WO2021002341A1 - 電界通信システム - Google Patents

電界通信システム Download PDF

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Publication number
WO2021002341A1
WO2021002341A1 PCT/JP2020/025606 JP2020025606W WO2021002341A1 WO 2021002341 A1 WO2021002341 A1 WO 2021002341A1 JP 2020025606 W JP2020025606 W JP 2020025606W WO 2021002341 A1 WO2021002341 A1 WO 2021002341A1
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WO
WIPO (PCT)
Prior art keywords
electrode
electric field
ground
transmitter
communication system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/025606
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
品川　満
行平 浜村
中村　宏
尚弘 清水
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hosei University
Nexty Electronics Corp
Original Assignee
Hosei University
Nexty Electronics Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hosei University, Nexty Electronics Corp filed Critical Hosei University
Priority to CN202080047490.4A priority Critical patent/CN114051698B/zh
Priority to JP2021530027A priority patent/JP7220877B2/ja
Priority to US17/623,840 priority patent/US11876575B2/en
Priority to EP20834660.1A priority patent/EP3996290A4/en
Priority to AU2020298980A priority patent/AU2020298980A1/en
Publication of WO2021002341A1 publication Critical patent/WO2021002341A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
    • H04B5/40—Near-field transmission systems, e.g. inductive or capacitive transmission systems characterised by components specially adapted for near-field transmission
    • H04B5/48—Transceivers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B13/00—Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
    • H04B5/20—Near-field transmission systems, e.g. inductive or capacitive transmission systems characterised by the transmission technique; characterised by the transmission medium
    • H04B5/22—Capacitive coupling
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
    • H04B5/70—Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes
    • H04B5/73—Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes for taking measurements, e.g. using sensing coils

Definitions

  • the present disclosure relates to a system that communicates using changes in an electric field.
  • the signals from the sensors can be received even if the parts to which the sensors are attached and the monitoring device on the main unit that monitors the status of these parts are separated. , It is not possible to detect the attachment / detachment of parts. Also, if a plurality of work devices operate within reach of the wireless network, the monitoring device collects signals from all sensors associated with the work devices within this range. As a result, it is not possible to reliably distinguish the signal from the sensor attached to the component attached to the tip of the arm with which the communication is desired and the sensor attached to the other component from the signal magnitude itself. ..
  • the present disclosure has been made in view of the above points, and one of the purposes thereof is to provide a system and a method for performing electric field communication using an electric field induced by a metal or the like constituting a working device. It is in.
  • the present technology has been made in view of the above-mentioned problems, and one aspect of the present disclosure is an electric field communication system that communicates by an electric field, and a communication medium composed of a substance capable of transmitting an electric field, and the above-mentioned.
  • An electric field is generated according to the potential difference between the first electrode arranged on the communication medium side and connected to the communication medium via the coupling capacitance and the second electrode connected to the ground ground via the coupling capacitance.
  • a first transmitter which is a transmitter and has the first electrode connected to the signal side of the transmitter and the second electrode connected to the ground side, and a first receiver arranged in contact with the communication medium.
  • the first transmitter and the first receiver are an electric field communication system that includes an electric field and communicates by an electric field via the communication medium.
  • the time change of the voltage in the receiver signal electrode in the electric field communication system shown in FIG. 3 is illustrated.
  • the time variation of the voltage at the receiver ground electrode and the voltage at the receiver signal electrode in the electric field communication system shown in FIG. 3 is illustrated.
  • the time change of the voltage input to the receiving circuit in the electric field communication system shown in FIG. 3 is illustrated.
  • the time change of the voltage in the transmitter signal electrode in the electric field communication system shown in FIG. 6 is illustrated.
  • the waveform of the signal obtained as a result of the simulation in the configuration of FIG. 12A is illustrated.
  • the waveform of the signal obtained as a result of the simulation in the configuration of FIG. 12B is illustrated.
  • the waveform of the signal obtained as a result of the simulation in the configuration of FIG. 12C is illustrated.
  • It is the schematic of the electric field communication system which concerns on 3rd Embodiment of this disclosure.
  • It is a figure which shows schematic the experimental structure in one Embodiment of this disclosure (the transmitter is arranged on the communication medium, and the receiver is arranged between the communication medium and the earth ground).
  • Item 1 According to Item 1, it is an electric field communication system that communicates by an electric field.
  • a communication medium composed of substances that can transmit an electric field
  • An electric field is generated according to the potential difference between the first electrode arranged on the communication medium side and connected to the communication medium via the coupling capacitance and the second electrode connected to the ground ground via the coupling capacitance.
  • the first transmitter to which the first electrode is connected to the signal side of the transmitter and the second electrode is connected to the ground side of the transmitter.
  • the first receiver arranged in contact with the communication medium and Provided is an electric field communication system in which the first transmitter and the first receiver communicate with each other by an electric field via the communication medium.
  • Item 2 the electric field communication system according to Item 1, wherein the electric field communication system is described.
  • the communication medium is The parts in contact with the first transmitter and The main body in contact with the first receiver and
  • the electric field communication system is further equipped with An electric field communication system including a processing unit that detects that the component is detached from the main body when the magnitude of a signal generated based on the electric field transmitted from the first transmitter is less than a threshold value. Is provided.
  • the electric field communication system according to the item 2, wherein the first receiver is.
  • the fourth electrode arranged on the communication medium side and
  • the receiving circuit includes a receiving circuit in which the third electrode is connected to the signal side of the receiving circuit and the fourth electrode is connected to the ground side of the receiving circuit, and the receiving circuit is the transmitter.
  • an electric field communication system that outputs a signal corresponding to a potential difference between the third electrode and the fourth electrode generated by an electric field transmitted from the electric field.
  • the first receiver is arranged in contact with the ground ground and the communication medium, and the first receiver is arranged in contact with the communication medium.
  • 1 receiver is A third electrode arranged on the communication medium side and connected to the communication medium via a capacitive coupling
  • An electric field communication system is provided that includes a fourth electrode that is arranged on the ground ground side and is connected to the ground ground via a capacitive coupling.
  • the first transmitter is arranged in contact with the ground ground and the communication medium.
