KR101194926B1 - Moving apparatus having recognizing function for identification tag and rail with identification tag and rail system thereof - Google Patents

Abstract

The present invention provides a moving body that can move on the rail on which the identification tag is installed and recognize the identification tag to grasp the current location information and the moving distance information. Specifically, the rail moving body having an identification tag recognition function of the present invention includes a driving unit moving along the rail; A tag recognition unit wirelessly recognizing identification information of an identification tag attached to the rail; And a controller configured to calculate its own location information based on the identified identification tag location information based on the recognized identification information. And a movement distance calculating unit configured to calculate the movement distance information of the driving unit by sensing the wheel rotation amount of the driving unit, wherein the controller corrects its own position information by using the movement distance information and the identification tag position information. It features.

Description

MOVING APPARATUS HAVING RECOGNIZING FUNCTION FOR IDENTIFICATION TAG AND RAIL WITH IDENTIFICATION TAG AND RAIL SYSTEM THEREOF}

The present invention relates to a moving body moving along a rail installed in a specific space and monitoring various facilities around the rail, a rail providing a moving path to the moving object, and a rail system thereof.

The present invention is derived from a study conducted as part of the U-Eco City project of the Ministry of Land, Transport and Maritime Affairs of the Korea Institute of Construction and Transportation Technology Evaluation [Task Management No .: 07-High-Tech City-A01, Project Name: Intelligent Urban Management] . Advanced control technology].

In general, the condition of the facility is monitored at regular intervals to determine whether the fire, normal operation of the facility, such as gas pipe, communication line, power line, heating tube installed in the underground space.

In order to monitor these facilities, it has been common to install various sensors and cameras such as temperature and fire sensors in underground spaces. By the way, such conventional various sensors and cameras can only monitor the facilities located around the place where they are installed. Therefore, there is a problem that the administrator can not monitor the status of the facilities installed in the other places where various sensors and cameras are not installed in the underground space.

Another conventional technique for solving the problems of the conventional technique is Korea Patent Publication No. 2001-0094667. Another conventional technique is to mount a camera capable of vertical and horizontal positioning control of the wireless sensing robot and to mount the wireless sensing robot on a rail installed under the bridge that is difficult for human access. Another conventional technique allows the user to monitor the condition of various facilities while moving the wireless probe robot to a desired position along the rail. Therefore, if the radio probe robot is installed only the rail had the advantage of monitoring the status of various facilities while moving freely to any place, but has the following problems.

Other conventional techniques do not provide wireless location information on the current location of the robot or the distance traveled from a specific reference point to the present. Therefore, another conventional technique is to visually check the position of the wireless exploration robot by visually confirming the surrounding features included in the received image received from the image of the wireless exploration robot through the camera installed in the wireless exploration robot. Should be. Alternatively, the user must visually observe the wireless exploration robot to identify the location of the wireless exploration robot and remotely control the wireless exploration robot.

Such another conventional technology has a problem in that it is difficult to accurately determine which facility the image or measurement value provided by the wireless probe robot actually corresponds to. Due to this problem, there is a problem that the user is difficult to move the wireless navigation robot to any particular position.

In order to solve the above problems, the present invention is to provide a moving body that can grasp the current position information and moving distance information by moving on the rail on which the identification tag is installed and recognizing the identification tag.

In addition, the present invention is to provide a rail provided with an identification tag that provides the current position information to the moving object moving along the movement path.

In addition, to provide an identification tag for providing a current position information to the moving object moving along the movement path of the present invention and a rail system provided with the identification tag.

Moving object having an identification tag recognition function of the present invention is a drive unit for moving along the rail; A tag recognition unit wirelessly recognizing identification information of an identification tag attached to the rail; And a controller configured to calculate its own location information based on the identified identification tag location information based on the recognized identification information. And a movement distance calculating unit configured to calculate the movement distance information of the driving unit by sensing the wheel rotation amount of the driving unit, wherein the controller corrects its own position information by using the movement distance information and the identification tag position information. It features.

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Meanwhile, the identification information of the present invention includes a serial number of the identification tag, and includes a list of separation distance information from a reference point for each serial number of identification tags installed on the rail or distance information from a neighboring identification tag. The apparatus may further include a database in which the identification tag location information is stored, and the control unit searches the serial number of the identification tag in the database to confirm the identification tag location information.

On the other hand, the identification information of the present invention includes identification tag position information including the distance information from the reference point on the rail or the distance information from the neighboring identification tag, the control unit is based on the identification information Check the tag location information.

Meanwhile, the identification information of the present invention further includes separation distance information between the identification tag and a charging station separately installed on the rail, and a battery; And a charging unit electrically contacting the charging station and receiving the charging power from the charging station to charge the battery, wherein the controller is further configured to identify the charging station and the charging station when the charging station contacts each other. The moving speed of the driving unit is reduced to stop the moving body according to the distance information from the tag.

On the other hand, the present invention further includes a wireless communication unit for wirelessly transmitting the location information of its own to the server through an access point separately installed around the rail.

On the other hand, the identification information of the present invention includes the serial number of the identification tag, by wirelessly transmitting the serial number of the identification tag included in the recognized identification information, the identification tag location information stored in its database And a wireless communication unit for causing the server to check the identification tag location information based on the serial number of the identification tag.

Meanwhile, the rail provided with the identification tag of the present invention recognizes the identification information to the moving object including the identification information so that the moving object has its own location information based on the identification tag position information identified based on the recognized identification information. To yield.

On the other hand, the identification information of the present invention includes the serial number of the identification tag, so that the mobile unit confirms the identification tag position information through the position information for each serial number of the identification tag stored in its database, or the identification information The identification tag includes position information including the distance information between the identification tag and the reference point of the rail or the distance information of the neighboring identification tag, the moving object to the identification tag position information based on the identification information Have them check.

