Wearable-type antenna device

Abstract

With this wearable-type antenna device, positions of a wearing target and a detection object can be detected accurately with certainty. A wearable-type antenna device 1 is wearably provided to a wrist P which is the wearing target, and performs presence detection using electromagnetic properties. The wearable-type antenna device is provided with: a device body 2 having a circuit board 20 built therein; and an antenna body 3 which has one end electrically connected to the circuit board 20 as a fixed end, and which can be wound, either alone or together with the device body 2, around the entire circumference of the wrist P in the circumferential direction without any gaps therebetween along the outer circumference of the wrist P.

Description

Wearable Antenna Device

[0001] The present invention relates to a wearable antenna device, and more particularly to an improvement in its structure.

[0002] Japanese Patent No. 3254880 describes a wrist-worn antenna device (1). The wrist-worn antenna device (1) includes a device main body (1a) having a circuit board (5) therein and connected to wrist bands (2a, 2b), and an antenna (13) having a longitudinal groove (13c), fixed to the device main body (1a) and the wrist bands (2a, 2b), and positioned above the circuit board (5) inside the device main body (1a) (see claim 1, paragraph

[0012] , and Figures 1 to 3 of the same publication).

[0003] According to the above publication, since there is no circuit board (5) on the surface side of the antenna body (1a), it is described that the sensitivity can be improved without blocking the radio waves emitted from the antenna body (1a) (paragraphs

[0011] and

[0013] of the same publication).

[0004] Japanese Patent No. 3254880 (see claim 1, paragraphs

[0001] ,

[0005] ,

[0011] to

[0013] ,

[0031] ,

[0034] , and

[0045] , Figures 1 to 3, 4(a), and 8)

[0005] The wrist-worn antenna device described in the above publication is a slot antenna whose inductance value is determined by the perimeter of the groove (13c) in the antenna body (13) (see paragraph

[0005] of the same publication). Slot antennas generally have directionality, and Figure 4(a) of the above publication shows the general directionality of a slot antenna (see paragraph

[0034] of the same publication).

[0006] In the above publication, radio waves are transmitted and received on the front side of the wrist-worn antenna device (1), i.e., on the side of the data display device (3) (see FIGS. 3 and 8), so that the radiated energy of the radio waves is directional toward the side of the data display device (3) (see paragraph

[0031] of the publication). As a result, the radiation pattern of the wrist-worn antenna device (1) exhibits high directivity toward the front side of the antenna body (1a) (see paragraph

[0045] of the publication and the solid line 20 in FIG. 8).

[0007] The wrist-worn antenna device described in the above publication is specialized for use as a wireless device (see paragraph

[0001] of the publication). Meanwhile, in work environments where humans and robots work collaboratively, there is a need to detect the proximity (or relative position) of a collaborative robot to the worker in order to ensure the worker's safety. However, because the above-mentioned conventional wrist-worn antenna device has high directivity, it may not be able to detect the worker's arm depending on the orientation of the worker's arm. In such cases, the worker may be exposed to danger or may be injured. Therefore, the above-mentioned conventional wrist-worn antenna device is not suitable for use in collaborative work with a collaborative robot.

[0008] The present invention has been made in consideration of the above-mentioned conventional circumstances, and aims to provide a wearable antenna device that can accurately and reliably detect the position of an object to be worn or a detected object. The present invention also aims to provide a wearable antenna device that is suitable for a working environment with a collaborative robot.

[0009] In order to solve the above problems, the present invention provides a wearable antenna device that can be attached to an object to be attached to and that performs presence detection using electromagnetic properties, and includes a device main body that incorporates a circuit board, and an antenna body that is at least partially electrically connected to the circuit board as a fixed end and that can be wrapped around the entire circumference of the object to be attached to without any gaps, either together with the device main body or alone, along the outer periphery of the object to be attached to.

[0010] In the present invention, the fixed end of the antenna is electrically connected to the circuit board of the device body, and the antenna is wrapped around the entire circumference of the object to be attached, either together with the device body or alone, without leaving any gaps in the circumferential direction.

[0011] According to the present invention, the antenna can be wrapped around the entire circumference of the object without any gaps in the circumferential direction, thereby forming an electromagnetic field and detection area with uniform radio wave strength in all directions (360 degrees) around the antenna, which prevents the radio wave strength from varying depending on the orientation of the device body or the object, thereby enabling the position of the object to be worn or the object to be detected to be detected accurately and reliably.

[0012] In the present invention, a part of the antenna body is one end of the antenna body, which end is a fixed end electrically connected to a circuit board, and the other end of the antenna body is a free end, and when the antenna body is wrapped around the outer periphery of the object to be attached, the antenna body on the other end side can pass through the back side of the device main body and be engaged with the device main body.

[0013] In the present invention, a belt is further provided which is arranged on the inner periphery of the antenna body and is capable of being engaged and detached with respect to the device main body via a locking portion, and which can be wrapped around the entire circumference of the object to be worn without any gaps in the circumferential direction along the outer periphery of the object to be worn, and the antenna body arranged on the outer periphery of the belt can be engaged and detached with the locking portion.

[0014] In the present invention, the antenna body has a first metal layer arranged on the inner circumferential side and a second metal layer arranged on the outer circumferential side, and the first metal layer forms one of the ground or the antenna element, and the second metal layer forms the other of the ground or the antenna element.