  • An electric field communication system is provided in which the second electrode of the first transmitter is arranged on the ground side.
  • Item 6 the state of the component of the communication medium in which the electric field communication system according to any one of Items 3 to 5 is in contact with the first transmitter.
  • the first transmitter is equipped with a sensor that detects the surrounding environment of the component.
  • the first transmitter provides an electric field communication system that outputs a signal corresponding to an output signal from the sensor as a voltage that changes with time between the first electrode and the second electrode.
  • the electric field communication system according to the item 6.
  • the sensor is a sensor that detects the movement of the component.
  • the processing unit is further provided with an electric field communication system that calculates the operating time of the component based on the movement of the component detected by the sensor.
  • the electric field communication system according to the item 6.
  • the sensor is a sensor that detects the surrounding environment of the first part.
  • the processing unit further provides an electric field communication system that detects whether or not the component is placed in an appropriate operating environment based on the surrounding environment of the component detected by the sensor.
  • FIG. 1A is an overall configuration diagram of an electric field communication system 100A according to an embodiment of the present disclosure.
  • the electric field communication system 100A includes a main body 136 and various parts 132 that can be attached to and detached from the main body 136 (attachments 132 (1) and crawler belts 132 (2) in FIG. 1A, hereinafter collectively referred to as parts 132). It is a system applicable to various working devices such as power shovels and robot arms.
  • the electric field communication system 100A is mainly composed of a component-side device 110 (110 (1) and 110 (2) in FIG. 1A), a main body-side device 120, and a communication medium 130 that transmits an electric field.
  • the electric field communication system 100A communicates between the component-side device 110 provided in the component 132 and the main body-side device 120 provided in the main body 136 through the electric field ef guided to the communication medium 130.
  • the electric field communication system 100A structure according to the present disclosure will be outlined with reference to FIG. 1A, taking the case where the electric field communication system 100A is applied to a power shovel as an example.
  • the power shovel illustrated in FIG. 1A is mainly composed of a detachable attachment 132 (1) which is a component 132, a cabin on which an operator who is a main body 136 rides, and an arm 134 (1) which is a connection portion 134. ..
  • the component 132 includes a portion in which the component-side device 110 that communicates with the main body-side device 120 is in physical contact.
  • the component 132 needs to detect, for example, the environment around the component (for example, humidity, temperature) and the state of the component itself (temperature, acceleration, on / off, etc.).
  • the component 132 includes an attachment 132 (1) attached to the tip of the work device, a track 132 (2) of the power shovel which is a controlled device controlled by the main body 136, and various filters such as an engine filter and oil. Includes filters.
  • the component 132 is detachably configured to be detachable from the main body 136 via the connecting portion 134.
  • the part 132 may be a regular replacement part or a consumable item.
  • "physically contacting" two elements means that they are in contact with each other to the extent that an electric field can be transmitted between the two elements, and a dielectric material is actually provided between the two elements in contact with each other. May exist.
  • connection portion 134 (arm 134 (1) and foundation portion 134 (2) in FIG. 1A; hereinafter, may be collectively referred to as connection portion 134) is a member connected between the component 132 and the main body 136. Yes, one is in physical contact with the component 132 and the other is in physical contact with the body 136.
  • the connection portion 134 is, for example, the arm 134 (1) of the power shovel when the component 132 is the attachment 132 (1) of the power shovel, and the base of the power shovel when the component 132 is the track 132 (2) of the power shovel. Part 134 (2).
  • the component 132 and the connecting portion 134 need only be in physical contact, and there is, for example, a dielectric material between the attachment which is the component 132 of the power shovel and the arm which is the connecting portion 134. Lubricating oil may be present.
  • the main body 136 includes a portion in which the main body side device 120 that communicates with the component side device 110 is in physical contact.
  • the main body 136 is, for example, a cabin on which an operator who operates a power shovel rides.
  • the communication medium 130 is a part of the component 132, the connecting portion 134 connecting the component 132 and the main body 136, and the main body 136, which is composed of a substance to which an electric field is transmitted, for example, a conductor or a dielectric.
  • the communication medium 130 is composed of a conductor typified by metal (for example, iron, aluminum, copper, etc.).
  • the main body 136 of the power shovel is composed of a frame of the power shovel, a window, a sheet of an operator, and the like, and the frame made of a substance such as metal to which an electric field is transmitted is the communication medium 130.
  • Each part (part 132, connecting part 134, main body 136) of the communication medium 130 may be made of a substance capable of transmitting a different type of electric field, or may be made of a substance capable of transmitting the same type of electric field. .. Further, the component 132, the connecting portion 134, and the main body 136 shown in FIG. 1A can each be composed of one or more elements. According to the present disclosure, the component side device 110 and the component 132, the component 132 and the connecting portion 134, the connecting portion 134 and the main body 136, and the main body 136 and the main body side device 120 are in physical contact with each other for electric field communication. The network is built.
  • the parts 132, the connecting portion 134, and the main body 136 that make up the communication medium 130 can have various shapes.
  • a sensor 140 two sensors 140 (1) in FIG. 1A is further provided.
  • 140 (2) a processing unit 150, and an external communication device 160 can be provided.
  • a plurality of parts 132 attachment 132 (1) and track 132 (2) in FIG. 1A
  • a plurality of component side devices 110 are provided for one main body 136.
  • the component-side devices 110 (1) and 110 (2)) and a plurality of sensors 140 may be provided.
  • An individual identification number is assigned to each component side device 110 (110 (1) and 110 (2) in FIG. 1A), and the correspondence between each component side device 110, the component 132, and the sensor 140 is set in advance. deep.
  • the main body side device 120 distinguishes and communicates between the component 132 and the sensor 140 corresponding to each component side device 110, for example, the sensor 140 (1) and the component 132 (1) corresponding to the component side device 110 (1). be able to.
  • FIG. 1B is an overall configuration diagram of the electric field communication system 100B according to the embodiment of the present disclosure. Similar to the electric field communication system 100A shown in FIG. 1A, the electric field communication system 100B is mainly composed of a component side device 110, a main body side device 120, and a communication medium 130 for transmitting an electric field.