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Meanwhile, a rail system provided with an identification tag of the present invention includes a rail which is connected to a plurality of rails to provide a moving path to the moving body; Identifying the identification information to the moving object installed on the rail, the identification information is included, thereby identifying the mobile unit to calculate its own position information based on the identification tag position information identified based on the identification information. tag; And a charging station coupled to one side of the rail and in contact with the movable body and supplying charging power, wherein the identification information includes spaced distance information between the charging station and the identification tag.

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Meanwhile, the present invention further includes an access point installed around the rail to support wireless communication between the mobile body and a separate server.

On the other hand, the identification information of the present invention includes the serial number of the identification tag, so that the mobile or the server to identify the identification tag location information through the location information for each serial number of the identification tag stored in its database, or The identification information includes identification tag position information including the separation distance information between the identification tag and the reference point of the rail or the separation distance information between neighboring identification tags, and the mobile unit identifies the identification tag based on the identification information. Check the location information.
Meanwhile, the identification tag of the present invention is installed at a position facing the tag recognition unit of the mobile unit so as to face the tag recognition unit installed in the front of the mobile unit and wirelessly communicate the unique information.

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The moving object according to the present invention recognizes the identification information of the identification tag installed at a predetermined distance interval on the rail to calculate the moving distance information or the current position information of the moving object. Therefore, the user can determine the exact moving distance or the current position of the moving object.

In addition, the moving body according to the present invention corrects the moving distance information or the current position information of the driving unit calculated by the wheel rotation amount in the moving distance calculating unit by using the moving distance information or the current position information obtained from the identification tag. Therefore, there is an advantage that it is possible to more accurately correct the movement distance information or the current position information obtained through the general wheel rotation amount.

In addition, the moving body according to the present invention reduces the moving speed of the drive unit so that the charging unit is stopped in accordance with the separation distance information with the charging station when the charging unit contacts each other. Therefore, there is an advantage that it is possible to prevent mechanical damage occurring during mutual contact for charging between the mobile unit and the charging station.

Additionally, the present invention wirelessly transfers moving distance information or current location information of the driving unit to the server. Therefore, there is an advantage in that the server can systematically manage the moving distance and the current position of the drive unit.

In addition, the rail system according to the present invention provides identification information using an identification tag installed at a predetermined distance to a moving object moving along the rail. This has the advantage that the moving body moving along the rail can determine the correct position information thereof.

In addition, the rail system according to the present invention is installed on the rear of the rail to communicate the identification information facing the tag recognition unit installed on the front of the identification tag. Accordingly, the identification tag can be easily mounted on the rail without the overall modification of the rail, so that the general rail system can be easily upgraded to the rail system according to the present invention.

Preferred embodiments according to the present invention are for the purpose of illustration, and those skilled in the art may make various modifications, changes, substitutions and additions through the spirit and scope of the appended claims, and such modifications may be made by the following claims. It should be seen as belonging to a range.

1 is a block diagram showing the overall configuration of a rail moving system according to the present invention.
Figure 2 is a block diagram showing the configuration of a moving body according to the present invention.
3 is a block diagram showing a configuration of a rail system according to the present invention.
4 is a block diagram showing the configuration of a server according to the present invention;
5 is a perspective view showing a state in which the cover is separated from the moving body according to the present invention.
Figure 6 is a perspective view showing the configuration of the first drive module according to the present invention.
7 is a perspective view showing a state in which the first drive module and the second drive module according to the present invention is coupled by the rotation support member and coupled to the coupling portion of the main body.
8 is a perspective view illustrating a coupling relationship between a driving unit and a main body according to the present invention;
9 is a perspective view illustrating a state in which the first driving unit and the second driving unit are coupled to the coupling unit of the main body and rotated left and right.
10 is a perspective view illustrating a state in which the driving unit according to the present invention is coupled by a fixing screw in a state in which the driving unit is slidingly inserted into the sliding coupling unit on the front side of the main body.
11 is a front sectional view of a rail according to the present invention.
12 is a perspective view showing a state in which an identification tag is installed on the bottom of the rail according to the present invention.
Figure 13 is a perspective view showing a state in which the drive unit of the moving body is mounted on the rail according to the present invention.
Figure 14 is a perspective view showing a state in which the charging station is installed on the rail according to the present invention.
15 is a perspective view showing a state in which the charging station and the mobile body is in contact with and coupled to the rail according to the present invention.
16 is a plan view showing a configuration of a rail system according to the present invention.
17 is a screen capture diagram showing the state of the moving object and the command input menu displayed on the display unit according to the present invention.

Hereinafter, with reference to the accompanying drawings will be described an embodiment of the present invention;

First, the moving body 100 used in the present invention refers to all moving objects mounted on the rail 210 such as an automobile, a train, a mobile robot, and moving along the rail 210.

1 is a block diagram showing the overall configuration of a rail movement system according to the present invention.

As shown in FIG. 1, the rail moving system according to the present invention includes a moving body 100, a rail system 200, a server 300, and the like.

The moving body 100 moves along the moving path portions 214a and 214b of the rail 210 to be described later (see FIGS. 2, 11, and 13) and the various facilities (not shown) installed around the rail 210. Measures the status information and transmits the measured value to the server 300 through the access point 240.

The rail system 200 is provided with a rail 210 providing a moving path to the movable body 100 and an identification tag 220 installed at a predetermined distance interval on the rail 210 to provide position information to the movable body 100. And installed at a predetermined distance around the rail 210 and installed on the access point 240 and the rail 210 to communicate data with the wireless communication unit 190 of the mobile 100, the mobile 100. And a charging station 230 for supplying power for charging (see FIG. 3).