[0015] In the present invention, the antenna body is composed of a first metal layer arranged on the inner circumferential side, a second metal layer arranged on the outer circumferential side, and an insulating layer interposed between the first and second metal layers and covering the entire antenna body, with the first metal layer constituting either the ground or the antenna element, and the second metal layer constituting the other of the ground or the antenna element.

[0016] In the present invention, the antenna body is constructed by stacking a first insulating layer, a first metal layer, a second insulating layer, a second metal layer, and a third insulating layer from the inner periphery toward the outer periphery, with the first metal layer constituting either the ground or the antenna element, and the second metal layer constituting the other of the ground or the antenna element.

[0017] In the present invention, the antenna body is constructed by stacking two insulating metal sheets, each metal sheet covered with an insulating layer, and the metal sheet of the insulating metal sheet arranged on the inner side forms either the ground or the antenna element, and the metal sheet of the insulating metal sheet arranged on the outer side forms the other ground or the antenna element.

[0018] In the present invention, a connection terminal electrically connected to a circuit board is provided at one end of the insulating metal sheet at a position offset from the longitudinal center line of the insulating metal sheet, and one insulating metal sheet is turned over and placed on top of the other insulating metal sheet, with the connection terminal of the insulating metal sheet located on the inner side forming one of the ground terminals or antenna terminals, and the connection terminal of the insulating metal sheet located on the outer side forming the other of the ground terminals or antenna terminals.

[0019] In the present invention, the object to be attached is the arm of an operator or a part of a robot.

[0020] As described above, the present invention has the effect of enabling the position of the attachment target or the object to be detected to be detected accurately and reliably.

[0021] 1A and 1B are diagrams illustrating a wearable antenna device according to a first embodiment of the present invention in use, worn on a person's wrist; FIG. 1 is a front view of the wearable antenna device (FIG. 1); FIG. 2 is a side view (left side view, i.e., view as seen from the arrow III) of the wearable antenna device (FIG. 2); FIG. 3 is a plan view of the wearable antenna device (FIG. 2); FIG. 4 is a bottom view of the wearable antenna device (FIG. 2); FIG. 5 is a perspective view of the wearable antenna device (FIG. 2) viewed obliquely from below; FIG. 6 is a perspective view of the wearable antenna device (FIG. 2) viewed obliquely from above; FIG. 7 is a schematic cross-sectional view showing the internal structure of the wearable antenna device (FIG. 2), shown together with a person's wrist; FIG. 8 is a development view of the antenna of the wearable antenna device (FIG. 8) in an unfolded state; FIG. 9 is an enlarged partial view of the antenna portion of the wearable antenna device (FIG. 9); FIG. 10 is an overall perspective view of a circuit board and an antenna connected thereto inside the device body of the wearable antenna device (FIG. 1), viewed from the outer periphery; FIG. 11 is an overall perspective view of the circuit board and antenna (FIG. 10) viewed from another angle; FIG. 12 is an overall perspective view of the circuit board and antenna (FIG. 10) viewed from the inner periphery. 10 is an overall perspective view of the antenna body (FIG. 10) alone. 11 is an overall perspective view of the antenna body (FIG. 10) alone, as viewed from the back side of the antenna body of FIG. 13. 12 is a view for explaining the effects when the wearable antenna device (FIG. 1) is used as a transmitting means. 13 is a view for explaining the effects when the wearable antenna device (FIG. 1) is used as a receiving means. 14 is a schematic front sectional view of a wearable antenna device according to a second embodiment of the present invention, corresponding to FIG. 8 of the first embodiment. 15 is a schematic front sectional view of a wearable antenna device according to a third embodiment of the present invention, corresponding to FIG. 8 of the first embodiment. 16 is a schematic front sectional view of a wearable antenna device according to a fourth embodiment of the present invention, corresponding to FIG. 8 of the first embodiment. 17 is a development view of the antenna body of the wearable antenna device (FIG. 19). 18 is a schematic front sectional view of a wearable antenna device according to a fifth embodiment of the present invention, corresponding to FIG. 8 of the first embodiment. 21A and 21B are diagrams for explaining how to wear the wearable antenna device (FIG. 20).21A is a schematic front cross-sectional view of a wearable antenna device according to a seventh embodiment of the present invention, which corresponds to FIG. 8 of the first embodiment, and FIG. 21B is an enlarged partial view of the antenna portion of the wearable antenna device (FIG. 21), which corresponds to FIG. 9A of the first embodiment.

[0022]

[0023] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. [First Embodiment] Figures 1 to 16 are diagrams illustrating a wearable antenna device (hereinafter simply referred to as "antenna device") according to a first embodiment of the present invention. Figure 1 illustrates the antenna device in use, Figures 2 to 7 illustrate the external appearance of the antenna device during use, Figures 8 to 9A illustrate the internal structure of the antenna device, Figures 10 to 12 illustrate the external appearance of the circuit board and antenna, Figures 13 and 14 illustrate the external appearance of the antenna alone, and Figures 15 and 16 illustrate the operational effects of the antenna device.

[0023] As shown in Fig. 1, the antenna device 1 is a wearable terminal that can be worn on the arm (wrist P in this example) (the wearer) of a person, such as an operator of a robot (not shown) or a worker, and is a device that detects the distance to the wearer or an object by performing presence detection using electromagnetic properties. The antenna device 1 is capable of transmitting and / or receiving signals, and performs presence detection by utilizing, for example, the fact that the strength (power density) of radio waves attenuates inversely proportional to the square of the distance from the antenna. The antenna device 1 may also be configured, for example, with a capacitance sensor or the like.

