KR101430511B1 - Attitude-detecting apparatus - Google Patents

Abstract

The attitude detecting device 1 includes a plurality of RFID tags 4 and 5 provided on the object X to be detected and each having unique information and a plurality of RFID tags 4 and 5 A detection device 2 having a plurality of antennas 2b2 receiving signals from the RFID tags 4 and 5 and a plurality of antennas 2b2 arranged in two directions orthogonal to each other along the detection surface, (3) for obtaining the posture of the object (X) to be detected based on the positional information of the antenna (2b2) that has received the signal from the antennas

Description

[0001] Attitude-detecting apparatus [

The present invention relates to an orientation detecting device.

Recently, a robot system has been proposed in which information required for finishing work is distributed and arranged on a tool and a workpiece by using environment structure and job information structuring technology, and an operation program (operation sequence) is automatically generated from the information. At that time, in order for the finishing robot to grasp the finishing object in the receiving tray, it is necessary to acquire positional information and attitude information of the object to be processed.

Generally, when an object is gripped by a robot, the position or attitude of the object is detected by a camera or a laser sensor, and positional information and attitude information of the detected object are acquired. However, in a method using a camera or a laser sensor, precise positional information can not be obtained due to the surface state of the object or the influence of the external light irradiated on the object, so that the detection accuracy of the position or attitude of the object is lowered or the object is not detected . Particularly, most of the objects to be used in the finishing work are metal with metallic luster and it is not easy to acquire positional information and attitude information by a camera or a laser sensor.

Patent Document 1 proposes a method of acquiring positional information and attitude information of an object using an RFID (Radio Frequency Identification) tag. In this patent document 1, an RFID tag in which coordinate information (local coordinates of an object), a position of an operation part (grip part) and the like are recorded, and a small identification mark appearing differently according to the posture of the object are provided on the object. The position of the object (the origin of the local coordinate system of the object) is detected by detecting the RFID tag installed on the object, and the identification mark is detected by a laser sensor or the like to obtain the posture of the object as seen . And the position and posture of the object with respect to the robot are acquired by converting the position and attitude of the obtained object into the coordinate system of the robot.

In Patent Document 2, an identification mark such as a two-dimensional bar code having a width across the entire outer surface of a cylindrical object is attached, the phase of the object is detected by detecting the identification mark, and based on this phase, Is proposed.

Patent Document 1: Japanese Patent Application Laid-Open No. 2004-90099 Patent Document 2: JP-A-5-319414

As described above, detection of the position and attitude of an object using a camera is easily affected by environmental conditions such as an illumination state. Particularly, with respect to a position or inclination in the depth direction of an object not easily exposed to illumination light, It may fail itself. In addition, the detection of the position and posture of an object using a laser sensor is not affected by the surrounding environmental conditions, but it is difficult to use this detection method because stray light occurs when an object is made of a metal material or the like that reflects laser light. Further, in the method using the laser sensor, the laser light is irradiated to the whole area of the object, the shape of the object is obtained from the return light, and then the posture of the object is calculated. Therefore, the calculation becomes complicated and it may take time to calculate the posture.

In the method of Patent Document 1, since the approximate position and attitude of the object can be known by using the RFID tag, the detection range when detecting the position or attitude can be limited by using the identification mark. However, in the method of Patent Document 1, since it is necessary to detect the approximate position and posture using the RFID tag and to detect the position and the attitude by the laser sensor using the identification mark, the apparatus and control are complicated, And the time to detect the posture becomes longer. The method of Patent Document 1 is characterized by attaching an identification mark for assisting in image processing in order to facilitate measurement of the position and orientation around the RFID tag, and an identification mark is necessarily required.

In the method of Patent Document 2, since the identification mark is attached to the entire outer circumferential surface of the object and the phase when the object is moved while being rolled is detected as the attitude, the shape of the object is limited. In the method of Patent Document 2, the position of the object is limited, and the moving direction of the object is limited to one direction.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and it is an object of the present invention to provide an attitude detecting device which can accurately detect the attitude of an object to be detected with a simple configuration.