The server 300 is connected to the access point 240 serves to store and display data received from the moving object 100 (see FIG. 4).

Hereinafter, detailed configurations of the movable body 100, the rail system 200, and the server 300 will be described.

-Composition of Moving Object-

Figure 2 is a block diagram showing the configuration of the moving body according to the present invention, Figure 5 is a perspective view showing a state in which the cover 195 is separated from the moving body 100 according to the present invention.

As shown in FIG. 2 and FIG. 5, the moving body 100 includes a main body 100a, a driving unit 110, a moving distance calculating unit 120, a tag recognition unit 130, a control unit 140, and a database 150. , The sensor unit 160, the battery 170, the charging unit 175, the lighting unit 180, the wireless communication unit 190, the cover 195, and the like.

The main body 100a has a shape of a hexahedron in which a front surface, a rear surface, a front surface, a rear surface, and both side surfaces thereof are sealed and an accommodation space is formed therein. Here, the main body 100a is advanced (reversed) in the front (back) direction from the rear (front) of the main body 100a on the rail 210. On the front surface (100a-1) of the main body (100a) is formed a sliding coupling portion 102 in the front direction to the rear direction so that the fixing member (110g) of the drive unit 110 to be described later is coupled to slide (see Fig. 8) . The sliding coupler 102 has a pair of locking jaws and the fixing member 110g which are formed to face each other at a separation distance corresponding to the width of the fixing member 110g so that the fixing member 110g can be slidingly inserted. Coupling groove 103 for screwing with the () is formed. Herein, a detailed coupling structure of the driving unit 110 and the main body 100a will be described later.

6 is a perspective view showing the configuration of the first drive module (110a) according to the present invention, Figure 7 is the first drive module (110a) and the second drive module (110b) according to the present invention is a rotation support member (110c) Is coupled to the sliding coupling portion 202 of the main body (100a) is a perspective view showing a coupling relationship between the drive unit 110 and the main body (100a) according to the present invention, Figure 9 is The first driving unit and the second driving unit according to the present invention is a perspective view showing a state that is coupled to the sliding coupling portion 202 of the main body 100a rotated left and right.

6 to 9, the driving unit 110 is coupled to the front surface of the main body 100a and rotatably coupled to the movement path portions 214a and 214b of the rail 210 so as to move the moving object 100. It serves to move on the rail (210). The driving unit 110 includes a first driving unit, a second driving unit and a fixing member 110g.

The first driving part includes a first driving module 110a, a second driving module 110b, and a first rotation support member 110c, and the second driving part includes a third driving module 110c and a fourth driving module ( 110d) and the second rotary support member (110c). The first driving module 110a, the second driving module 110b, the third driving module 110c, and the fourth driving module 110d are connected to the third driving module 110c and the fourth driving module 110d. Except that the motor 111, which will be described later, except that the rest is made of the same configuration, the second drive module (110b), the third drive module (110c), through the description of the first drive module (110a) below Instead of the description of the fourth drive module (110d).

The first driving module (110a) is to provide a moving force to move along the rail 210 by rotating the wheel, the motor 111, the first frame (112-1), the second frame (112-2) ), The coupling member 118, the fixing member (110g), the rotating shaft, pulleys, belt (B), wheels and the like.

The motor 111 is installed on the front of the first frame 112-1 under the control of the controller 140 to be described later, and receives power from the battery 170 to be described later to open the shaft 111-1 of the motor 111. Rotate

As described above, the third driving module 110c and the fourth driving module 110d may be excluded even if the motor 111 included in the first driving module 110a and the second driving module 110b is excluded. Only the rotational force of the driving module 110a and the second driving module 110b can move on the rail 210.

The first frame 112-1 is formed in the shape of a panel, and the motor 111 is mounted on the front surface, and the second frame 112-2 is coupled to the rear surface at a predetermined distance from the second frame 112-2. The coupling member 118 is fixed. In addition, a first hole H1 into which the shaft 111-1 of the motor 111 mounted on one side is rotatably inserted into the first frame 112-1, and a first rotating shaft 113-1 to be described later. ) And the second hole H2 and the third hole H3 are rotatably inserted into the rear surface of the first frame 112-1, respectively.

The second frame 112-2 has the same shape as the first frame 112-1 and the coupling member 118 is fixed to the front surface thereof. In the second frame 112-2, the first rotation shaft 113-1 described later at a position corresponding to the second hole H 2 and the third hole H 3 of the first frame 112-1. And a first insertion hole H4 and a second insertion hole H5 through which the second rotation shaft 113-2 is rotatably passed, respectively.

The coupling member 118 connects the rear surface of the first frame 112-1 and the front surface of the second frame 112-2 with a spaced distance from each other so that the first frame 112-1 and the second frame are separated from each other. (112-2) is fixed to each other. At least one coupling member 118 may be provided and a plurality of coupling members 118 may increase a fixing force between the first frame 112-1 and the second frame 112-2.

The rotating shaft is provided with a first rotating shaft 113-1 and a second rotating shaft 113-2, and one side of each of the first rotating shaft 113-1 and the second rotating shaft 113-2 is the first frame. The first insertion hole H4 and the second of the second frame 112-2 are rotatably inserted into the second hole H2 and the third hole H3 from the rear surface of the 112-1. Inserted through the insertion hole (H5) from the front to the rear direction is coupled to each of the first wheel (115-1) and the second wheel (115-2) at the rear of the second frame (112-2). Here, one of the first rotating shaft 113-1 and the second rotating shaft 113-2 is a known bearing (not shown) for rotatably inserting the second hole (H2) and the third hole (H3) ) And the like can be used.