[0024] As shown in Figures 1 to 7, the antenna device 1 comprises a device main body 2 incorporating a circuit board, and an antenna body 3 having one end (fixed end) 30 (Figure 2) electrically connected to the circuit board inside the device main body 2, extending in a band-like shape in the longitudinal direction, and detachably wrapped around the outer periphery of the wrist P. The antenna device 1 further comprises a detachable belt 4 also extending in a band-like shape in the longitudinal direction and wrapped directly around the outer periphery of the wrist P. The belt 4 is disposed on the inner periphery of the antenna body 3, and the antenna body 3 is wrapped around the belt 4 from the outer periphery. The antenna body 3 and the belt 4 are provided so as to be separable from each other. The belt 4 is preferably wider than the antenna body 3 (the width dimension of the belt 4 is indicated as W in Figure 3). １ , the width of the antenna 3 is w １ When W １ >w １ In this way, the width of the belt 4 is made wider than the width of the antenna 3 in order to prevent the antenna 3 from coming into direct contact with the skin of the person wearing the antenna device 1.

[0025] The other end (free end) 31 (FIG. 2) of the antenna 3 extends below the back surface 2b of the device body 2 on the one end 21 side and to below the back surface 2b of the other end 22 side when the antenna 3 is wrapped around the circumference of the wrist P. At this time, below the back surface 2b of the device body 2, the antenna 3 is inserted into a slit-like space between the back surface 2b of the device body 2 and the belt 4.

[0026] Annular locking portions 5, 6, such as D-rings, are attached to one end 21 and the other end 22 of the device body 2, respectively. The other end 31 of the antenna 3 is inserted through the locking portion 5, so that the antenna 3 is detachably locked to the locking portion 5 and to the device body 2 via the locking portion 5. Locking the antenna 3 with the annular locking portions (such as D-rings) 5, 6 allows the antenna 3 to be locked without applying a strong force to it, thereby preventing damage to the antenna 3. Although not shown, a latch mechanism may be provided below the back surface 2b of the device body 2 to clamp or tighten the other end 31 or a portion nearby to prevent the other end 31 of the antenna 3 from moving loose (to the left in FIG. 2 ).

[0027] The belt 4 is made of, for example, a resin (nylon or the like) member, and is fastened to the fastening portions 5, 6 by being inserted through the fastening portions 5, 6 on the inner circumferential side of the antenna 3, and each end 4a, 4b is connected by a circular fastener (for example, a D-ring) 40, making it endless. Thus, the belt 4 is wound around the entire circumference of the wrist P along the outer periphery of the wrist P without any gaps in the circumferential direction. In the example of FIG. 2 , a gap is formed between each end 4a, 4b of the belt 4, but this gap is filled by the fastener 40. Therefore, by regarding the fastener 40 as part of the belt 4 as a wrapping member for the wrist P, it can be said that the belt 4 is wound around the entire circumference of the wrist P without any gaps in the circumferential direction.

[0028] In this example, one of the ends 4a, 4b (e.g., end 4b) is a loop-shaped end secured by sewing or the like, and the other end (e.g., end 4a) is an expandable loop-shaped end secured by a hook-and-loop fastener or the like. In this case, to wear the belt 4 around the wrist P, the loop-shaped end of end 4a is expanded to expand the belt 4 (or straighten it), and then the belt 4 is wrapped around the wrist P. After that, the length of the belt 4 threaded through the fastener 40 is appropriately adjusted, and the end 4a of the belt 4 is secured by a hook-and-loop fastener or the like to form a loop. Note that the structures of the belt 4 and fastener 40 are not limited to those described above, and any appropriate structure may be adopted.

[0029] For example, each of the ends 4a, 4b may be a loop-shaped end fixed by sewing or the like, and the fastener 40 passed through each loop-shaped end may have a releasable locking mechanism. In this case, the belt 4 can be separated from the device main body 2 and the antenna 3 by releasing the locking mechanism of the fastener 40 and removing one end of the belt 4 from the fastener 40. Also, a buckle structure (for example, a one-touch buckle) may be used as the fastener 40.

[0030] 2, the other end 31 of the antenna 3 is inserted through the locking portion 5 and then positioned on the near side (left side in the figure) of the locking portion 6 (Specific Example 1), but the other end 31 may be inserted not only through the locking portion 5 but also through the locking portion 6 (Specific Example 2). Alternatively, the other end 31 does not have to be disposed along the entire width direction (left-right direction in Figure 2) of the device body 2 along the back surface 2b of the device body 2, but may be positioned in an intermediate position between the locking portions 5 and 6 below the back surface 2b of the device body 2 (Specific Example 3).

[0031] In the case of the above specific example 2, the other end 31 of the antenna 3 is disposed below the one end 30 and overlaps the one end 30 in the vertical direction, so that the antenna 3 is wrapped around the outer periphery of the wrist P alone (i.e., alone) without any gaps in the circumferential direction at least once around the entire circumference of the wrist P, or in other words, it can be said to surround the wrist P at least once. Note that in this specification, "without any gaps in the circumferential direction" of the antenna 3 alone means that the antenna 3 wrapped around the wrist P has no gaps in the circumferential direction (i.e., in the longitudinal direction), that is, the antenna 3 is wrapped around the wrist P alone for at least one full turn, and does not mean that there is no gap in the circumferential direction between the antenna 3 and the belt 4 (or the arm P).