The present invention adopts the following constitution as means for solving the above-mentioned problems.

According to the first aspect of the present invention, the attitude detecting device includes a plurality of RFID tags which are provided on the object to be detected and each of which has unique information, a detecting surface located on the side for detecting the RFID tag, A detection device having a plurality of antennas each of which is arranged in two directions orthogonal to each other along with the detection plane upon receipt of a signal from the RFID tag, And a calculating means for calculating an attitude of the vehicle.

According to a second aspect of the present invention, in the first aspect, the detection device is disposed between the plurality of antennas, and at the same time, a shield plate for preventing magnetic flux interference between the plurality of antennas.

According to a third aspect of the present invention, in the first or second aspect, the antenna is formed of an antenna pattern formed on a surface of a substrate, and the substrate has a posture in which the surface on which the antenna pattern is formed crosses the detection surface Respectively.

According to a fourth aspect of the present invention, in any one of the first to third aspects, two or more RFID tags are provided on the lower surface of the object to be detected in the stable posture.

In the present invention, the detecting device has an antenna in which a plurality of antennas are arrayed in the vertical and horizontal directions (two directions orthogonal to each other) along the plane on which the detection surface is formed. In the present invention, only the antenna in which the RFID tag is present in the reading range receives a signal from the RFID tag when the object to be detected is disposed opposite to the detection surface. Therefore, in the present invention, the position where the RFID tag exists can be specified based on the position of the antenna. In addition, since the RFID tag has unique information, according to the present invention, it is possible to specify which RFID tag exists at which position based on a signal received from the RFID tag.

In the present invention, the posture of the object to be detected is obtained by the calculating means from the positional information of the antenna which receives the signal from the RFID tag (that is, the position of the RFID tag). Therefore, according to the present invention, the attitude of the object to be detected can be known.

According to the present invention, the posture of the object to be detected can be determined without using a camera or a laser sensor. Also, as in the case of a camera, an ambient environment such as an illumination state does not affect the detection accuracy, and even an object made of a metal material can receive a signal from the RFID tag through the antenna. Therefore, the posture of the object to be detected can always be obtained easily. According to the present invention, since it is not necessary to perform the two-step detection as in Patent Document 1, the apparatus and control are simplified, and the posture of the object to be detected can be detected in a short time. According to the present invention, the attitude of the object to be detected can be obtained by simply providing a plurality of RFID tags for the object to be detected. Therefore, the posture of the object to be detected can be easily detected regardless of the shape of the object to be detected. As described above, according to the present invention, it is possible to accurately detect the posture of the object to be detected with a simple configuration without considering the shape of the object to be detected.

FIG. 1A is a plan view schematically showing a schematic configuration of an attitude detecting device according to an embodiment of the present invention.
Fig. 1B is a block diagram schematically showing a general configuration of an attitude detecting apparatus according to an embodiment of the present invention.
2A is a schematic diagram of an antenna substrate provided in an attitude detecting device according to an embodiment of the present invention.
Fig. 2B is a schematic diagram showing an antenna reading range of the attitude detecting device of the embodiment of the present invention. Fig.
3A is a bottom view of a metal part whose posture is detected by the posture detecting device according to the embodiment of the present invention.
Fig. 3B is an explanatory view for explaining a method of detecting the attitude of a metal part by the attitude detecting device according to the embodiment of the present invention. Fig.
4A is a schematic diagram showing a modified example of a tag reader provided in an attitude detection device according to an embodiment of the present invention.
Fig. 4B is a block diagram showing a modification of the posture detecting device according to the embodiment of the present invention. Fig.

First, a description will be given of the aspect of the posture detecting apparatus of the present embodiment. The posture detecting device described below corresponds to a finishing operation of a metal part by a robot. It is assumed that the posture detecting device is used for detecting the position and posture of the metal part and converting the coordinates of the metal part into the coordinates of the robot. Therefore, a metal RFID tag is employed as the RFID tag of the present invention. The RFID tag for metal can be read even by attaching it to metal, but the read range is about one tenth of that of a normal tag. The present invention reverses this characteristic to enhance the detection and decomposition ability of the position and attitude of the metal part.

