KR20170075572A - Based induction -based wireless devices and how its wireless induction - Google Patents

Abstract

The present invention relates to a point-based wireless inductive device applying an unmanned transportation vehicle on the spot using RFID and NFC technology with a path following technology using a wireless induction method free of path resetting, and a wireless induction method thereof. According to an aspect of the present invention, there is provided an RFID tag attached to a base station; And an AGV that attaches an RFID reader that recognizes the RFID tag on a floor surface, attaches one or more RFID tags to the base to determine an AGV posture at the base, Determining a correspondence between the AGV RFID readers to match the AGV posture with the path, and setting a path to the RFID tag attached to the base point; A moving step of moving an RFID reader recognizing the RFID tag to an AGV attached to a floor surface to the base point; Attaching one or more RFID tags to the base point to determine the posture of the AGV at the base point, determining the correspondence between any one of the RFID tags and the AGV RFID Reader, Step control of the unmanned vehicle using FID technology, and RFID has advantages of semi-permanent use, on-off control, and high data reliability. Therefore, it is applied to the distribution logistics information system with pass-through technology that can be utilized for AGV with the advantage of semi-permanent lifetime, high control reliability, and freedom of path change due to low initial cost and maintenance cost by combining RFID with pass- It can provide business innovation and competitiveness.

Description

[0001] The present invention relates to a base station based wireless inductive device and a wireless induction method thereof,

The present invention relates to a path following technology in which a wire induction method of a magnetic method is applied to a wireless induction method, more specifically, a pass following technology that uses a wireless induction method free of path resetting, To a point-based wireless inductive device applying an unmanned vehicle in the field, and a wireless induction method thereof.

In the industrial field, auto guided vehicles are used to reduce labor costs, increase productivity, and automate the transportation of goods. One of the key technologies for unmanned vehicles is pass-through technology.

In the conventional technique, Korean Patent Registration No. 10-0160696 entitled "Method for changing direction of unmanned vehicle" is used to detect a traveling path to be driven after rotation using a traveling sensor, No. 10-0189879 entitled " Method and Apparatus for Driving a Curve of an Unmanned Carriage Vehicle ", it is necessary to install a command switching device by allowing curved traveling by using traveling route data from a sensing antenna. And the unmanned transport vehicle control program is shortened, so that the unmanned transportation system using the unmanned transport vehicle can reduce the total amount of the unmanned transportation system.

Currently, many passengers use passive tracking of unmanned vehicles in a magnetic way. The magnetic system is a wired system and relatively simple to control. However, it is costly in the initial construction and buries the magnetic line in the underground.

The wireless induction control system uses a wireless induction device such as laser navigation, ceiling navigation, and environment recognition navigation to control wireless induction, And a method using a natural landmark in which an artificial landmark or an artificial landmark is not attached is used to measure the absolute coordinates of the moving object and to transmit the positional information from the controller.

Conventionally, the travel control of an unmanned vehicle or a mobile robot using a wireless inductive device mainly uses a point control method. In the point control method, a target point is set and a distance and an error angle from the center of the moving object are calculated and controlled , And the error angle increases sharply as the moving object approaches the target point.

Accordingly, the present invention has been proposed in order to solve such a problem. As a typical example of wireless communication technology, an AGV (Automated Guided Vehicle) is used as a method of attaching an RFID to a base by using a technology such as RFID and NFC It is an object of the present invention to provide a pass-following technique in which a required movement route is formed and used on an unmanned transportation vehicle on the ground based on the base.

According to an aspect of the present invention, there is provided an RFID tag attached to a base station. And an AGV that attaches an RFID reader that recognizes the RFID tag on a floor surface, attaches one or more RFID tags to the base to determine an AGV posture at the base, The correspondence between the AGV RFID Reader can be grasped and the AGV posture can be matched to the path.

In such a point-based wireless inductive device, the RFID tag and the RFID reader may be matched to each other such that the RFID tag matches the AGV.

According to an aspect of the present invention, there is provided an RFID tag comprising: a path setting step of setting a path by an RFID tag attached to a base; A moving step of moving an RFID reader recognizing the RFID tag to an AGV attached to a floor surface to the base point; Attaching one or more RFID tags to the base point to determine the posture of the AGV at the base point, determining the correspondence between any one of the RFID tags and the AGV RFID Reader, Step < / RTI >

In such a strong point-based wireless induction method, the posture matching step may be such that the RFID tag and the RFID reader coincide with each other such that the RFID tag matches the AGV.

According to the base point based wireless inductive device and its wireless inductive method, the path of the unmanned vehicle is controlled using the RFID technology, and the RFID is advantageous in that it can be used semi-permanently, can be controlled on and off, and has high data reliability. Therefore, it is applied to the distribution logistics information system with pass-through technology that can be utilized for AGV with the advantage of semi-permanent lifetime, high control reliability, and freedom of path change due to low initial cost and maintenance cost by combining RFID with pass- It can provide business innovation and competitiveness.