Pulleys on the outer peripheral surfaces of the first pulley (114-1) and the first rotary shaft 113-1 and the second rotary shaft 113-2 that is inserted and fixed to the outer peripheral surface of the shaft (111-1) of the motor 111 And a second pulley 114-2 and a third pulley 114-3 respectively inserted and fixed.

Belt (B) is wound around the first pulley (114-1), the second pulley (114-2) and the third pulley (114-3) to the rotational force of the first pulley (114-1) the second pulley Forward to the 114-2 and the third pulley 114-3.

The wheel is provided with a first wheel 115-1 and a second wheel 115-2, and the front surface of the first wheel 115-1 and the second wheel 115-2 is the second frame 112. It is coupled to the first rotary shaft 113-1 and the second rotary shaft 113-2 at the rear surface of -2). The rear surfaces of the first wheel 115-1 and the second wheel 115-2 are rotatably contacted with the movement path parts 214a and 214b formed on both sides of the rail 210 to be described later. The bottom surfaces of the first wheel 115-1 and the second wheel 115-2 are rotatably mounted on the bottom grooves 214a-1, 214b-1 of the movement path parts 214a, 214b ( See FIG. 11).

Due to the structure of the first driving module 110a, the rotational force generated by the shaft 111-1 of the one motor 111 is pulleys of the first and second rotation shafts 113-1 and 113-2 and It is transmitted to both the first wheel 115-1 and the second wheel 115-2 through the belt (B).

Meanwhile, the rotation supporting member 110c couples the first driving module 110a and the second driving module 110b at a predetermined distance. And the rotation support member (110c) is rotatably coupled with the fixing member (110g) to be described later. The rotation support member 110c includes a main body, a through hole 110c-1, a rotation part 110c-2, and the like.

The main body is formed in the shape of a panel so that one side and the other side are respectively coupled to lower ends of the first driving module 110a and the second driving module 110b.

The through hole 110c-1 is formed at the center of the main body 100a.

The rotating part 110c-2 is installed in the through hole 110c-1 and rotatably couples the main body 100a and the fixing member 110g to be described later.

The first driving unit made of a combination of the first driving module 110a, the second driving module 110b, and the rotation supporting member 110c is rotatable to the fixing member 110g described later by the rotation supporting member 110c. To be combined. Accordingly, even in the rail 210 having a curved section, as shown in FIG. 10, the rotation supporting member 110c can be easily moved while rotating left and right according to the curved section of the rail.

Meanwhile, the fixing member 110g includes a first driving part including the first driving module 110a and the second driving module 110b, and a second driving part including the third driving module 110c and the fourth driving module 110d. It is fixed at a certain distance. And the fixing member 110g is slidingly coupled to the sliding coupling portion 102 formed on the front of the main body (100a). The fixing member 110g includes a main body, a first coupling part, a second coupling part, a fixing groove 110g-1, and the like.

The main body is formed in the shape of a panel is slidingly inserted and coupled to the sliding coupling portion 102 of the main body.

The first coupling part (not shown) and the second coupling part (not shown) are formed on one side and the other side of the main body 100a, respectively, so that the rotatable support members 110c of the first driving part and the second driving part are rotatable, respectively. Combined.

10 is a perspective view illustrating a state in which the driving unit 110 according to the present invention is coupled by the fixing screw 119 in a state in which the driving unit 110 is slidingly inserted into the sliding coupling unit on the front surface of the main body 100a.

As shown in FIG. 10, at least two fixing grooves 110g-1 are formed at positions corresponding to the coupling grooves 103 formed in the sliding coupling portion 102 of the main body 100a. Accordingly, the fixing member 110g is slidably coupled to the coupling portion of the main body 100a and then the coupling groove 103 of the main body 100a and the fixing groove of the fixing member 110g through the fixing screw 119. Fasten 110 g-1) to each other.

As shown in FIG. 2, the movement distance calculator 120 is installed in the main body 100a and detects the amount of wheel rotation of the driver 110 to detect the current speed, the movement distance information, and the like. Calculate the current location information. For example, if the moving object 100 starts from the reference point, it is assumed that the position of the reference point is 0 meters. Then, the moving distance information which the moving body 100 moves from the reference point to a specific point may be calculated through the wheel rotation amount of the driving unit 110. In addition, the movement distance calculation unit 120 may determine the relative current position information of the moving object 100, for example, 10M point through the movement distance information. In addition, the movement distance calculation unit 120 may detect the movement speed of the moving object 100 through the amount of wheel rotation.

On the other hand, the tag recognition unit 130 is installed on the front of the main body (100a) recognizes the identification tag 220 installed on the rail 210 at a predetermined distance interval. Here, the tag recognition unit 130 is preferably made of an RFID reader, and the identification tag 220 is preferably made of an RFID (radio frequency identification) tag in which identification information is stored in an embedded semiconductor chip.

Here, as an embodiment of the identification information stored in the identification tag 220, the identification information includes the separation distance information between the identification tag 220 and the reference point of the rail 210. Of course, the distance information between the identification tag 220 and the reference point of the rail 210 means the separation distance between the identification tag 220 and the reference point when the reference point is, for example, 0M. The identification information may further include the separation distance information between the identification tag 220 and the charging station 230. The charging station 230 may be formed in plural, in which case the identification tag 220 and the plurality of separation distance information for each of the plurality of charging stations 230 may be included.