  • the electric field communication system 100B of FIG. 1B is different from the electric field communication system 100A shown in FIG. 1A in that the component side device 110 further includes the transmitter 210a and the main body side device 120 includes the receiver 220b.
  • FIG. 1B illustrates an electric field ef that transmits the communication medium 130.
  • the electric field ef transmits a part of the main body 136 of the component 132, the connecting portion 134, and the main body 136, which is made of a substance capable of transmitting an electric field, for example, metal, as a communication medium 130.
  • the component side device 110 includes a transmitter 210a that transmits a signal to the receiver 220b of the main body side device 120.
  • the transmitter 210a on the component side transmits the identification signal assigned to each transmitter 210a and the output signal received from the sensor 140 to the receiver 220b.
  • Each transmitter 210a can be uniquely identified by an individual identification number assigned to each transmitter 210a on the component side.
  • the main body side device 120 includes a receiver 220b that receives a signal from the transmitter 210a of the component side device 110 and is arranged at a position away from the transmitter 210a.
  • the receiver 220b may be arranged in the electric field generated by the transmitter 210a.
  • a substance capable of transmitting the electric field of the working device for example, a metal
  • a substance capable of transmitting the electric field of the working device for example, a metal
  • a communication network or the like is established by using the portion composed of the above as the communication medium 130. Therefore, it is not necessary to provide wired equipment including cables and wireless equipment including antennas. As a result of eliminating the need for wired equipment, heavy cables are no longer required, for example, fuel efficiency per working time of a power shovel can be improved, and cables that are in the way during work are not required. Efficiency can be improved.
  • the attachment / detachment of the component 132 or the like can be performed without separately providing a device for monitoring the attachment / detachment of the component 132.
  • the state can be detected.
  • the magnitude of the signal received by the receiver 220b is less than the threshold value, it can be determined that the component 132 is disconnected from the connection portion 134.
  • the sensor 140 is a sensor that detects various physical quantities indicating the state of the component 132, for example, a sensor that detects the movement of the component (vibration sensor, speed sensor, acceleration sensor, angular velocity sensor, etc.) and measures the environment of the component 132. Sensors (temperature sensors that measure the temperature of component 132, humidity sensors that measure the humidity of the surrounding environment of component 132), or a combination thereof. When the sensor 140 detects the state of the component 132, the sensor 140 transmits an output signal indicating this state to the component side device 110.
  • a plurality of sensors 140 may be arranged on one component 132.
  • the output signals from these plurality of sensors are transmitted to the component side device 110 together with the identification number and the like assigned to each sensor 140.
  • the component-side device 110 transmits the identification number of each sensor and output signals from the plurality of sensors to the main body-side device 120 via the communication medium 130.
  • the processing unit 150 includes a processor (not shown) and a memory (not shown) as main components.
  • the processor appropriately processes the data acquired from the main body side device 120, and the processed data is stored in the memory.
  • the processing unit 150 can further output the data and the like stored in the memory to the external communication device 160 and the main body side device 120.
  • the processing unit 150 is arranged on the main body side device 120, but is not limited to this, and is communicably connected to the main body side device 120 and the external communication device 160. You just have to.
  • the processing unit 150 can detect whether or not the component 132 is disconnected from the connection unit 134. In the processing unit 150, the magnitude of the signal generated by the potential difference generated based on the electric field transmitted from the transmitter 210a of the component side device 110 received by the receiver 220b of the main body side device 120 is less than the threshold value or substantially zero. If, it is determined that the component is disconnected from the connection portion 134.
  • the processing unit 150 uses the data from various sensors 140 acquired from the main body side device 120 and the identification number assigned to the transmitter 210a on the component side to connect each component 132 to the main body 136.
  • the situation, for example, the operating time can be calculated.
  • the processing unit 150 acquires the identification signal assigned to the transmitter 210a of the component 132 mounted on the main body 136, and also acquires the output signal from the sensor 140 that detects the movement of the component 132. To do.
  • the processing unit 150 integrates the time when the output signal acquired from the sensor 140 is equal to or greater than the threshold value, and can calculate the operating time of the component in the state where the component 132 is mounted from this integrated time. As a result, when the operating time exceeds the specified time, the processing unit 150 controls the component 132 by issuing or displaying an alarm sound prompting maintenance of the component 132 or replacement of the component 132. It is possible to notify the workers who are present.
  • each component 132 is mounted on the main body 136 based on an output signal from a sensor 140 (for example, a temperature sensor or a humidity sensor) that detects the surrounding environment of the component 132 and an identification signal of the transmitter 210a. It is possible to grasp the operating environment in the state of being in the state. As a result, the processing unit 150 can determine and monitor whether or not the work by the component 132 is performed in an appropriate operating environment (for example, an appropriate temperature and an appropriate humidity). When the working environment of the work by the parts is not appropriate, the processing unit 150 can notify the operator or the like by an alarm sound or a display that the parts 132 are not placed in the proper operating environment.
  • a sensor 140 for example, a temperature sensor or a humidity sensor
  • the external communication device 160 is a device that transmits the operating status of each component acquired by the processing unit 150 to an external computer (not shown) via a network such as the Internet.
  • the external administrator can collectively manage the operating status of each component 132 based on the information received from the external communication device 160 by the external computer. Therefore, the external manager can place an order for replacement parts at an appropriate timing without having to go to the site where the work device is operating and regularly inspect the work device.
  • the external communication device 160 is arranged on the processing unit 150, but the present invention is not limited to this, and the processing unit 150 is communicably connected to an external computer (not shown). You just have to.
  • the processing unit 150 requests the operating status of the parts based on various physical quantities indicating the state of the parts 132 acquired from the sensor 140 and notifies the operator, or the external communication device 160 informs the external administrator. You can notify. Therefore, the operator and the external manager can grasp the operating status of the component 132 in the state of being in contact with the main body 136, and can appropriately manage the component 132. As a result, it is possible to reduce abnormal wear of parts and defects due to overload, improve work safety, and improve work efficiency.
  • the combination of the parts 132, the connection portion 134, and the main body 136 can be applied to various types of work equipment.
  • the electric field communication system 100B includes other construction machines (bulldozer, crane car, road roller, etc.), cars, trains, robot arms, tools, medical equipment (female, forceps, etc.). ) Etc. can also be applied.