In addition, proximity tag readers are used to read RFID tags in a close range. The tag reader has a plurality of antennas for exchanging radio waves (signals and electric power) with the RFID tag. In addition, the RFID tag is attached to both ends of the metal part in order to acquire (calculate) posture information together with the position information. And the attachment positions of the RFID tags to the metal parts are recorded in the RFID tags as information. The RFID tag is read out while replacing the feeding antennas one by one, and the position information and the attitude information of the metal part are acquired from the position of the readable antenna and the information described in the RFID tag.

A method of acquiring (calculating) attitude information of a metal part will be described below. A distance between a pair of RFID tags attached to both ends of the metal part is a. The distance (a) is recorded as information on the attached RFID tag, and when the RFID tag is read by the antenna, it is acquired as information and used for calculation of the posture. For example, when the distance between the pair of RFID tags in the orthogonal coordinate system is b and the distance in the Y-axis direction is c, the following equation (1) or (2) is used from the parameters The inclination [theta] of the metal part with respect to the X axis is obtained. In addition, the slope (θ) can be obtained from both the equations (1) and (2). However, in order to reduce the error, it is preferable to use an expression having the larger one of the distance b and the distance c as a parameter. It is also possible to obtain the inclination (?) From tan ^-1 (c / b) although it is not preferable because the error increases.

In the posture detecting device, a tag reader arranges antennas in the form of a matrix, places a metal part in a tray formed of a material capable of transmitting radio waves, places the RFID part on a tag reader, and detects an RFID tag attached to a metal part Position information and attitude information of the metal part are acquired based on the position information of the antenna.

In such an attitude detecting device, it is conceivable to increase the accuracy (disassembly ability) of position detection by disposing a plurality of antennas so that the antenna reading ranges for the RFID tags overlap each other and reading one RFID tag to a plurality of antennas. However, if the antennas are arranged in this manner, depending on the type of the antenna, the RFID tag can not be read at a portion where the read range overlaps. If the read range is not overlapped and the antenna reading range used is 15 mm x 30 mm, an error of 15 mm or more may occur.

Therefore, it is conceivable to narrow the reading range for the RFID tag by arranging the antennas not perpendicular to the RFID tags (that is, the detection faces of the tag readers). More specifically, the antenna is arranged such that the surface of the substrate on which the antenna is formed is perpendicular (or crossing) to the detection surface. As a result, one antenna reading range is narrowed, and the antennas can be densely arranged so that the read ranges do not overlap. However, in this method, since the distance between the antennas is reduced, there is a case that the antennas are interfered with each other due to the magnetic flux interference. Therefore, it is conceivable to sandwich the shield plate between a plurality of antennas to prevent magnetic flux interference. Since the shield plate absorbs the magnetic flux of the antenna by inserting the shield plate, magnetic flux interference with the side antenna can be prevented.

An evaluation experiment was conducted on such an attitude detecting apparatus. In this experiment, a substrate on which an antenna was formed was arranged by fixing the shield plate to the rails of the grooved acrylic plate and attaching the antenna to one side of the shield plate. An aluminum plate of 1 mm and 3 mm was used as a shielding plate. Further, when using a 1 mm shielding plate, the distance from the antenna to the shielding plate facing to the shielding plate is 5 mm, and the distance from the antenna to the shielding plate facing the antenna is 3 mm when using the shielding plate of 3 mm. In addition, in this experiment, metal parts were directly placed on a tag reader without using a tray, and reading was performed. The metal parts were placed on the antenna (tag reader), and the metal parts were shifted by 1 mm, and the range that could be read at that time was examined.