On the other hand, the control unit 140 is installed in the main body (100a), the movement distance calculation unit 120 calculates the movement distance information or the current position information of the drive unit 110 calculated by the amount of wheel rotation the tag recognition unit ( Correction is performed using the distance information from the reference point of the rail 210 of the identification tag 220 recognized by the 130. The controller 140 stores the corrected movement distance information or current position information and a result value of monitoring the surrounding environment of the rail 210 obtained by the sensor unit 160 to be described later in the database 150. The controller 140 monitors the corrected movement distance information or current location information stored in the database 150 and the surrounding environment of the rail 210 to be described later. The wireless communication unit 190 and the rail system 200 Real time transfer to the data communication unit 310 of the server 300 through the access point 240 of the.

The control unit 140 moves forward, backward, pause, moving speed (high speed, general speed), and movement to a specific point with respect to the moving object 100 received from the server 300 using the wireless communication unit 190. The control unit 110 receives the command and the like. In addition, the control unit 140 receives the measurement command for the sensor unit 160 to be described later received from the server 300 using the wireless communication unit 190 and controls the sensor unit 160.

For example, the identification tag 220 is installed on the rail 210 at intervals of 10M from the reference point, and the movable body 100 starts at the reference point (for example, 0M) of the rail 210, and then the first identification tag 220 is installed. Assume that we are passing through the 10M point. In this case, the moving distance of the actual moving object 100 is 10M (the current position information is 10M from the reference point), but the moving distance information of the driving unit 110 calculated by the movement distance calculating unit 120 by the amount of wheel rotation is An error occurs due to the sliding of the wheel or the foreign matter of the rail 210, so that the current position information may be calculated as 9.5M (point 9.5M from the reference point). The controller 140 moves the moving distance of the moving object 100 calculated by the moving distance calculating unit 120 at the moment when the moving object 100 passes through the first identification tag 220 installed on the rail 210. The information 9.5M is corrected to 10M, which is the distance information of the reference point of the rail 210 of the identification tag 220 recognized by the tag recognition unit 130 (current position information is corrected to 10M point from the reference point). . The moving object 100 corrects the moving distance information and the current position information from the 10M and the reference point to the 10M point through the identification tag 220 when the rail 210 moves, so that the accurate moving distance information of the moving object 100 and You can grasp the current location information. In the present invention, the moving distance information and the current position information are distinguished from each other because the moving distance information further includes moving distance information with a moving object from a specific point designated by a user as well as moving distance information with the moving object from a reference point. Because you can. That is, the moving distance information means a moving distance from a specific point to another point, and the current position information means a distance from a specific reference point indicating at which point on the rail.

On the other hand, as another embodiment of the identification information, the identification information may include only the serial number of the identification tag 220. In this case, the main body 100a is further provided with a database 150 in which a list of separation distance information with reference points of the rails 210 by serial numbers of the identification tags 220 installed on the rails 210 is further installed. That is, the database 150 includes a serial number of identification tags 220, for example, a list of identification tags 220 of 1 to 10 and reference points on rails 210 for each of identification tags 220 of 1 to 10. The list of the separation distance information is stored. Therefore, the control unit 140 uses the serial number included in the identification information of the identification tag 220 through the database 150, the distance information with the reference point of the rail 210 of the identification tag 220 Can be extracted. Thus, in the case of the other embodiment, the moving distance information calculated by the moving distance calculating unit 120 using the distance information from the reference point of the rail 210 of the identification tag 220, or Current location information can be corrected.

Herein, the distance information between the identification tag 220 and the reference point of the rail 210 as the information included in the identification information or the database 150 has been described as an example. However, the neighboring identification tag 220 may be included in the identification information or the database 150, even if the identification tag 220 and the separation distance information of the identification tag 220 neighboring the identification tag 220 in a specific direction are included. It is apparent that the distance information and the accurate moving distance information and the current location information after the neighbor identification tag 220 recognized immediately before can be understood. Although the reference point is described as one, the reference point may be provided in plural. In this case, the identification information includes separation distance information for a plurality of reference points, such as separation distance information with a first reference point, separation distance information with a second reference point, and separation distance information with a third reference point.

Meanwhile, the database 150 may further include separation distance information between the corresponding identification tag 220 and the charging station 230 for each serial number of the identification tags 220. Here, the charging station 230 may be formed in plural, in which case the identification tag 220 and the plurality of separation distance information for each of the plurality of charging stations 230 may be included.

On the other hand, the sensor unit 160 is installed in the main body 100a and consists of various sensors such as a temperature sensor, a camera, a fire sensor, and monitors and monitors the surrounding environment of the rail 210 while the moving object 100 moves. Stored in a separate database 150 (not shown). Since various sensors are mounted on the moving object 100 to monitor the surrounding environment, a detailed description thereof will be omitted.

On the other hand, the battery 170 is built in the main body 100a, the driving unit 110, the moving distance calculating unit 120, the tag recognition unit 130, the control unit 140, the database 150, the sensor unit according to the present invention The power is supplied to the 160, the lighting unit 180, and the wireless communication unit 190.

2, 5 and 14, the charging unit 175 is in electrical contact with the charging terminal 232a of the charging station 230 through the contact terminal 175a installed on the front of the main body 100a. The battery 170 is charged by receiving charging power from the charging terminal 232a of the charging station 230. In addition, the charging unit 175 periodically checks the remaining amount of the battery 170 and also transmits a check result to the controller 140.

The lighting unit 180 is installed in the main body 100a and generates light for capturing an image of a camera at night.