  • the component 132 when the electric field communication system 100B of the present disclosure is applied to a vehicle, the component 132 is a tire wheel or door, the connection portion 134 is a frame or the like constituting the vehicle body, and the main body 136 is a controller of the vehicle body.
  • the component 132, the connecting portion 134, and the main body 136 are configured as separate bodies, but the component 132 and the connecting portion 134 may be integrally configured, and in this case, one component 132'. Physical contact with the body 136.
  • the component 132' when the electric field communication system 100 of the present disclosure is applied to a car, the component 132'may be a car door and the main body 136 may be a car controller.
  • the component 132' is provided with a power window switch sensor 140 and a transmitter 210a for transmitting a signal from the sensor 140.
  • the main body 136 is provided with a receiver 220b that receives the signal of 210a from the transmitter in the controller.
  • the output signal from the sensor 140 can be transmitted to the controller of the car by electric field communication.
  • the component-side device 110 and the main body-side device 120 may be arranged on one main body 136'in which the component 132, the connecting portion 134, and the main body 136 are integrated.
  • the component 132 is a tip tool such as a robot hand attached to the tip of the robot arm
  • the connection portion 134 is the robot arm
  • the main body 136 is the robot arm. It is a pedestal.
  • the component 132 is an attachment attached to the tip of the arm of the tool
  • the connection portion 134 is the arm of the tool
  • the main body 136 is the main body of the tool. Is.
  • FIG. 1C is an overall configuration diagram of the electric field communication system 100C according to the embodiment of the present disclosure.
  • the electric field communication shown in FIG. 1B is such that the component side device 110 includes a receiver 220a in addition to the transmitter 210a, and the main body side device 120 includes a transmitter 210b in addition to the receiver 220b. Different from system 100B.
  • the description of the configuration already described in FIG. 1B will be omitted.
  • the receiver 220a of the component side device 110 receives a signal from the transmitter 210b of the main body side device 120.
  • the receiver 220a on the component side receives a signal for controlling the component 132 transmitted from the transmitter 210b, for example, a transmission request signal for sensor information to the sensor 140.
  • the transmitter 210b of the main body side device 120 transmits a signal to the receiver 220a of the component side device 110.
  • the electric field communication systems 100B and 100C shown in FIGS. 1B and 1C are examples, and the configuration of the electric field communication system is not limited to this.
  • the electric field communication system 100 may be composed of a component-side device 110 including a receiver 220a and a main body-side device 120 including a transmitter 210b.
  • FIG. 2 is a schematic view showing a configuration according to a first embodiment of the electric field communication system 100C (FIG. 1C).
  • the electric field communication system 200 shown in FIG. 2 communicates with the transmitter 210a (FIG. 1C) of the component side device 110 (FIG. 1C) and the receiver 220b (FIG. 1C) of the main body side device 120 (FIG. 1C), or This is a system in which communication between the receiver 220a (FIG. 1C) of the component side device 110 and the transmitter 210b (FIG.
  • the main body side device 120 is electrocommunicated via the communication medium 130.
  • the transmitter 210a of the component side device and the transmitter 210b of the main body side device are simply collectively referred to as the transmitter 210
  • the receiver 220a of the component side device and the receiver 220b of the main body side device are simply collectively referred to as the receiver 220.
  • the transmitter 210 is composed of a first electrode 212, a second electrode 214 arranged in parallel with the first electrode 212, and a transmission circuit 216 connected to each of these electrodes and provided between these electrodes for electric field communication. Mainly composed.
  • the first electrode 212 is connected to the signal side of the transmission circuit 216
  • the second electrode 214 is connected to the ground side of the transmission circuit 216.
  • the electrode connected to the signal side of the transmission circuit 216 is referred to as a signal electrode
  • the electrode connected to the ground side of the transmission circuit 216 is referred to as a ground electrode.
  • the first electrode 212, the second electrode 214, and the transmission circuit 216 are provided in one housing made of an insulator.
  • the first electrode 212 is arranged on one inner surface in the housing on the communication medium 130 side, and the second electrode 214 is arranged on the other inner surface in the housing.
  • the surface of the second electrode 214 opposite to the surface facing the first electrode 212 faces the space around the transmitter 210.
  • the first electrode 212 and the second electrode 214 preferably have substantially the same size and shape, and each has a planar shape having a sufficient area for electric field communication.
  • the first electrode 212 and the second electrode 214 are, for example, rectangular.
  • the receiver 220 is composed of a third electrode 222, a fourth electrode 224 arranged in parallel with the third electrode 222, and a receiving circuit 226 for electric field communication connected to each of these electrodes and provided between these electrodes. Mainly composed.
  • the third electrode 222 is connected to the signal side of the receiving circuit 226, and the fourth electrode 224 is connected to the ground side of the receiving circuit 226.
  • the electrode connected to the signal side of the receiving circuit 226 is referred to as a signal electrode
  • the electrode connected to the ground side of the receiving circuit 226 is referred to as a ground electrode.
  • the third electrode 222, the fourth electrode 224, and the receiving circuit 226 are provided in one housing composed of an insulator.
  • the third electrode 222 is arranged on one inner surface in the housing on the communication medium 130 side.
  • the fourth electrode 224 is arranged on the other inner surface of the housing, and the surface of the fourth electrode 224 opposite to the surface facing the third electrode 222 faces the space around the receiver 220.
  • the third electrode 222 and the fourth electrode 224 preferably have substantially the same size and shape, and each has a planar shape having a sufficient area for electric field communication.
  • the third electrode 222 and the fourth electrode 224 are, for example, rectangular.
  • the transmitter 210 modulates the output signal or the like from the sensor 140 (FIGS. 1A to 1C) into an electric signal to be transmitted to the receiver 220 side, and this electric signal is transmitted to the first electrode 212 and the first electrode 212 and the first. It is output as a voltage that changes with time between the two electrodes 214.
  • the transmitter 210 converts the signal acquired from the sensor 140 (FIG. 1C) into analog / digital (A / D), and the converted digital signal is used by the first electrode 212 and the second electrode 214. It is output as a voltage that changes over time (for example, an ASK modulated signal). Then, a potential difference is generated between the first electrode 212 and the second electrode 214, and an electric field is generated.