[0032] In the above specific examples 1 and 3, the other end 31 of the antenna 3 does not overlap the one end 30 in the vertical direction, and it cannot be said that the antenna 3 alone is wrapped around the entire circumference of the wrist P without any gaps in the circumferential direction, but a circuit board is disposed above the gap (i.e., the missing portion) between the other end 31 and the one end 30 of the antenna 3 and overlaps this gap in the vertical direction. Therefore, in this case, the antenna 3, together with the circuit board (i.e., working together with the circuit board), is wrapped around the entire circumference of the wrist P (at least once) without any gaps in the circumferential direction, or in other words, it surrounds the wrist P at least once. In this specification, "without a gap in the circumferential direction" together with the circuit board means that the antenna 3 wrapped around the wrist P cooperates with the circuit board to create no gap in the circumferential direction (i.e., in the longitudinal direction), that is, the antenna 3 is wrapped around the wrist P together with the circuit board at least once, and does not mean that there is no gap in the circumferential direction between the antenna 3 and the circuit board and the belt 4 (or arm P).

[0033] The portion of antenna 3 disposed below rear surface 2b of device main body 2 is not only a necessary portion for fastening antenna 3 around wrist P, but also a portion corresponding to the excess length of antenna 3, which serves to absorb individual differences in the circumferential length of wrist P on which antenna device 1 is worn. For a person with a thin wrist P, the excess length of antenna 3 is long, while for a person with a thick wrist P, the excess length of antenna 3 is short. In particular, for people with thick wrists, it is thought that the above specific examples 1 and 3 will be applicable in many cases. In such cases, as described above, antenna 3 is wrapped around the entire circumference of wrist P together with the circuit board (i.e., in cooperation with the circuit board) along the outer periphery of wrist P without any gaps in the circumferential direction.

[0034] Next, Fig. 8 is a diagram showing the internal structure of the antenna device 1 shown in Fig. 2 together with the wrist P, Fig. 9 is a diagram showing the antenna 3 of the antenna device 1 in an unfolded state, and Fig. 9A is an enlarged partial view of the antenna 3. In these figures, the same reference numerals as in Fig. 2 indicate the same or corresponding parts. In Figs. 8 and 9, the locking portions 5 and 6 and the fastener 40 are omitted, and for convenience of illustration, the gaps between the respective parts are exaggerated.

[0035] 8 and 9, a circuit board 20 is disposed inside the device body 2 of the antenna device 1. Units for enabling the antenna device 1 to transmit and / or receive signals are appropriately mounted on the circuit board 20. One end 30 of the antenna body 3 is electrically connected to the circuit board 20. The antenna body 3 has a two-layer structure formed by laminating a ground layer 30G, which is disposed on the inner periphery and is made of a first metal layer constituting the ground, and an antenna layer 30A, which is disposed on the outer periphery and is made of a second metal layer constituting the antenna element.

[0036] An insulating layer 30S is attached to the entire antenna 3, i.e., to the inner and outer peripheral surfaces and end surface (i.e., the end surface of the other end 31). Furthermore, a similar insulating layer 30S is also interposed at the interface between the ground layer (first metal layer) 30G and the antenna layer (second metal layer) 30A. Therefore, as shown in Fig. 9A, the antenna 3 is formed with the first insulating layer 30S in order from the inner peripheral side (lower side in the figure) to the outer peripheral side (upper side in the figure). １ a ground layer 30G constituting the ground; and a second insulating layer 30S. ２ an antenna layer 30A constituting an antenna element; and a third insulating layer 30S. ３ The antenna 3 may be fabricated by laminating an insulating layer over the entire surfaces of the antenna layer 30A and the ground layer 30G, and integrating the two layers with an insulating layer interposed therebetween. In this case, if the same metal layer is used for the antenna layer 30A and the ground layer 30G, the structure can be further simplified and costs can be reduced.

[0037] 10 and 11 are overall perspective views of the circuit board 20 built into the device body 2 of the antenna device 1 and the antenna 3 electrically connected thereto, as viewed from the outer periphery side, Fig. 12 is an overall perspective view of the circuit board 20 and the antenna 3, as viewed from the inner periphery side, and Figs. 13 and 14 are overall perspective views of the antenna 3 alone. In Figs. 10 and 11, the third insulating layer 30S disposed on the outermost layer on the outer periphery side of the antenna 3 is ３ 12, the first insulating layer 30S disposed on the innermost layer on the inner periphery side of the antenna 3 is omitted. １ 14 shows the antenna 3 of Fig. 13 turned upside down. In each figure, the same reference numerals as in Figs. 1 to 9A indicate the same or corresponding parts.

[0038] The antenna 3 shown in Fig. 10 is constructed by flipping two insulating metal sheets 3A and 3B, one of which is placed over the other, and having the same shape and structure. The two insulating metal sheets 3A and 3B will now be described with reference to Figs. 13 and 14. In Fig. 13, the insulating layer 30S on the surface (the surface facing the page) of each insulating metal sheet 3A and 3B is １ , 30S ３ is shown omitted.

