1-Fig. 2 and Fig. 3A-Fig. and/or signal wire wear conditions are monitored. All that is required are inexpensive modules 200A, 200B and, if necessary, an evaluation unit 100 , which can also be implemented in the form of a software module on an existing computer. Existing control units or monitoring units can also be used as evaluation unit 100 .

If necessary, when using a transceiver, the relevant quality value of the test signal can be transmitted back from the receiver module 200B to the transmitter module 200A in transmit mode. Thus, in the opposite direction to that shown in FIG. 1 , the receiver module 200B can also be arranged on a moving machine part or plant part and, if necessary, can continuously send back the RSSI value, for example by means of a test signal 20 to The transmitter module 200A is then in turn connected to the evaluation unit 100 .

Therefore, the proposed line condition monitoring system provides a low-cost solution to support proactive maintenance and/or reduce or avoid downtime. In particular, the invention makes it possible to maximize the use of vulnerable and possibly also expensive data lines, private lines, etc. in terms of their possible service life, ie to avoid unnecessary premature replacement.

The solution can additionally also be applied to power supply lines.

Fig. 5 shows a preferred embodiment with two modules 500A, 500B for connecting the test signal 20 (Fig. The monitoring line section 130 performs inductive coupling and decoupling.

To this end, according to FIG. 5 , in each module 500A, 500B, induction coils 520 are wound around respective end portions of the line portion 130 , and inductively couple or decouple the required test signal 20 . Each module 500A, 500B has two conjugated or matched half shells 504A, 504B which provide the most comprehensive shielding to minimize unwanted air or radio connections between the modules 500A, 500B Conducted radio radiation. This also prevents eg external radio interference.

In the half shell 504A, in each case a circuit having a structure corresponding to FIG. 3A is provided for coupling in or out of the test signal 20 . The circuit (not shown in detail) also has a suitable radio IC 210 (cf. Fig. 3A), for example, the length of the induction coil 520 is adapted to the frequency band of the radio IC. The induction coil 520 is electrically connected to the radio IC 210 . However, unlike FIG. 3A , in FIG. 5 the coupling and decoupling of the test signal 20 to the line 13 is purely inductive, ie there is no change in the line 13 being tested.

Both half-shells 504A, 504B also have profiled grooves to ensure a predetermined winding geometry, in particular a constant winding lay length and the same radial distance of the induction coil 520 to the line 13 . In FIG. 5 , the test signal 20 is also preferably coupled in and out through units or modules 500A, 500B of the same structure.

The inductive coupling with line portion 130 may be achieved by any suitable design. As an alternative to the design shown in Figure 5, this can also be realized in the form of a current transformer or a single-winding transformer (single-winding-transformer in English). Here, a magnetizable toroidal core, for example a ferrite core consisting of two core parts (eg halves of a ring), can be arranged in each module 500A, 500B around the line part 130 (not shown) terminal region. The induction coil 520 can interact with the toroidal core as a secondary coil in the manner of an inductive current transformer or a feed transformer, wherein the line part 130 represents the (only) primary winding in the ideal circuit diagram. Also in this way, the transmission of test signals between the induction coils 520 can be realized, so that the state of the line part 130 can be monitored.

Inductive coupling, for example according to FIG. 5 , is basically preferred. A significant advantage of inductive coupling is that the modules 500A, 500B can be connected to the line to be monitored without any changes or interventions,

By simply wrapping or wrapping at desired points on both sides of the energy supply chain 1 . Inductive coupling, for example according to FIG. 5 , is also particularly suitable for live supply lines, where intervention is rather undesirable for safety reasons.

With an appropriate choice of the radio IC 210, the invention can provide an inexpensive solution that does not require complex technology and can be used in operation without interfering with the intended use of the line 13, such as transmitted data. If necessary, the test signal 20 can only be used to test its transmission quality, ie in particular does not have to be used for the actual message transmission or data transmission.

In particular, signals from the monitored line 13 intended for practical use are not used for monitoring purposes. Additionally, at relatively low power, continuous or continuous checking/monitoring of line conditions is possible.

Various indicators can be used to check the reception quality of the receiver module, as long as they make sense for the current state of the line segment.