  • This electric field is transmitted to the receiver 220 via the communication medium 130.
  • the receiver 220 is arranged in the electric field generated by the transmitter 210, and when a potential difference is generated between the third electrode 222 and the fourth electrode 224 of the receiver 220 due to the generated electric field, the receiving circuit 226 Is detected and demolished, the data transmitted from the transmitter 210 can be obtained.
  • the transmitter 210 may be provided with an internal power supply 218 for supplying electric power for operating the transmission circuit 216.
  • the internal power source 218 is, for example, a vibration power generator that generates electricity with the energy generated by the vibration of the component 132, a solar generator that generates electricity with sunlight, or a battery.
  • the battery may be, for example, a battery that stores electricity by an electric field transmitted from the main body side device 120.
  • the electric field communication system 200 of the present disclosure by transmitting an electric field, electric power is transmitted and received instead of transmitting and receiving data between the transmitter 210 and the receiver 220, instead of transmitting and receiving data. be able to. As a result, as an example, power is transmitted from the transmitter 210b (FIG.
  • the receiver 220 may also be provided with an internal power supply 228, similarly to the transmitter 210.
  • FIG. 3 is a diagram showing a configuration example of the electric field communication system 200 shown in FIG. 2 according to the embodiment of the present disclosure.
  • the electric field communication system 300 shown in FIG. 3 includes a transmitter 210, a receiver 220, and a communication medium 130, similarly to the electric field communication system 200 shown in FIG.
  • the transmitter 210 includes a first electrode 212 and a second electrode 214.
  • the first electrode 212 is connected to the communication medium 130 via the coupling capacitance
  • the second electrode 214 is connected to the ground ground 302 and the communication medium 130 via the coupling capacitance.
  • C1 is the capacitance between the second electrode 214 and the ground ground 302
  • C2 is the capacitance between the first electrode 212 and the second electrode 214
  • C3 is the capacitance between the second electrode 214 and the communication medium 130.
  • the capacitance between them, C4 is the capacitance between the first electrode 212 and the communication medium 130.
  • the capacitance C4 becomes small, and the transmitter 210 and the communication medium 130 The electrical coupling is weakened. Therefore, the electric field between the transmitter 210 and the receiver 220 is difficult to be transmitted or is not transmitted.
  • the receiver 220 includes a third electrode 222, a fourth electrode 224, and a receiving circuit 226.
  • the third electrode 222 is connected to the communication medium 130 in contact with the receiver 220 via the coupling capacitance
  • the fourth electrode 224 is connected to the ground 302 and the communication medium 130 via the coupling capacitance.
  • the fourth electrode 224 is coupled to the battery ground of the receiving circuit 226, and as a result, is electrically connected to the communication medium 130.
  • C5 is the capacitance of the communication medium 130 with respect to the ground 302
  • C6 is the capacitance between the fourth electrode 224 and the communication medium 130
  • C7 is the capacitance between the third electrode 222 and the fourth electrode.
  • C8 is the capacitance between the second electrode 214 and the fourth electrode 224
  • C9 is the capacitance between the fourth electrode 224 and the ground 302
  • C10 is between the third electrode 222 and the communication medium 130.
  • the third electrode 222 is connected to the signal side of the receiving circuit 226, and the fourth electrode 224 is connected to the ground side of the receiving circuit 226.
  • the fourth electrode 224 of the receiver 220 is electrostatically coupled via the ground ground 302
  • the second electrode 214 of the transmitter 210 is electrostatically coupled via the ground ground 302 to provide the ground ground 302 as a feedback transmission line. Use as.
  • the communication medium 130 is connected to the battery ground of the receiving circuit 226, and can be represented by the lumped constants of the resistor R and the inductance L.
  • FIG. 4A to 4E are graphs illustrating the time change of the voltage at each point (P1, P2, P3, P4, P5) shown in the electric field communication system 300 shown in FIG.
  • FIG. 4A shows the voltage at the first electrode 212 (transmitting side signal electrode, P1) of the transmitter 210
  • FIG. 4B shows the voltage at the fourth electrode 224 (receiving side ground electrode, P2) of the receiver 220 and the ground ground 302.
  • FIG. 4C shows the voltage at the third electrode 222 (reception side signal electrode, P4) of the receiver 220, respectively.
  • FIG. 4D is a diagram showing both the voltage at P2 and the voltage at P4.
  • FIG. 4E shows the time change of the voltage of the received signal in P5, that is, the receiving circuit 226, which corresponds to the potential difference between the voltage of P2 and the voltage of P4 shown in FIG. 4D.
  • the fourth electrode 224 of the receiving circuit 226 and the communication medium 130 are conducted (240) via the receiving circuit 226.
  • the potential difference between the third electrode 222 and the fourth electrode is reduced.
  • the potential P2 at the ground electrode (fourth electrode 224) of the receiver 220 shown in FIG. 4B and the potential P4 at the signal electrode (third electrode 222) of the receiver 220 shown in FIG. 4C are in phase and have similar amplitudes. become. Therefore, as shown in FIG. 4E, although there is a potential difference between the potential P4 at the receiver signal electrode (third electrode 222) and the potential P2 at the receiver ground electrode (fourth electrode 224), the potential difference is large. Absent.
  • FIG. 5 is a schematic view showing a configuration according to a second embodiment of the present disclosure.
  • the electric field communication system 500 shown in FIG. 5 is the same as the electric field communication system 200 shown in FIG. 2 except that the configuration of the receiver 220'is different.
  • the receiver 220'shown in FIG. 5 is connected to a third electrode 222, a fourth electrode 224 arranged in parallel with the third electrode 222, and each of these electrodes, and is provided between these electrodes for electric field communication. It is mainly composed of the receiving circuit 226 of the above.
  • the third electrode 222 is connected to the signal side of the receiving circuit 226, and the fourth electrode 224 is connected to the ground side of the receiving circuit 226.
  • the third electrode 222, the fourth electrode 224, and the receiving circuit 226 are provided in one housing made of an insulator.