[0039] A pair of left and right mounting tabs 32, 33 are provided at one end of each insulating metal sheet 3A, 3B, positioned offset from the longitudinal centerline CL (i.e., asymmetrical). Each tab 32, 33 has a through-hole 32a, 33a into which a mounting screw (described later) is inserted for screw-fixing each insulating metal sheet 3A, 3B to the circuit board 20. Each insulating metal sheet 3A, 3B has a metal sheet 30A, 30G, respectively, on its front surface (see FIG. 13). Each metal sheet 30A, 30G has an antenna terminal (connection terminal) 30At and a ground terminal (connection terminal) 30Gt, respectively, at positions corresponding to the mounting tabs 33. The back surface of each metal sheet 30A, 30G (see FIG. 14) is formed with an insulating layer 30S. ２ It is coated with

[0040] To assemble the antenna 3, one of the two insulating metal sheets 3A and 3B (for example, the insulating metal sheet 3B) is turned upside down (see FIG. 14) and placed on the back side of the other insulating metal sheet 3A (see FIG. 13) (i.e., the insulating layers 30S of both insulating metal sheets 3A and 3B are placed on the back side of the other insulating metal sheet 3A). ２ (The insulating metal sheets 3A and 3B are overlapped with each other.) At this time, because the mounting tabs 32 and 33 of the insulating metal sheets 3A and 3B are offset with respect to the center line CL in the longitudinal direction, the mounting tabs 32 and 33 of the overlapping insulating metal sheets 3A and 3B are arranged as shown in FIG. 10 without overlapping with each other.

[0041] In this state, long nuts 23 are placed between the circuit board 20 and each of the insulating metal sheets 3A and 3B at positions corresponding to the through holes 32a and 33a, and mounting screws 24' inserted into the through holes 32a and 33a from the inner periphery of the antenna 3 are screwed into the nuts 23 (see FIG. 12 ). Meanwhile, multiple through holes (not shown) are formed at one end of the circuit board 20 at positions corresponding to the through holes 32a and 33a of the insulating metal sheets 3A and 3B, and mounting screws 24 inserted into these through holes from the outer periphery of the antenna 3 are screwed into the corresponding nuts 23 (see FIG. 10 ). With this configuration, the insulating metal sheets 3A and 3B are screwed to the circuit board 20. In this manner, the antenna terminal 30At of the metal sheet 30A is electrically connected to the circuit board 20, and the ground terminal 30Gt of the metal sheet 30G is electrically connected to the circuit board 20, and a strong connection is achieved by screwing (note that fastening by means other than screwing may also be used). Thereafter, the circuit board 20 is housed inside the device body 20 .

[0042] Next, the effects of this embodiment will be described with reference to Figs. 15 and 16. Here, a work site where a person (worker) and a robot work together is assumed. Fig. 15 shows an example in which the antenna device 1 is used as a transmitting means, and the antenna device 1 is worn on the wrist of the worker, for example. In the figure, the circular area indicated by the symbol Ef indicates the (alternating current) electromagnetic field formed by the antenna device 1. The electromagnetic field Ef is formed evenly in all directions of 360 degrees around the antenna device 1. Also, the symbol T １ , T ２ indicates a detection object (detection target) such as a robot as a receiving means.

[0043] While working with a collaborative robot, the robot T is in the area of ​​the electromagnetic field Ef of the antenna device 1 attached to the wrist of the worker. １ When the robot T １ The receiving means on the side measures the reception strength, and based on the measurement results, the strength of the radio wave (power density) attenuates in inverse proportion to the square of the distance from the antenna, and the robot T １ The distance d between the robot T and the antenna device 1 is calculated. ２ Since the antenna device 1 is located outside the electromagnetic field Ef of the robot T ２ It is not detected by the receiving means on the other side.

[0044] In FIG. 15, contrary to the above example, the antenna device 1 may be attached to a robot and may detect a person as an object to be detected (object to be detected).

[0045] 16 shows an example in which the antenna device 1 is used as a receiving means. The antenna device 1 is worn on the wrist of a worker, for example, and a detection region Df is formed around the antenna device 1, evenly extending in all directions of 360 degrees. １ , T １ ', T ２ indicates a detection object (detection target) such as a robot as a transmitting means.

[0046] During work with a collaborative robot, the robot T is within the detection area Df of the antenna device 1 attached to the worker's wrist.１ When the robot T １ The received strength of the radio wave emitted by the transmitting means on the side is measured, and based on the measurement result, the strength of the radio wave (power density) is attenuated in inverse proportion to the square of the distance from the antenna, and the robot T １ The distance d between the robot T and the antenna device 1 is calculated. １ Similarly, for ', robot T １ The distance d' between the robot T' and the antenna device 1 is calculated. ２ Since the robot T is located outside the detection area Df of the antenna device 1, ２ is not detected.

[0047] As described above, according to this embodiment, the antenna 3, either alone or together with the device main body 2, can be wrapped around the entire circumference of the wrist P without any gaps in the circumferential direction, so that an electromagnetic field and detection area with uniform radio wave intensity can be formed in all directions (i.e., in all circumferential directions) 360 degrees around the antenna 3. This makes it possible to prevent the radio wave intensity from changing depending on the orientation of the attachment such as the wrist P or the orientation of the object to be detected, and as a result, it becomes possible to accurately and reliably detect the position of the attachment or the object to be detected.

[0048] According to this embodiment, the antenna body 3 is constructed by turning one of two insulating metal sheets over and overlapping the other, so that only one type of metal sheet is required, thereby reducing manufacturing costs.

[0049] According to this embodiment, by arranging the belt 4 on the inner periphery of the antenna 3 (preferably by making the belt 4 wider than the antenna 3), the following effects are achieved: i) By preventing the antenna 3 from coming into direct contact with the wrist P, the risk of electric shock due to a malfunction can be avoided. ii) The generation of an electric field between the antenna layer 30A and the ground layer 30G suppresses radio wave absorption by the human body, achieving uniform radio wave intensity in the surrounding area. iii) The rigidity of the belt 4 absorbs pressure generated toward the outside of the wrist when the hand, wrist, or arm is moved while wearing the device. This prevents direct pressure from acting on the antenna 3, improving durability. iv) Because the belt 4, not the antenna 3, comes into direct contact with the skin, if the belt 4 becomes soiled, it can be separated from the antenna 3 and cleaned alone, improving convenience. Furthermore, even when sharing the antenna device 1 with others, it is hygienic for each person to have and wear a private belt 4. Furthermore, using belts with specific colors depending on the type of collaborative robot facilitates thorough safety management.