According to the system or method of the present invention, high frequency technology is used to determine the data transmission characteristics of the line during operation. This means that no additional conductors or measuring or sacrificial wires are required. The modules 200A, 200B or 500A, 500B form channel adapters at the beginning and end of the area to be monitored, in particular by means of the line guide 1 , 42 . The compact structure of the modules 200A, 200B or 500A, 500B makes subsequent installation very easy. The values recorded during operation are then processed further. If the transmission characteristics start to deteriorate, this can be directly used as an indicator to replace the line in time. With this intelligent condition monitoring of the entire moving line, including connectors, system downtime can also be prevented.

1: Line guiding device (energy supply drag chain) 2: Mobile chain 2A: first connection end 3: static chain 3A: Second connection end 4: deflection arc 10: Monitoring device 100: Monitoring unit 13: Bus line/power supply line 15: The first area (customer-network-bus) 16: Second area (client-network-bus) 200A: The first module 200B: Second module 13: line 13A, 13B: single wire (such as twisted pair) 20: Radio signal 23: useful signal 130: The line part being monitored 201, 202, 203: interface (connector, such as RJ-45) 204: shell (with shielding) 210: Radio-IC (such as LoRaWAN) 212: Antenna connector 220:Coupling circuit 230: Turn on the circuit 232: filter 240: control unit (microprocessor) 40: Articulated Arm Robot 40A:base 41:Second energy supply drag chain (spatially deflectable) 42: End Effector 500A: The first module 500B: Second module 504A: first half shell 504B: second half shell 520: induction coil/antenna

Further advantageous features and effects of the present invention are explained below using preferred embodiments with reference to the accompanying drawings, without limiting the generality of the foregoing. In the schema:

FIG. 1 : schematic side view of an energy supply chain with a monitoring system according to the invention according to a first embodiment;

Figure 2: Schematic diagram of the module for applying HF signals to the line;

FIG. 3A : schematic diagram of an embodiment of a module according to the invention for a monitoring system, in particular according to FIG. 1 ;

Fig. 3B: schematic diagram of the principle of a system with two modules according to the principle of Fig. 3A, which modules are used in particular for the monitoring system according to Fig. 1;

Fig. 4: As an application example, a side view of an industrial robot with a three-dimensionally deflectable energy supply chain, which can be equipped with a monitoring system according to Fig. 1; and

FIG. 5 : schematic side view of an energy supply chain with a monitoring system according to the invention according to a second embodiment with inductive coupling.

Domestic deposit information (please note in order of depositor, date, and number) none Overseas storage information (please note in order of storage country, institution, date, and number) none

1: Line guiding device (energy supply drag chain)

2: Mobile chain

2A: first connection end

3: static chain

3A: Second connection end

4: deflection arc

10: Monitoring device

13: Bus line/power supply line

15: The first area (customer-network-bus)

16: Second area (customer-network-bus)

100: Monitoring unit

200A: The first module

200B: Second module

Claims (15)