  • the third electrode 222 is arranged on one inner surface in the housing, and the surface of the third electrode 222 opposite to the fourth electrode faces the space around the receiver 220'.
  • the fourth electrode 224 is arranged on the inner surface of the housing on the communication medium 130 side.
  • the fourth electrode 224 is coupled to the battery ground of the receiving circuit 226, and as a result, is conducting with the communication medium 130.
  • the fourth electrode 224 may be directly conductive (240) with the communication medium 130 via a conductor (a conducting wire, a metal screw, or the like).
  • FIG. 6 is a diagram showing a configuration example of the electric field communication system 500 shown in FIG. 5 according to the embodiment of the present disclosure.
  • the transmitter 210, the receiver 220', and the communication medium 130 of the electric field communication system 600 shown in FIG. 6 are the transmitter 210, the receiver 220', and the communication medium of the electric field communication system 500 shown in FIG. 5, respectively. Corresponds to 130.
  • the receiver 220'shown in FIG. 6 includes a third electrode 222, a fourth electrode 224, and a receiving circuit 226.
  • the third electrode 222 is connected to the communication medium 130 in contact with the receiver 220 and the ground 302 via a coupling capacitance.
  • the fourth electrode 224 is conductive with the communication medium 130.
  • C6' is the capacitance between the third electrode 222 and the communication medium 130
  • C7 is the capacitance between the third electrode 222 and the fourth electrode
  • Capacitance between, C9' is the capacitance between the third electrode 222 and the ground 302.
  • the third electrode 222 of the receiver 220 is electrostatically coupled via the ground ground 302
  • the second electrode 214 of the transmitter 210 is electrostatically coupled via the ground ground 302 to provide the ground ground 302 as a feedback transmission line. Use as.
  • the fourth electrode 224 is arranged on the communication medium 130 side.
  • the fourth electrode 224 ground electrode
  • the third electrode 222 ground electrode
  • the potential difference between the signal electrode and the signal electrode can be increased, and the amplitude of the signal input to the receiving circuit 226 can be increased.
  • FIG. 7A to 7E are graphs illustrating the time change of the voltage at each point (P1, P2, P3, P4, P5) shown in the electric field communication system 600 shown in FIG.
  • FIG. 7A shows the voltage at the first electrode 212 (transmitter signal electrode, P1) of the transmitter 210
  • FIG. 7B shows the voltage at the fourth electrode 224 (reception side ground electrode, P2) of the receiver 220, and the ground ground 302.
  • FIG. 7C shows the voltage at the third electrode 222 (reception side signal electrode, P4) of the receiver 220, respectively.
  • FIG. 7D is a diagram showing both the voltage at P2 and the voltage at P4.
  • FIG. 4E shows the time change of the voltage of the received signal in the receiving circuit 226 (P5), which corresponds to the potential difference between the voltage at P2 and the voltage at P4 shown in FIG. 7D.
  • the voltage at the third electrode 222 (receiver signal electrode, P4) shown in FIG. 7C has a smaller amplitude than the voltage at the third electrode 222 (receiver signal electrode, P4) shown in FIG. 4C. This is because the third electrode 222 is farther from the communication medium 130 in the configuration of FIG. 6 than the configuration shown in FIG. 3, so that the capacitive coupling between the communication medium 130 and the third electrode 222 becomes smaller, and the third electrode 222 becomes smaller. This is because the amplitude of the signal entering (receiver signal electrode) becomes small. Therefore, as shown in FIG.
  • FIG. 7E the potential difference between the voltage at the receiver ground electrode and the voltage at the receiver signal electrode when the fourth electrode 224 (receiver ground electrode) is conducted to the communication medium 130 is shown in FIG. 4E. It becomes larger than the indicated potential difference. As a result, the signal input to the receiving circuit 226 can be increased.
  • FIG. 8 is an example of the equivalent circuit of the electric field communication system 600 shown in FIG.
  • the signal source 802 and the capacitance C2 in FIG. 8 correspond to the transmitter 210 in FIG.
  • the receiving circuit 226 illustrated in FIG. 8 is a single-ended output amplifier, and the fourth electrode 224 is connected to the ground side of the receiving circuit 226.
  • the receiving circuit 226 may be a differential amplifier.
  • the fourth electrode 224 is arranged on the communication medium 130 side as described above in the description with respect to FIG. With this configuration, the potential difference between the fourth electrode 224 and the third electrode 222 becomes large, and the signal input to the receiving circuit 226 can be made large.
  • the configuration according to the first embodiment and the configuration corresponding to the second embodiment were actually constructed, and the magnitudes of the signals output from the receiver 220 were compared experimentally.
  • the configuration of the experiment will be described with reference to FIGS. 9 and 10, and the experimental results will be described with reference to FIG.
  • FIG. 9 is a diagram schematically showing an experimental configuration 900 according to an embodiment of the present disclosure.
  • the receiver 220 of the experimental configuration 900 includes a third electrode 222, a fourth electrode 224, a receiving circuit 226, and an electric / optical converter 910.
  • a spectrum analyzer (SPA) 930 is used to transmit the signal from the transmitter 210 to the receivers 220 and 220'(hereinafter, the receivers 220 and 220' may be collectively referred to as the receiver 220) and receive the receiver.
  • the signal output from the machine 220 was measured.
  • the electric / optical converter (E / O) 910 and the optical / electric converter (O / E) 920 are intended to prevent high frequency interference between the receiving circuit 226 and the SPA 930, and are insulators. It is placed inside the body.
  • FIG. 10A and 10B are cross-sectional views of the experimental configuration shown in FIG. 9, respectively.
  • the third electrode 222 (receiver signal electrode) is arranged on the communication medium 130 side, and corresponds to the system 300 according to the first embodiment shown in FIG.
  • the fourth electrode 224 (receiver ground electrode) is conductive with the communication medium 130 and is arranged on the communication medium 130 side, and corresponds to the system 600 according to the second embodiment shown in FIG.
  • graphs of output signals on the receivers 220 and 220'sides were obtained using the spectrum analyzer 930 in each of the configuration of FIG. 10A and the configuration of FIG. 10B.