In this experiment, the RFID tag could not be read when a 3 mm shielding plate was used. It is considered that the magnetic flux is not sufficiently interlinked on the antenna because the magnetic flux is generated in parallel with the RFID tag. Further, when a shielding plate of 1 mm is used, the RFID tag can not be detected on the back surface of the substrate on which the antenna is formed from the upper side and the very thin region of the aluminum plate, but the RFID tag is detected in the region sandwiched between the shield plate and the shield plate I could. It is considered that there is a condition that the RFID tag can be read even when a shield plate having a thickness of 3 mm or more is used depending on the kind of the antenna and other conditions. It is understood that the thinning of the shield plate is high in the reading precision.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an attitude detecting apparatus according to the present invention will be described with reference to the drawings.

In order to make each member recognizable in the following drawings, the scale of each member is appropriately changed.

Fig. 1A is a plan view schematically showing the schematic configuration of the attitude detection device 1 of the present embodiment, and Fig. 1B is a block diagram schematically showing the outline configuration of the attitude detection device 1. Fig. As shown in these drawings, the attitude detecting device 1 of the present embodiment includes a tag reader 2 (detecting device), a position and attitude calculating device 3 (calculating means), an ID tag 4 Tag), and an ID tag 5 (RFID tag).

The tag reader 2 is provided with a base 2a and a plurality of antenna substrates 2b as shown in Fig. The base 2a is a base for supporting the antenna substrate 2b. The antenna substrate 2b is composed of a substrate 2b1 and an antenna pattern 2b2 (antenna) formed on the surface of the substrate 2b1 as shown in Fig. 2A. The antenna substrate 2b is fixed on the upper surface of the base 2a with the antenna facing upward. Thus, the upper surface of the tag reader 2 becomes a detection surface for receiving radio waves from the ID tag 4 and the ID tag 5. This detection surface is configured as a surface positioned on the side (upper surface in the present embodiment) on which the ID tags 4 and 5 of the tag reader 2 are detected, and the shape thereof is not limited and may not be completely planar.

In the present embodiment, a plurality of 25 antenna substrates 2b are arranged in a vertical direction (two directions orthogonal to each other) along a horizontal plane (X-Y plane). In the following description, the horizontal axis is the X axis and the Y axis, and the vertical axis is the Z axis. As shown in Fig. 1A, five antenna substrates 2b are arranged in the X direction, and the antenna substrates 2b are arranged in five rows in the Y direction in one row. As shown in FIG. 1A, the antennas provided in the antenna substrate 2b disposed on the most + Y side and the -X side are referred to as antennas a, and antennas a and b , Antenna d, and antenna e, and changing the columns to the -Y side, the antennas f to y are arranged in the order of arrangement. These antennas a to y are electrically connected to the position and orientation calculation device 3 and output information read from the ID tag 4 or the ID tag 5 toward the position and orientation calculation device 3. [

2B is a diagram schematically showing the read range of the antennas a to y. As shown in this figure, the antennas a to y are arranged at intervals where there is a region where the read ranges overlap between the antennas. In the area where the read ranges overlap, it is possible to transmit and receive radio waves of two or four antennas and an ID tag (ID tag 4 or ID tag 5).

In addition, the antenna reading range may have different readout widths in two orthogonal directions in a plane. For example, when it is desired to increase the resolving power of one direction to another direction, by arranging the antennas so that the side of the narrow readout width of the antenna coincides with the above direction, a plurality of antenna intervals in the one direction can be narrowed, There is a possibility of improving the decomposition ability of the catalyst.

Returning to Fig. 1B, the position and attitude calculating device 3 is constituted by, for example, a computer, and based on a program stored in advance, information acquired by the antennas a through y, positional information of antennas a through y stored in advance, And position information and posture information of the X-axis direction. The position and orientation calculation device 3 previously stores the respective positions (XY coordinate values) of the antennas a to y. The position / posture calculation device 3 calculates the posture of the metal part X from the positional information of the ID tag 4 and the ID tag 5 or the like. The method of calculating the attitude of the metal part X in the present embodiment will be described later.