The wireless communication unit 190 is provided as a short range or long range wireless communication module including the antenna 192. The wireless communication unit 190 monitors the moving distance information and current position information before or after the correction of the moving object 100 stored in the database 150 and the moving distance information and the current position information, and the result of monitoring the environment around the rail 210. And the remaining amount of the battery 170 to the server 300 through the access point 240 to the data communication unit 310 of the server 300. The reason why the wireless communication unit 190 also transfers the movement distance information and the current location information before the correction to the server 300 is as follows. Although the movement distance information and the current position information before correction are relatively inaccurate, the movement distance information and the current position information of the moving object 100 even when the moving object 100 is located between the identification tag 220 and the identification tag 220. Because it can tell.

The cover 195 includes a first cover 195 and a second cover 195. The first cover 195 is formed so that the other side is open and the rest is sealed to serve to surround the front, one side, the back and the front of the first driving module 110a and the third driving module 110c. The second cover 195 is formed so that one side is open and the other is sealed to cover the front, the other side, the back and the front of the second driving module 110b and the fourth driving module 110d. That is, the first cover 195 and the second cover 195 are the first wheels 115-of the moving body 100 through the other side of the first cover 195 and one side of the second cover 195. 1) and the second wheel 115-2 are exposed, respectively. Accordingly, the rail 210 may be easily inserted between the wheels of the first driving module 110a and the third driving module 110c and the wheels of the second driving module 110b and the fourth driving module 110d. have.

-Relationship of Moving Objects-

5 to 10, the motor 111 is coupled to the front surface of the first frame 112-1 of the first driving module 110a and the first frame 112-1 is a coupling member ( 118 is coupled to the second frame 112-2 at regular intervals. Here, the shaft 111-1 of the motor 111 is inserted into the first hole H 1 of the first frame 112-1 so as to be rotatable from the front side to the rear side, and the first pulley 114-1 is coupled to the shaft 111-1. have. The second pulley 114-2 and the third pulley 114-3 are coupled to the first rotation shaft 113-1 and the second rotation shaft 113-2, respectively. One side of the first rotary shaft 113-1 and the second rotary shaft 113-2 is rotatably coupled to the second hole H2 and the third hole H3 of the first frame 112-1. . The other side of the first rotation shaft 113-1 and the second rotation shaft 113-2 passes through the first insertion hole H4 and the second insertion hole H5 of the second frame 112-2. The rear of the second frame (112-2) is coupled to the front of the pair of wheels, respectively. A belt B is coupled to the first pulley 114-1, the second pulley 114-2, and the third pulley 114-3.

The first driving module 110a is coupled through the second driving module 110b and the rotation supporting member 110c having the same configuration. The first driving unit made of a combination of the first driving module 110a, the second driving module 110b and the rotation supporting member 110c is rotatably coupled to the second driving unit and the fixing member 110g having the same configuration, respectively. do. Here, the first driving module 110a and the second driving module 110b are coupled in a direction in which rear surfaces of the wheels face each other.

The fixing member 110g is slidably coupled to the coupling portion of the front surface of the main body 100a, and the fixing screw is coupled to the coupling groove 103 of the fixing groove 110g-1 and the sliding coupling portion 102 to fix the fixing member. 110g is fixedly coupled to the front surface of the main body 100a.

The bottom of each wheel of the first driving module 110a and the second driving module 110b of the moving body 100 is mounted on the bottom surfaces 214a-1 and 214b-1 of the movement path portions 214a and 214b. . Accordingly, when the wheel of the movable body 100 rotates, the rail 210 is moved by frictional force generated by the respective rolling contact with the bottom surfaces 214a-1 and 214b-1 of the moving path parts 214a and 214b. The movement path portions 214a and 214b may be moved.

Rail system configuration

Figure 3 is a block diagram showing the configuration of the rail system according to the present invention, Figure 11 is a front sectional view of the rail 210 according to the present invention, Figure 12 is an identification tag (the bottom surface of the rail 210 according to the present invention) 220 is a perspective view showing a state installed, Figure 13 is a perspective view showing a state in which the drive unit 110 of the movable body 100 is mounted on the rail 210 according to the present invention.

As shown in Figure 3, 11 to 13, the rail system 200 according to the present invention is a rail 210, identification tag 220, charging station 230, access point 240 and fixing device, etc. It includes.

The rail 210 supports the wheels of the driving unit 110 of the moving body 100 and provides the moving path parts 214a and 214b to the moving body 100 and is mainly made of a long metallic material. The rail 210 has a coupling portion that is coupled to the support member to be fixed to the ceiling on the front surface. In addition, movement path parts 214a and 214b having grooves having a shape of a "c" are formed on both sides of the rail 210 so that the wheels of the driving unit 110 of the movable body 100 are rotatably inserted and placed. Is formed. And the rear side of the rail 210, the identification tag 220 which is fixed through the bracket 216 is installed at a predetermined distance interval. The rail 210 branches from the first rail 210 starting from the reference point 10 to the second rail 210 and the third rail 210 through a separate rail 210 branch (not shown). At each end of each branched second rail 210 and third rail 210, a charging station 230 to be described later is installed. Accordingly, the moving object 100 starts from the first rail 210 of the reference point and enters the second rail 210 or the third rail 210 to each of the second rail 210 or the third rail 210. The battery 170 may be charged by moving to the charging station 230 installed at the end. Of course, the reference point may also be provided as the charging station 230.

As described above, the identification tag 220 stores identification information in the internal semiconductor chip.

14 is a perspective view showing the charging station 230 is installed on the rail 210 according to the present invention, Figure 15 is a charging station 230 and the moving body 100 on the rail 210 according to the present invention and 16 is a perspective view illustrating a combined state, and FIG. 16 is a plan view illustrating a configuration of the rail system 200 according to the present invention.

Meanwhile, the charging station 230 is installed at the end of the rail 210 to supply power for charging to the moving body 100, and includes a main body 100a, a charging terminal 232a, a power supply unit 232, and the like.