[0050] [Second Example] In the first example, the other end 31 of the antenna 3 is disposed below the rear surface 2b of the device body 2 (see FIG. 8), but the application of the present invention is not limited to this. Figure 17 shows a wearable antenna device according to a second example of the present invention, and in this figure, the same reference numerals as in the first example indicate the same or corresponding parts.

[0051] 17 , in the wearable antenna device 1 according to the second embodiment, the other end 31 of the antenna 3 extends to a position where it abuts against the one end 21 of the device body 2 and is not disposed below the rear surface 2b of the device body 2. Although a gap is formed between the other end 31 of the antenna 3 and the one end 21 of the device body 2 in the figure, this is provided for convenience of illustration; in this embodiment, the other end 31 of the antenna 3 abuts against the one end 21 of the device body 2, and no gap is formed between the other end 31 and the one end 21. Furthermore, in order to maintain the state in which the other end 31 abuts against the one end 21, a locking portion for locking the other end 31 to the one end 21 may be provided. The locking portion may, for example, be a recess or a tapered slit formed in the one end 21, and the other end 31 may be fitted into the recess or slit to lock it.

[0052] In the second embodiment, as in the first embodiment, the antenna 3 is wrapped around the entire circumference of the wrist P together with the device main body 2 without any gaps in the circumferential direction, so that an electromagnetic field and detection area with uniform radio wave intensity can be formed in all directions (360 degrees) around the antenna 3. This makes it possible to prevent the radio wave intensity from changing depending on the orientation of the attachment such as the wrist P or the orientation of the object to be detected, and as a result, it becomes possible to accurately and reliably detect the position of the attachment or the object to be detected.

[0053] 17A shows a schematic diagram of a modification of the second embodiment. In this modification, the other end 31 of the antenna 3 passes through a slit formed in one end 21 of the device body 2 and extends to the inside of the device body 2. The other end 31 is disposed inside the device body 2, for example, above a circuit board (not shown).

[0054] In this case, too, the antenna 3, together with the device main body 2, can be wrapped around the entire circumference of the wrist without any gaps in the circumferential direction, so that an electromagnetic field and detection area of ​​uniform radio wave intensity can be formed in all directions (360 degrees) around the antenna 3, thereby achieving the same effects as in the first embodiment.

[0055] [Third Embodiment] In the first embodiment, the other end 31 of the antenna 3 is disposed below the rear surface 2b of the device body 2 (see Figure 8), but the application of the present invention is not limited to this. Figure 18 shows a wearable antenna device according to a third embodiment of the present invention, in which the same reference numerals as in the first embodiment indicate the same or corresponding parts.

[0056] 18 , in the wearable antenna device 1 according to the third embodiment, the other end 31 of the antenna 3 passes above the upper surface (surface) 2a of the device body 2 and extends to a position beyond one end 30 of the antenna 3. As a locking portion for locking the other end 31 to the device body 2, for example, it is conceivable to use a hook-and-loop fastener or the like to detachably lock the other end 31 to the upper surface 2a of the device body 2.

[0057] In the third embodiment, as in the first embodiment, the antenna 3 is wound alone around the entire circumference of the wrist P without any gaps in the circumferential direction, so that an electromagnetic field and detection area with uniform radio wave intensity can be formed in all directions (360 degrees) around the antenna 3. This makes it possible to prevent the radio wave intensity from changing depending on the orientation of the attachment such as the wrist P or the orientation of the object to be detected, and as a result, it becomes possible to accurately and reliably detect the position of the attachment or the object to be detected.

[0058] 18A shows a schematic diagram of a modification of the third embodiment, in which the other end 31 of the antenna 3 is disposed above the top surface 2a of the device body 2 and is anchored to the top surface 2a.

[0059] In this case, the antenna 3, together with the device main body 2, is wrapped around the entire circumference of the wrist without any gaps in the circumferential direction, so that an electromagnetic field and detection area of ​​uniform radio wave intensity can be formed in all directions (360 degrees) around the antenna 3, thereby achieving the same effects as those of the first embodiment.

[0060] [Fourth Example] In the first example, one end 30 of the antenna body 3 is a fixed end fixed to a circuit board inside the device main body 2, and the other end 31 is a free end, but the application of the present invention is not limited to this.

[0061] 19 and 19A are diagrams for explaining a wearable antenna device according to a fourth embodiment of the present invention, with Fig. 19 showing the wearable antenna device wrapped around a wrist P, and Fig. 19A being an exploded view of the antenna body of the wearable antenna device in an exploded state. In these figures, the same reference numerals as those in the first embodiment indicate the same or corresponding parts.

[0062] In this fourth embodiment, the central portion of the antenna 3 in the longitudinal direction is a fixed end fixed to the circuit board 20 inside the device body 2, and both longitudinal ends 31A, 31B of the antenna 3 are free ends. In this case, by overlapping the free ends 31A, 31B, the antenna 3, together with the circuit board (i.e., working together with the circuit board), is wrapped around the entire circumference of the wrist P along the outer periphery of the wrist P without any gaps in the circumferential direction.