The ID tag 4 and the ID tag 5 are IC chips having unique information and are passive tags that operate by receiving a radio wave (signal) from the tag reader 2. [ In the present embodiment, a configuration in which the ID tag 4 and the ID tag 5 are passive tags will be described. However, the present invention is not limited to this, and an active tag including a battery as an ID tag (RFID tag) You can also use semi-active tags. The ID tag 4 and the ID tag 5 and the signal transmission system of the tag reader 2 may be of electromagnetic induction or propagation.

Fig. 3A is a bottom view of the metal part X. Fig. As shown in this figure, the ID tag 4 and the ID tag 5 are provided on the lower surface X1 of the metal part X in the stable posture. The ID tag 4 is provided at one end of the elongated metal part X and the ID tag 5 is provided at the other end of the same metal part X. [ That is, the ID tag 4 and the ID tag 5 are arranged in the longitudinal direction of the metal part X, and arranged at both ends such that the distance between the ID tag 4 and the ID tag 5 is maximized. The stable posture of the metal part X is the most stable posture when the metal part X is placed on the tag reader 2, for example, the posture with the widest side as the bottom, It is the posture when it is located.

1B, the ID tag 4 has a unique number which is the object information, a distance a from the ID tag 4 to the ID tag 5, a position of the operation part of the metal part X Coordinates (operation region wx and operation region wy) are stored as unique information. The manipulated portion is a portion where the metal part X is grasped by the robot. The position coordinate of the operation part of the metal part X is a coordinate indicating the position of the operation part in the component coordinate system that defines the shape of the metal part X as shown in Fig. In the present embodiment, the part coordinate system is set such that the position where the ID tag 4 is installed is defined as the origin, the longitudinal direction of the metal part X is the X axis direction, the short direction of the metal part X is the Y direction As shown in FIG. The position coordinate of the operation part of the metal part X is a coordinate wx indicating the position in the X axis direction of the operation part in the component coordinate system and a coordinate wx indicating the position in the Y axis direction of the operation part in the component coordinate system wy in the ID tag 4. In addition, the ID tag 5 stores a unique number which is the object information.

Next, the attitude detection method of the metal part X by the attitude detection device 1 of the present embodiment will be described. 1A, the ID tag 4 is located only in the read range of the antenna i, and the ID tag 5 is located between the antenna q and the antenna v (the read range of the antenna q and the read range of the antenna v overlap each other A case where the metal part X is placed on the tag reader 2 in a state where the metal part X is located in the area where the metal part X is located will be described.

The position and orientation calculation device 3 acquires the unique number of the ID tag 4 from the antenna i and the distance a between the ID tag 4 and the ID tag 5 and the manipulated part wx and the manipulated part wy , And stores these pieces of information as information acquired by the antenna i. The position and orientation calculation device 3 also acquires the unique number of the ID tag 5 from the antennas q and v and stores it as information acquired by the antennas q and v.

1B, the position and orientation calculating device 3 calculates the position of the ID tag 5 and the position of the ID tag 5 based on the distance a between the operation part wx and the operation part wy, the position of the ID tag 4, And a data group D is created. The manipulation part wx, the manipulation part wy and the distance (a) move the information contained in the information acquired by the antenna b and include it in the attitude calculation data group D.

The position of the ID tag 4 is data composed of the X-axis direction position and the Y-axis direction position of the ID tag 4. The X-axis direction position (x1) and the Y-axis direction position (y1) of the ID tag 4 are assumed to be the respective coordinates in the XY coordinate system of the antenna i. Each coordinate in the XY coordinate system of the antenna i is previously recorded in the position and orientation calculation device 3 and is, for example, the center coordinate of the pattern center coordinate of the antenna i or the readable range of the antenna i.

The position of the ID tag 5 is data made up of the position of the ID tag 5 in the X-axis direction and the Y-axis direction. The Y-axis direction position y2 of the ID tag 5 can be obtained by averaging the coordinates of the antenna q in the Y-axis direction and the coordinates of the antenna v in the Y-axis direction. This position y2 is obtained by averaging the coordinates of the pattern center of the antenna q and the pattern center coordinates of the antenna v, the center coordinates of the readable range of the antenna q and the readable range of the antenna v Location. Since the coordinates (x2) of the ID tag 5 in the X-axis direction are the same in the X-axis direction of the antenna q and the antenna v, one of the antennas is set to the position (x2) of the ID tag 5 do.