The main body 100a is formed in the shape of a hexahedron having an accommodation space therein.

The charging terminal 232a is in contact with the contact terminal 175a of the mobile body 100 to be electrically contacted and coupled.

The power supply unit 232 supplies charging power to the charging terminal 232a.

The access point 240 (AP) is provided as a communication module including the antenna 242, and is installed at a predetermined interval, for example, 300 M intervals in the longitudinal direction of the rail 210 around the rail 210, so that the movable body 100 is provided. Wireless communication with the wireless communication unit 190 of the. The access point 240 (AP) monitors moving distance information or current location information of the moving object 100 and the surrounding environment of the rail 210 described below before or after correction from the wireless communication unit 190 of the moving object 100. The result value and the remaining amount of the battery 170 are received in real time. Here, the access points 240 (APs) installed at the predetermined distance intervals may support the handover function for the wireless communication unit 190 to enable wireless communication without disconnection while the mobile body 100 moves the rail 210. have. Since the handover function is a known technique, a detailed description thereof will be omitted.

On the other hand, the fixing device serves to fix the ceiling of a specific place such as the upper end 211 of the rail 210 and the underground space.

Server configuration

4 is a block diagram showing the configuration of a server according to the present invention.

As shown in FIG. 4, the server 300 includes a data communication unit 310, a controller 140, a database 330, a display unit 340, a key input unit 350, and the like.

The data communication unit 310 is provided as a communication module, and receives the result of monitoring the environment around the rail 210 from the access point 240 of the rail system 200 by wire or wirelessly.

The key input unit 350 is provided with a keypad, a touch screen, and the like, and transmits a forward, backward, moving speed, a moving command to a specific point, an operation command of various sensors, a battery 170 charging command, and the like from the user to the moving object 100. Receive.

The controller 140 controls the display unit 340 to display a result of monitoring a surrounding environment of the rail 210 received from the moving object 100 through the data communication unit 310. On the other hand, the control unit 140 receives the forward, backward, moving speed, the movement command to a specific point, and the like, including the speed information about the moving object 100 from the user of the data communication unit 310 and the rail system 200 The wireless communication unit 190 transmits to the wireless communication unit 190 of the mobile unit 100 through the access point 240.

The display unit 340 includes a display device such as an LCD, a PDP, an OLED, etc., and monitors the moving distance information or the current position information of the moving object 100 and the surrounding environment of the rail 210 before or after the correction and the battery 170. ) Displays remaining amount. Meanwhile, the display unit 340 may display a rail 210 installation structure of the rail system 200 and a movement state of the movable body 100 on the rail 210 in a map form.

On the other hand, the server 300 of the present invention has a list of the distance information with the reference point of the rail 210 by the serial number of the identification tags 220 installed on the rail 210, such as the database 150 of the moving object 100 The stored database 150 may further include. In this case, the server 300 receives only the serial number of the identification tag 220 from the wireless communication unit of the mobile unit 100 and the reference point of the rail 210 of the identification tag 220 through the database 150. The separation distance information of can be extracted.

-Movement of Rail Movement System-

It is assumed that the movable body 100 is located at a reference point (for example, 0 meters) of the rail 210.

First, the control unit 320 of the server 300 receives a forward command for the moving object 100 and operation commands of various sensors from the user through the key input unit 350 of the rail system 200 through the data communication unit 310. Forward to access point 240.

Subsequently, the access point 240 of the rail system 200 transmits a forward command to the mobile unit 100 and an operation command of various sensors to the wireless communication unit 190 of the mobile unit 100.

Subsequently, the control unit 140 of the moving object 100 controls the driving unit 110 based on the forward command (including speed information) and operation commands of various sensors to move the moving object 100 on the driving path part of the rail 210. Move it.

Subsequently, the moving distance calculating unit 120 of the moving object 100 senses the amount of wheel rotation of the driving unit 110 to detect the current speed of the driving unit 110 (for example, 10 km / h) and moving distance information from the reference point ( 19 meters). The moving distance calculating unit 120 of the moving object 100 stores the calculated current speed of the driving unit 110 and moving distance information from the reference point in the database 150. The moving distance calculating unit 120 of the moving object 100 calculates and calculates the current position information of the moving object 100 (for example, 19M from the reference point) in real time based on the moving distance information from the reference point. The current position information of the moving object 100 is stored in the database 150.

Subsequently, the control unit 140 of the moving object 100 controls the driving unit 110 until the current speed of the moving object 100 calculated by the moving distance calculating unit 120 matches the speed information included in the forward command. Control by accelerating or decelerating the speed.

Subsequently, when the moving object 100 passes through the identification tag 220 on the rail 210, the tag recognition unit 130 of the moving object 100 recognizes the identification information of the identification tag 220 and the identification information. Through the distance 20M between the reference point of the rail 210 of the identification tag 220 is identified.

Subsequently, the control unit 140 of the moving object 100 calculates moving distance information (for example, 19 meters) and current position information (for example, 19M points from a reference point) of the moving object 100 calculated by the moving distance calculating unit 120. Through the separation distance between the reference points of the rails 210 of the identification tag 220, respectively, the moving distance information 20M and the current position information (20M points from the reference point) of the corrected moving object 100, the database 150 ).

On the other hand, the control unit 140 of the moving object 100 controls the sensor unit 160 based on the operation command of the various sensors from the start of the reference point to monitor the surrounding environment of the rail 210 and the result The value is stored in the database 150.

On the other hand, the charging unit 175 of the moving object 100 grasps the remaining amount of the battery 170 and stores it in the database 150.