  • the output signal strength on the receiver 220 side is -61.17 dBm in the configuration of FIG. 10A and -41.76 dBm in the configuration of FIG. 10B, which is FIG. 10B.
  • the signal level obtained on the receiver side was higher in this configuration.
  • FIG. 11 is a diagram schematically showing an experimental configuration 1100 according to an embodiment of the present disclosure.
  • the transmitter 210 of the experimental configuration 1100 includes a first electrode 212 and a second electrode 214, and the receiver 220 (220') includes a third electrode 222 and a fourth electrode 224.
  • the signal lines of the oscilloscope 1102 are connected to each electrode (first electrode 212, second electrode 214, third electrode 222, fourth electrode 224), respectively, and the third electrode 222 and the first electrode 220 of the receiver 220 are connected.
  • the time change of the output voltage waveform received at the 4-electrode 224 was observed.
  • FIGS. 12A, 12B, and 12C are all simplified views of the configuration corresponding to the experimental configuration 1100 shown in FIG.
  • the third electrode 222 (receiver signal electrode) is arranged on the communication medium 130 side, and corresponds to the system 300 according to the first embodiment shown in FIG.
  • the receiver 220 of FIG. 12B is different from the receiver 220 shown in FIG. 12A in that the fourth electrode 224 (receiver ground electrode) is conducting to the communication medium 130.
  • the configuration of the receiver 220 in FIG. 12B is closer to the configuration in actual operation than the configuration of the receiver 220 ′′ in FIG. 12A.
  • the battery ground of the receiving circuit 226 and the frame portion of the power shovel which is the communication medium 130 are conducted via the receiving circuit 226, and as a result.
  • the fourth electrode 224 conducts with the communication medium 130.
  • the fourth electrode 224 (receiver ground electrode) is arranged on the communication medium 130 side and is arranged so as to be conductive with the communication medium 130, and corresponds to the system 600 according to the second embodiment shown in FIG. ..
  • FIG. 13A shows the configuration of FIG. 12A
  • FIG. 13B shows the configuration of FIG. 12B
  • FIG. 13C shows a part of the waveform of the output signal obtained as a result of simulating the configuration of FIG. 12C.
  • the dark color is the time change of the potential at the fourth electrode 224 (receiver ground electrode, P2)
  • the light color is at the third electrode 222 (receiver signal electrode, P4). It shows the time change in the potential.
  • the difference between the potential at the third electrode 222 and the potential at the fourth electrode 224 shown in FIG. 13B is larger than the difference between the potential at the third electrode 222 and the potential at the fourth electrode 224 shown in FIG. 13A. Is also small. This is because, in the configuration of FIG. 12B, the fourth electrode 224 conducts with the communication medium 130, so that the voltage at the fourth electrode 224 (ground electrode) increases, and the potential difference between the third electrode 222 and the fourth electrode increases. This is because it decreases.
  • the potential difference between the voltage at the third electrode 222 and the voltage at the fourth electrode 224 shown in FIG. 13C is the potential difference between the voltage at the third electrode 222 and the voltage at the fourth electrode 224 shown in FIG. 13B. Greater than. This is because, as shown in FIG. 12C, the fourth electrode 224 is arranged on the communication medium side, and the third electrode 222 is arranged away from the communication medium 130 side, so that between the communication medium 130 and the third electrode 222. This is because, as a result of the capacitive coupling of the third electrode 222 becoming smaller and the voltage amplitude at the third electrode 222 becoming smaller, the potential difference from the fourth electrode 224 becomes larger.
  • the fourth electrode 224 is arranged on the communication medium 130 side, so that the third electrode 222 is arranged on the communication medium 130 side as shown in FIGS. 12A and 12B. Also, the potential difference between the potential P2 at the fourth electrode 224 and the potential P4 at the third electrode 222 can be increased, and the communication efficiency between the transmitter 210 and the receiver 220 can be improved.
  • FIG. 14 is a diagram showing a configuration example of the electric field communication system 1400 according to the embodiment of the present disclosure. Similar to the electric field communication system 300 shown in FIG. 3, the electric field communication system 1400 includes a transmitter 210, a receiver 220, and a communication medium 130, but the positions where the transmitter 210 and the receiver 220 are arranged are located. different. That is, in FIG. 14, the transmitter 210 and the receiver 220 are arranged between the communication medium 130 and the ground 302.
  • the electric field communication system 1400 shown in FIG. 14 has the same equivalent circuit as the electric field communication system 300 described in FIG. 3, and therefore, the description of the configuration equivalent to the configuration already described in FIG. 3 will be omitted.
  • the transmitter 210 and the receiver 220 are arranged in physical contact with each other between the communication medium 130 and the ground 302. Therefore, the distance between the second electrode 214 (transmitter ground electrode) and the ground ground 302 is shortened, and the capacitance C1 between the second electrode 214 and the ground ground 302 is increased. Further, the distance between the fourth electrode 224 (receiver ground electrode) and the ground ground 302 becomes shorter, and the capacitance C9 between the fourth electrode 224 and the ground ground 302 becomes larger. As the capacitances C1 and C9 increase, the impedances X1 and X9 (not shown) decrease, respectively, and the voltage applied to these impedances decreases.
  • the voltage applied to another capacitance for example, the capacitance C7 between the third electrode 222 and the fourth electrode, becomes relatively high.
  • the signal strength obtained on the receiver 220 side is increased, and the voltage gain is improved.
  • FIGS. 15A to 15D the arrangement positions of the transmitter 210 and the receiver 220 were variously changed, and how the signal strength obtained by the receiver 220 changed was measured.
  • 15A to 15D are simplified views corresponding to the experimental configurations shown in FIG. 9, respectively.
  • 15A to 15D show the transmitter 210 and the receiver 220 physically in contact with each other on the communication medium or between the communication medium 130 and the ground 302.
  • the configuration shown in FIG. 15A corresponds to the configuration of the electric field communication system 300 shown in FIG. 3
  • the configuration shown in FIG. 15D corresponds to the configuration of the electric field communication system 1400 shown in FIG.