A monitoring system for condition monitoring of a line guided by a line guidance device, in particular by an energy supply chain, comprising: - a movable line guiding device (1; 41) for guiding a line between a first connection point and a second connection point movable relative to the first connection point, wherein the line guiding device (1; 41 ) has at least one movable part and at least one line (13), the line part (130) of which is to be monitored is guided by the line guiding device (1; 41); and - a monitoring device (10), the monitoring device includes a first module (200A) and a second module (200B), these modules are respectively arranged on both sides of the line section to be monitored, characterized in that, - the modules (200A, 200B) are designed to interact to determine during operation at least one electrical transmission characteristic of the line segment (13A; 13B) with respect to predetermined high frequency (HF) signals, and - the first module (200A) includes a HF generator connected to the line to be monitored (13) to use a predetermined HF signal as a test signal - preferably the signal is connected to the line to be monitored Regardless of the intended use of— coupled or sent to the line segment (130); and - the second module (200B) comprises a high frequency receiver coupled to the line to be monitored to receive or couple out the high frequency signal from the line section (130) and arranged to evaluate the received high frequency A characteristic of the frequency signal to determine at least one value related to the transmission quality of the routed section (130), in particular related to received signal strength or signal weakness. An adapter system for monitoring line conditions during operation, comprising a first module (200A) and a second module (200B), each of which can be connected or coupled as an adapter to a monitored line portion (130 ) of the first terminal or the second terminal; characterized in that, - the modules (200A, 200B) are designed to interact in order to determine during operation at least one electrical HF (high frequency) transmission characteristic of the line section (130) in relation to a predetermined HF signal, preferably independently the intended use of the monitored line (13), and - the first module (200A) includes a high frequency generator (210), which can be coupled to the line to be monitored (13) to apply a predetermined HF signal as a test signal; and - the second module (200B) includes a high frequency receiver (210) coupled to the line to be monitored to receive the applied high frequency signal from the line section (130) and arranged to evaluate reception The characteristics of the received high-frequency signal to determine at least one value related to the transmission quality of the route section traversed, in particular related to the received signal strength or signal weakness. The system according to claim 1 or 2, wherein, - the predetermined high-frequency signal is a radio data transmission signal; and / or - The HF generator and the HF receiver are each designed as components of a corresponding radio transceiver ( 210 ). The system as claimed in claim 3, wherein each of the HF generator and the HF receiver is designed as an integrated circuit, especially a component of a radio IC (210), preferably as two modules ( 200A, 200B ) components of a structurally identical radio IC ( 210 ). The system according to one of claims 3 to 4, wherein, At least the second module ( 206B) is arranged, in particular the HF receiver or the radio IC ( 210 ) is preconfigured for performing strength measurements, in particular RSSI measurements, of received HF signals ( 20 ). System according to one of claims 1 to 5, wherein the HF generator and the HF receiver, in particular two radio ICs (210), are coupled or can be connected via a predetermined antenna connector (212) Coupled to the part of the line to be monitored. One of claims 1 to 6, especially the system according to claim 6, wherein the two modules (500A, 500B) include a coupling circuit for inductively coupling to the line section to be monitored , wherein the coupling circuit specifically has a coupling coil (520), the coupling coil - is wrapped or can be wrapped around the end region of the line section (130) to be monitored; or - wound on a magnetizable toroidal core which is or can be arranged in the end region of the line section to be monitored for inductively coupling or decoupling the test signal with the line section to be monitored and with the high The high-frequency generator or the high-frequency receiver is conductively connected. The system according to one of claims 1 to 6, especially the system according to claim 6, wherein the two modules (200A, 200B) include a coupling circuit (220) for the The HF generator or the HF receiver is galvanically coupled to the line part to be monitored, wherein the coupling circuit comprises in particular: - a first filter element, in particular having filter characteristics matched to the HF signal; - switching elements for selective coupling to different conductors of the line; and/or - Impedance matching components. The system according to one of claims 1 to 8, in particular the system according to claim 7 or claim 8, wherein each module (200A, 200B) comprises at least one filter element ( 232), the filter element essentially limits the transmission of the HF signal to the line section to be monitored. The system according to one of claims 1 to 9, wherein, The system has a separate evaluation unit (100), which determines the status information of the line to be monitored (13) according to the value related to the transmission quality, especially the value and the pre-stored reference information, preferably easily difference range, for comparison; and/or At least the second module ( 200B) is connected or connectable to a superordinated unit or the evaluation unit ( 100 ) via a further connection, in particular a wired connection. The system according to one of claims 1 to 10, in particular the system according to claim 7, wherein each module (200A, 200B) comprises protection for reducing, preferably avoiding, radio radiation A cover (204), wherein the protective cover is realized in particular by two half shells which can be closed around the end region of the line segment to be monitored. The system according to one of claims 1 to 11, wherein each module (200A, 200B; 500A, 500B) comprises means (520) for coupling with the line to be monitored and/or for Means (230) for recycling the line or its individual conductors (13A, 13B...) during monitoring for the intended use of the line (13) to be monitored. The system according to one of the above claims, wherein the module and the coupling circuit (220) of the monitored line section are designed as conductive coupling or non-contact coupling, especially inductive coupling. System according to one of the above claims, wherein each module comprises a control unit (240), in particular a programmable integrated circuit, for controlling the HF generator or the HF receiver (210) . Use of a system for monitoring the condition of a line during operation, comprising a first module and a second module, each of which can be connected or coupled like an adapter to a first terminal or a second terminal of a line section to be monitored terminal; and, where - the modules are designed to interact in order to determine during operation at least one electrical HF (high frequency) transmission characteristic of the line section in relation to a predetermined HF signal independent of the intended use of the line being monitored, and - the first module transmits or couples a predetermined radio signal as a test signal to the line portion; and - the second module receives the radio signal from the line section, and evaluates the characteristics of the received radio signal to determine the index value related to the transmission quality of the received radio signal, especially signal attenuation, wherein the index The values are preferably transmitted to a separate monitoring unit for evaluation of the monitored line condition.

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