[0063] In the fourth embodiment, in the overlapping portion of each free end 31A, 31B of the antenna 3 (see FIG. 19 ), the [first insulating layer, ground layer, second insulating layer, antenna layer, third insulating layer] at the outer free end 31B is superimposed on the [first insulating layer, ground layer, second insulating layer, antenna layer, third insulating layer] at the inner free end 31A from the inner periphery toward the outer periphery (from the top to the bottom of the overlapping portion in the figure). Therefore, in this case, the ground layer at the outer free end is located immediately above the antenna layer at the inner free end, so the overlapping of the antennas 3 has almost no effect on the radio wave intensity, and is at a level that can be ignored in practical use. This also applies to the overlapping portion in the above-mentioned specific example 2 (see paragraph

[0030] ) described in the first embodiment.

[0064] [Fifth Example] In the first example, one end 30 of the antenna body 3 is a fixed end fixed to a circuit board inside the device main body 2, and the other end 31 is a free end, but the application of the present invention is not limited to this.

[0065] 20 and 20A show a wearable antenna device according to a fifth embodiment of the present invention, with Fig. 20 showing the wearable antenna device wrapped around a wrist P and Fig. 20A illustrating the wrapping operation when wrapping the wearable antenna device around the wrist P. These figures show parts that are the same as or equivalent to those of the first embodiment.

[0066] In this fifth embodiment, the longitudinal center portion of the antenna body 3 is a fixed end fixed to the circuit board 20 inside the device main body 2, and in this state the antenna body 3 is in a seamless, endless state, so that the antenna body 3 has no free ends.

[0067] In this case, the antenna 3, together with the circuit board (i.e., working in cooperation with the circuit board), is wrapped around the entire circumference of the wrist P without any gaps in the circumferential direction along the outer periphery of the wrist P. In the example shown in Fig. 20, the antenna 3 is made of a stretchable member. Therefore, when wearing the antenna device 1 on the wrist P, as shown in Fig. 20A, the antenna 3 in an endless state is spread outward in the radial direction (i.e., its diameter is expanded), and then the antenna 3 is worn in this state over the belt 4 wrapped around the wrist P.

[0068] [Sixth Example] In the first example, the antenna body 3 shown in FIG. 10 is formed by flipping one of two insulating metal sheets 3A, 3B having the same shape and structure over the other, but the application of the present invention is not limited to this.

[0069] When one of the two insulating metal sheets 3A, 3B is turned over and placed on the other, a silicone sheet may be sandwiched between the two insulating metal sheets 3A, 3B. This configuration further increases the distance between the antenna layer 30A and the ground layer 30G, thereby further separating the layers, thereby reducing the effect of parasitic capacitance generated between the antenna layer 30A and the ground layer 30G. Alternatively, a gap (air layer) may be formed in the silicone sheet to provide insulation through the air.

[0070] Furthermore, the two insulating metal sheets 3A, 3B having the same shape and structure may not be completely identical, and the width of either the antenna layer 30A or the ground layer 30G of the insulating metal sheets 3A, 3B may be narrowed. In this case, the surface area of ​​the antenna layer 30A or the ground layer 30G can be reduced to reduce the effect of parasitic capacitance occurring between the antenna layer 30A and the ground layer 30G. Note that, because the antenna layer affects the strength of radio waves, it is preferable to reduce the effect of parasitic capacitance while maintaining the strength of radio waves by narrowing the width of the ground layer 30G without narrowing the width of the antenna layer 30A.

[0071] Seventh Embodiment In the first embodiment, as shown in FIG. 9A, the antenna 3 is formed by sequentially depositing a first insulating layer 30S from the inner circumferential side (lower side in the drawing) to the outer circumferential side (upper side in the drawing). １ a ground layer 30G constituting the ground; and a second insulating layer 30S. ２ an antenna layer 30A constituting an antenna element; and a third insulating layer 30S. ３ However, the application of the present invention is not limited to this.

[0072] 21 and 21A show a wearable antenna device according to a seventh embodiment of the present invention, with Fig. 21 showing the wearable antenna device wrapped around a wrist P and Fig. 21A being an enlarged partial view of the antenna 3. In these figures, the same reference numerals as those in the first embodiment indicate the same or corresponding parts.

[0073] 21 and 21A, when the ground layer is disposed on the outer periphery side and the antenna layer is disposed on the inner periphery side within the substrate 20, the outermost side becomes the ground layer when considering the entire device body 2. Therefore, the antenna 3 is formed by insulating the first insulating layer 30S in order from the inner periphery side to the outer periphery side. １ an antenna layer 30A constituting an antenna element; and a second insulating layer 30S. ２ a ground layer 30G constituting the ground; and a third insulating layer 30S. ３ When these layers are laminated together, the arrangement order of the antenna layer and the ground layer can be made uniform over the entire circumference, thereby realizing more uniform radio wave intensity.

[0074] In addition, when the outer periphery of the substrate 20 is an antenna layer, the antenna body 3 can be arranged in the same order as in the first embodiment, thereby aligning the arrangement order of the antenna layer and ground layer on the substrate 20 and the antenna body 3.

[0075] In addition, the first insulating layer 30S １ Alternatively, a silicon sheet may be added to the inner periphery of the antennas 3. The silicon sheet may be disposed over the entire circumferential direction, or may be disposed only in locations where there is a high possibility of overlapping between antennas 3. Furthermore, the configuration for reducing the influence of parasitic capacitance, as explained in the sixth embodiment, may be applied to this seventh embodiment.