FIG. 1 illustrates a free-point type RFID according to a preferred embodiment of the present invention; FIG.
Figure 2 illustrates each RFID according to a preferred embodiment of the present invention;
Figure 3 illustrates an AGV platform in accordance with a preferred embodiment of the present invention;
4 is a schematic diagram of a system according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to FIGS. 1 to 4. FIG. Meanwhile, it is known that the workers related to the present invention such as the position sensing and driving technology related to the AGV, the command system configuration based on the wireless communication and the technology related to the tracking motion algorithm, and the AGV manufacturing technology, The illustrations and details of what is commonly known to those skilled in the art are omitted and shown and described with a focus on the relevant portions of the present invention.

FIG. 1 is a diagram illustrating a free-point type RFID according to a preferred embodiment of the present invention. 2 is a view showing each RFID according to a preferred embodiment of the present invention.

1, the present invention provides a point-to-point wireless path following technology as shown in FIG. 1, and it is intended to provide a path following logic that is arranged in a bell-point type rather than a conventional tiled type configuration as shown in FIG.

The base point based wireless inductive device according to the preferred embodiment of the present invention is comprised of a base point RFID tag 13 and an AGV 11.

And an AGV 11 attached to the bottom surface of the RFID tag 13 and an RFID reader for recognizing the RFID tag 13. In order to determine the attitude of the AGV 11 at a base point, one or more RFID tags 13 are attached to a base point, and the correspondence between any one of the RFID tags 13 and the AGV RFID Reader is determined, To match the path.

In such a point-based wireless inductive device, the RFID tag 13 and the RFID reader coincide with each other so that the RFID tag 13 is aligned with the AGV 11 in one or more positions.

Meanwhile, the base point-based radio guidance method according to the preferred embodiment of the present invention comprises a path setting step, a moving step, and a posture matching step.

In this point-based wireless guidance method, the AGV 11, which is attached to the bottom surface of the RFID reader 13, recognizes the RFID tag 13 with a path setting step of setting the path to the RFID tag 13 attached to the base, As shown in FIG. In order to determine the attitude of the AGV 11 at the base point, one or more RFID tags 13 are attached to the base point and the correspondence between any one of the RFID tags 13 of the RFID tags 13 and the AGV RFID Reader is determined, 11) Have a posture matching step that matches the posture to the path.

In such a point-based radio guidance method, the RFID tag 13 and the RFID reader are matched with each other so that the RFID tag 13 and the AGV 11 coincide with each other.

3 is a diagram illustrating an AGV platform according to a preferred embodiment of the present invention. 4 is a schematic diagram of a system according to a preferred embodiment of the present invention.

The present invention utilizes UART (Serial) communication with Anuno UNO, which measures the position and speed recognition of Arduino Mega through RFID, motor control UNU (Arduino UNO) and optical mouse (Optical Mouse) And the connection terminal (Raspberry Pi) feeds back the rotation speed of each motor and the position and posture of the current AGV (11) through the Arduino mega, and forms a PID control through the Python code, I can do it.

The ID of the RFID tag (13) of each base station coming in through the RFID reader machine is identified and pass-following is performed. The protocol is designed for each communication so as to increase the reliability of communication.

Therefore, such a point-based wireless inductive device and its wireless inductive method have advantages of controlling the path of an unmanned vehicle using RFID technology, enabling semi-permanent use of RFID, on-off control, and high data reliability. Therefore, by combining passive RFID with pass-through technology that can be utilized for AGV (11) with advantages of semi-permanent lifetime, high control reliability, and freedom of path change due to low initial cost and maintenance cost, It can be used to provide management innovation and competitiveness.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments It will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the present invention.

11: AGV
13: RFID Tag

Claims (4)

RFID tag attached to base station; And
And an AGV attaching an RFID reader recognizing the RFID tag on a floor surface, attaching one or more RFID tags to the base to determine an AGV posture at the base, Wherein the correspondence between the AGV RFID reader and the AGV posture is matched to the path.
The method according to claim 1,
Wherein the RFID tag and the RFID reader coincide with each other so that the RFID tag matches the AGV.
A path setting step of setting a path by an RFID tag attached to a base point;
A moving step of moving an RFID reader recognizing the RFID tag to an AGV attached to a floor surface to the base point;
Attaching one or more RFID tags to the base point to determine the posture of the AGV at the base point, determining the correspondence between any one of the RFID tags and the AGV RFID Reader, Based wireless guidance method.
The method of claim 3,
Wherein the position matching step matches the RFID tag with the RFID reader so that the RFID tag matches the AGV.

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