Subsequently, the controller 140 of the moving object 100 monitors moving distance information and current position information of the moving object 100 before and after correction stored in the database 150 and the surrounding environment of the rail 210. And the remaining amount of the battery 170 is transmitted to the access point 240 of the rail system 200 at regular intervals using the wireless communication unit 190.

Subsequently, the access point 240 of the rail system 200 receives moving distance information and current location information of the moving object 100 received from the wireless communication unit 190 of the moving object 100 and the surrounding environment of the rail 210. The monitoring result value and the battery 170 remaining amount is transferred to the data communication unit 310 of the server 300.

Subsequently, the control unit 320 of the server 300 displays the moving distance information and the current location information of the moving object 100 and the monitoring result value of the surrounding environment of the rail 210 through the display unit 340.

17 is a screen capture diagram showing a state in which the display unit 340 according to the present invention displays the state of the moving object 100 and a command input menu.

As shown in FIG. 17, the display unit 340 of the server 300 may move the moving object 100 on the rail 210 of the rail system 200 using the moving distance information and the current position information of the moving object 100. Display the movement of the on a simplified map.

-Charging operation of moving object-

Hereinafter, the charging operation of the movable body 100 according to the present invention will be described.

2, 3, 14 to 16, first, when the moving object 100 is moved manually toward the charging station 230 by the charging command of the server 300, the moving object 100 The movement distance calculating unit 120 detects the amount of wheel rotation to determine the movement speed of the current moving object 100 in real time.

Subsequently, the tag recognition unit 130 of the moving object 100 recognizes the identification tag 220 installed on the rail 210 and recognizes the charging station 230 and the identification included in the identification information of the identification tag 220. The distance information with the tag 220 is grasped.

Subsequently, the control unit 140 of the moving object 100 may move the moving object 100 when the moving object 100 arrives at the charging station 230 in consideration of the moving speed of the moving object 100 and the separation distance information. The moving speed of the moving body 100 is controlled to stop precisely according to the position of the charging station 230.

Subsequently, the mobile unit 100 stops while the contact terminal 175a of the charging unit 175 of the mobile unit 100 and the charging terminal 232a of the charging station 230 come into contact with each other.

Subsequently, the power supply unit 232 of the charging station 230 supplies charging power to the contact terminal 175a of the moving object 100 through the charging terminal 232a.

Subsequently, the charging unit 175 of the movable body 100 charges the battery 170 of the movable body 100.

On the other hand, the control unit 140, when there is no charge command of the server 300, when the remaining capacity of the battery 170 is insufficient, the separation distance between the plurality of charging stations 230 included in the identification information of the identification tag 220 The moving object 100 may be automatically moved to the nearest charging station 230 with reference to the information.

100: moving body 200: rail system
300: server

Claims (15)

A driving unit moving along the rail;
A tag recognition unit wirelessly recognizing identification information of an identification tag attached to the rail;
A controller configured to calculate its own location information based on the identified identification tag location information based on the recognized identification information; And
It includes a movement distance calculation unit for calculating the movement distance information of the drive unit by detecting the amount of wheel rotation of the drive unit,
The control unit has an identification tag recognition function, characterized in that for correcting its own position information using the movement distance information and the identification tag position information. delete The method according to claim 1,
The identification information includes the serial number of the identification tag,
And a database storing identification tag position information including a list of separation distance information from a reference point for each serial number of identification tags installed on the rail or separation distance information from a neighboring identification tag.
The control unit is a mobile having an identification tag recognition function, characterized in that for identifying the identification tag position information by searching the serial number of the identification tag in the database. The method according to claim 1,
The identification information includes identification tag position information including distance information from a reference point on the rail or distance information from a neighboring identification tag.
And the control unit checks the identification tag position information based on the identification information. The method according to claim 3 or 4,
The identification information
The separation tag further includes a separation distance information between the charging station installed on the rail,
battery; And
And a charging unit in electrical contact with the charging station and receiving the charging power from the charging station to charge the battery.
The control unit is characterized in that the charging unit reduces the moving speed of the drive unit to stop the moving body in accordance with the distance information between the charging station and the identification tag when the charging station is in contact with each other. Having a moving object. The method according to claim 1,
And a wireless communication unit which wirelessly transmits its own location information to a server through an access point separately installed around the rails. The method of claim 6,
The identification information includes the serial number of the identification tag,
The server transmits the serial number of the identification tag included in the recognized identification information to the server stored in the database of the identification tag location information so that the server receives the identification tag location information based on the serial number of the identification tag. A mobile having an identification tag recognition function further comprises a wireless communication unit for confirming. delete delete delete A plurality of rails connected to each other to provide a moving path to the moving body; And
Identifying the identification information to the moving object installed on the rail, the identification information is included, thereby identifying the mobile unit to calculate its own position information based on the identification tag position information identified based on the identification information. tag; And
A charging station coupled to one side of the rail and in contact with the movable body to supply charging power,
The identification information is a rail system provided with an identification tag, characterized in that it comprises a distance information between the charging station and the identification tag. delete The method of claim 11,
And an access point installed around the rail to support wireless communication between the moving object and a separate server. The method according to claim 13,
The identification information includes the serial number of the identification tag, so that the mobile or the server to confirm the identification tag location information through the location information for each serial number of the identification tag stored in its database, or
The identification information includes identification tag position information including distance information between the identification tag and a reference point of the rail or distance information of a neighboring identification tag, so that the moving object is identified based on the identification information. Rail system with an identification tag, characterized in that to confirm the tag location information. The method according to claim 14,
The identification tag is installed on the rail system facing the tag recognition unit facing the tag recognition unit installed on the front of the mobile unit, characterized in that installed in the position facing the tag recognition unit of the mobile unit.

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