[0076] [Other Modifications] In the first to seventh embodiments and their modifications, examples have been shown in which only the antenna 3 and the device main body 2 are used as an antenna, but the application of the present invention is not limited to this. For example, it is also possible to configure a different type of antenna by connecting a portion of the antenna 3 to an external conductor via a connector or the like. In this case, for example, if the wearer wears clothing configured using a stretchable conductive sheet or the like as the external conductor, the clothing itself can be used as an antenna capable of outputting radio waves.

[0077] [Other Application Examples] In the first to fifth embodiments and each of the modifications, the wearable antenna device according to the present invention is described as being worn on the wrist P of a person such as a worker, but the application of the present invention is not limited to this. The antenna device may also be worn on other parts of the person's body (for example, the forearm or upper arm excluding the wrist).

[0078] Furthermore, the wearable antenna device according to the present invention may be mounted on a robot arm, or may be mounted on, for example, the bumper of an automatic transport robot such as an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot). In this specification, these are collectively referred to as a part of the robot. When applied to an automatic transport robot, the antenna device may be mounted on an obstacle such as a pillar or wall inside a warehouse or building instead of being mounted on the bumper of the robot. In either case, the antenna device can detect when the automatic transport robot is approaching an obstacle.

[0079] [Other Embodiments and Modifications] The above-described embodiments and modifications should be considered in all respects as merely illustrative of the present invention, and not limiting. Those skilled in the art to which the present invention pertains will be able to devise various modifications and other embodiments that incorporate the principles of the present invention, even if not expressly described herein, without departing from the spirit and essential characteristics of the present invention, when taking into account the teachings set forth above.

[0080] As described above, the present invention is useful for wearable antenna devices, and is particularly suited to wearable antenna devices for accurately and reliably detecting the position of an object to be worn or a detected object.

[0081] 1: Antenna device (wearable antenna device) 2: Device body 20: Circuit board 2b: Back surface 3: Antenna body 3A, 3B: Insulating metal sheet 30: One end (fixed end) 31: Other end (free end) 30A: Antenna layer (second metal layer) 30At: Antenna terminal (connection terminal) 30G: Ground layer (first metal layer) 30Gt: Ground terminal (connection terminal) 30S: Insulating layer 30S １ : First insulating layer 30S ２ : Second insulating layer 30S ３ : Third insulating layer 4: Belt 5, 6: Fastening part P: Wrist (wearing object)

Claims

1. A wearable antenna device that can be attached to an object to detect the presence of the object using electromagnetic properties, comprising: a device main body that incorporates a circuit board; and an antenna body that is at least partially electrically connected to the circuit board as a fixed end and that can be wrapped around the entire circumference of the object without gaps in the circumferential direction along the outer periphery of the object, either together with the device main body or alone.

2. A wearable antenna device according to claim 1, wherein the part of the antenna body is one end of the antenna body, the one end being the fixed end electrically connected to the circuit board, and the other end of the antenna body being a free end, and when the antenna body is wrapped around the outer periphery of the object to be attached, the antenna body on the other end side passes through the back side of the device body and can be engaged with the device body.

3. A wearable antenna device according to claim 1, further comprising a belt arranged on the inner periphery of the antenna body, which is detachably attached to the device body via a locking portion, and which can be wrapped around the entire circumference of the object to be worn without any gaps in the circumferential direction along the outer periphery of the object to be worn, and the antenna body arranged on the outer periphery of the belt can be detachably attached to the locking portion.

4. A wearable antenna device according to claim 1, characterized in that the antenna body has a first metal layer arranged on the inner periphery and a second metal layer arranged on the outer periphery, the first metal layer constituting either the ground or the antenna element, and the second metal layer constituting the other of the ground or the antenna element.

5. A wearable antenna device according to claim 1, characterized in that the antenna body is composed of a first metal layer arranged on the inner periphery, a second metal layer arranged on the outer periphery, and an insulating layer interposed between the first and second metal layers and covering the entire antenna body, the first metal layer constituting either the ground or the antenna element, and the second metal layer constituting the other of the ground or the antenna element.

6. A wearable antenna device according to claim 1, characterized in that the antenna body is constructed by laminating, from the inner periphery toward the outer periphery, a first insulating layer, a first metal layer, a second insulating layer, a second metal layer, and a third insulating layer, the first metal layer constituting either the ground or the antenna element, and the second metal layer constituting the other of the ground or the antenna element.

7. A wearable antenna device according to claim 1, characterized in that the antenna body is constructed by stacking two insulating metal sheets, each metal sheet covered with an insulating layer, and the metal sheet of the insulating metal sheet arranged on the inner periphery constitutes either the ground or the antenna element, and the metal sheet of the insulating metal sheet arranged on the outer periphery constitutes the other of the ground or the antenna element.

8. A wearable antenna device according to claim 7, wherein a connection terminal electrically connected to the circuit board is provided at one end of the insulating metal sheet at a position offset from the center line of the insulating metal sheet in the longitudinal direction, one of the insulating metal sheets is turned over and placed on the other of the insulating metal sheets, and the connection terminal of the insulating metal sheet located on the inner periphery constitutes one of the ground terminal or antenna terminal, and the connection terminal of the insulating metal sheet located on the outer periphery constitutes the other of the ground terminal or antenna terminal.

9. The wearable antenna device according to claim 1, wherein the object to which the antenna device is attached is a part of an operator's arm or a robot.

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