  • both the transmitter 210 and the receiver 220 are in physical contact with the communication medium 130 and are arranged on the communication medium 130. More specifically, the first electrode 212 of the transmitter 210 and the third electrode 222 of the receiver 220 are arranged on the communication medium 130 side. In the configuration shown in FIG. 15A, the gain of the signal obtained by the receiver 220 was ⁇ 106.635 dB.
  • the transmitter 210 is in contact with the communication medium 130 and is physically in contact with the communication medium 130
  • the receiver 220 is arranged between the communication medium 130 and the ground 302.
  • One side surface of the receiver 220 is arranged in physical contact with the communication medium 130. More specifically, the first electrode 212 of the transmitter 210 and the third electrode 222 of the receiver 220 are arranged on the communication medium 130 side and are connected to the communication medium 130 via a capacitive coupling.
  • the fourth electrode 224 of the receiver 220 is arranged on the ground ground 302 side and is connected to the ground ground 302 via a capacitive coupling. According to this configuration, the capacitance C9 (FIG. 14) between the fourth electrode 224 and the ground ground 302 becomes large.
  • the impedance X9 decreases, and the voltage applied to these impedances decreases.
  • the voltage applied to the capacitance between the third electrode 222 and the fourth electrode is measured statically between the third electrode 222 and the fourth electrode in the configuration of FIG. 15A. It becomes higher than the voltage applied to the capacitance C7. Therefore, in the configuration shown in FIG. 15B, the gain of the signal output from the receiver 220 is ⁇ 98.3545 dB, which is higher than the gain of the signal obtained in the configuration of FIG. 15A.
  • the transmitter 210 is placed in physical contact between the communication medium 130 and the ground 302, and the receiver 220 is in contact with the communication medium 130 and physically in contact with the communication medium 130. Indicates that it is placed.
  • One side surface of the transmitter 210 is arranged in physical contact with the communication medium 130. More specifically, the first electrode 212 of the transmitter 210 is arranged on the communication medium 130 side and is connected to the communication medium 130 via a capacitive coupling.
  • the second electrode 214 of the transmitter 210 is arranged on the ground ground 302 side and is connected to the ground ground 302 via a capacitive coupling. According to this configuration, the voltage applied to the capacitance C7 between the third electrode 222 and the fourth electrode is measured in the configuration of FIG.
  • the gain of the signal output from the receiver 220 is ⁇ 99.1745 dB, which is higher than the gain of the signal obtained in the configuration of FIG. 15A.
  • FIG. 15D shows that both the transmitter 210 and the receiver 220 are arranged in contact with each other between the communication medium 130 and the ground 302. That is, the first electrode 212 of the transmitter 210 and the third electrode 222 of the receiver 220 are arranged on the communication medium 130 side, and the second electrode 214 of the transmitter 210 and the fourth electrode 224 of the receiver 220 are ground ground 302. Placed on the side.
  • the voltage applied to the capacitance C7 between the third electrode 222 and the fourth electrode is static between the third electrode 222 and the fourth electrode measured in the configurations of FIGS. 15B and 15C. It becomes higher than the voltage applied to the capacitance C7. Therefore, in the configuration shown in FIG. 15D, the gain of the signal output from the receiver 220 is ⁇ 89.1645 dB, which is higher than the gain of the signal obtained in the configurations of FIGS. 15B and 15C.
  • the configuration shown in FIG. 15A can be obtained.
  • a high gain can be obtained with the receiver 220.
  • the receiver 220 is more than the configuration shown in FIGS. 15B and 15C. You can get even higher gain with.
  • the gain measured with the configuration shown in FIG. 15A was ⁇ 106.635 dB
  • the gain measured with the configuration shown in FIG. 15D was ⁇ 89.1645 dB, the difference being about 17.5 dB.
  • FIG. 16 is a schematic diagram of an electric field communication system 1600 according to an embodiment of the present disclosure.
  • the component-side device 110 includes a receiver 220a'in addition to the transmitter 210a, and the main body-side device 120 includes a transmitter 210b in addition to the receiver 220b'. Since the transmitter 210a and the receiver 220b'of the electric field communication system 1200 correspond to the transmitter 210 and the receiver 220' described in FIG. 5, respectively, the description thereof will be omitted here.
  • the main body side device 120 physically contacts the communication medium 130.
  • the transmitter 210b of the main body side device 120 includes a fifth electrode 312, a sixth electrode 314, and a transmission circuit 316.
  • the fifth electrode 312 (signal electrode) is connected to the signal side of the transmission circuit 316
  • the sixth electrode 314 (ground electrode) is connected to the ground side.
  • the transmission circuit 316 includes a fifth electrode 312 (signal electrode) connected to the communication medium via a coupling capacitance, and a sixth electrode 314 (ground electrode) connected to the ground 302 and the communication medium 130 via a coupling capacitance.
  • An electric field is generated according to the potential difference between and.
  • the component side device 110 physically contacts the communication medium 130.
  • the receiver 220a'of the component-side device 110 includes a seventh electrode 322, an eighth electrode 324, and a receiving circuit 326.
  • the seventh electrode 322 (signal electrode) is connected to the signal side of the receiving circuit 326
  • the eighth electrode 324 (ground electrode) is connected to the ground side.
  • the receiving circuit 326 detects the potential difference generated between the seventh electrode connected to the communication medium 130 and the ground ground 302 via the coupling capacitance and the eighth electrode conducting with the communication medium 130, and transmits. Get the data sent from the machine.
  • the transmitter 210b of the main body side device 120 and the receiver 220a'of the component side device 110 perform electric field communication via the communication medium 130.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Near-Field Transmission Systems (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
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JP2021530027A JP7220877B2 (ja) 2019-07-01 2020-06-30 電界通信システム
US17/623,840 US11876575B2 (en) 2019-07-01 2020-06-30 Electric field communication system
EP20834660.1A EP3996290A4 (en) 2019-07-01 2020-06-30 ELECTRIC FIELD COMMUNICATION SYSTEM
AU2020298980A AU2020298980A1 (en) 2019-07-01 2020-06-30 Electric field communication system

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EP3996290A1 (en) 2022-05-11
JP7220877B2 (ja) 2023-02-13
EP3996290A4 (en) 2023-07-26
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US20220255586A1 (en) 2022-08-11
AU2020298980A1 (en) 2022-02-17

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