Although not described in detail in this embodiment, it is also possible that two antennas (for example, antennas s and t) adjacent to each other in the X-axis direction detect the same ID tag. In this case, the position of the ID tag in the X-axis direction may be calculated in accordance with the calculation method of the position (y2) in the Y-axis direction of the ID tag 5 described above. Since the coordinates of the antennas s and t are the same in the Y-axis direction, one of the antennas may be located in the Y-axis direction of the ID tag.

Subsequently, the position and orientation calculation device 3 calculates the posture of the metal part X from the posture calculation data group D. The absolute value of the difference between the X-axis direction position x1 of the ID tag 4 and the X-axis direction position x2 of the ID tag 5 is set to the distance between the ID tag 4 and the ID tag 5 in the X- the absolute value of the difference between the Y-axis direction position y1 of the ID tag 4 and the Y-axis direction position y2 of the ID tag 5 is set to the ID tag 4 in the Y- (Refer to FIG. 3B) between the ID tag 4 and the ID tag 5. The position and orientation calculating device 3 selects the longer one of the distance b and the distance c and selects the distance selected in the calculation formula (the above-described formula (1) or the formula (2) (Inclination [theta]) of the metal part X is calculated by substituting the distance a. When the distance b and the distance c are completely equal, it is preferable to use an expression that takes the distance of the side having high resolving power as a parameter.

The position / posture calculation device 3 converts the manipulation part wx and the manipulation part wy from the obtained attitude of the metal part X into coordinates displayed in the coordinate system of the robot. For example, when the coordinate system of the robot is a coordinate system consisting of the X axis and the Y axis in the present embodiment, the coordinate (wx, wy) of the manipulated part is calculated from the inclination (?) With respect to the X axis, Can be converted into coordinates (Wx, Wy) of the robot.

In the attitude detection device 1 of the present embodiment described above, the tag reader 2 includes the plurality of antennas a to y arranged in a matrix, and the read range of one antenna a to y is limited Only the antenna in which the ID tag 4 and the ID tag 5 exist in the readout range when the metal part X is placed on the tag reader 2 is detected by the ID tag 4 and And receives a signal from the ID tag 5. Therefore, in the attitude detecting device 1 of the present embodiment, the position where the ID tag 4 and the ID tag 5 exist can be specified based on the positional information of the antennas a to y. Since the ID tag 4 and the ID tag 5 have unique information, according to the posture detecting device 1 of the present embodiment, based on the signal received from the ID tag 4 and the ID tag 5 It is possible to specify which ID tag exists at which position. In the attitude detecting device 1 of the present embodiment, the posture of the metal part X is obtained from the positional information of the specific ID tag 4 and the ID tag 5 in this manner.

According to the posture detecting device 1 of this embodiment, it is possible to detect the posture of the metal part X without using a camera or a scanner, and it is necessary to detect the posture of the metal part X several times none. Therefore, the posture of the metal part X can be accurately detected with a simple configuration.

In the posture detecting device 1 of the present embodiment, the posture of the metal part X can be obtained by providing only two ID tags 4 and ID tags 5 for the metal part X . Therefore, the posture of the metal part X can be easily detected regardless of the shape of the metal part X. [

In the posture detecting device 1 of the present embodiment, two ID tags (ID tag 4 and ID tag 5) are provided for the lower face X1 of the metal part X in the stable posture. Therefore, when the metal part X is placed on the tag reader 2, the plurality of ID tags can be surely opposed to the tag reader 2. Therefore, the posture of the metal part X can be reliably detected.

It is preferable that the ID tag 4 and the ID tag 5 can be detected only at a short distance. Thus, most of the antennas a to y are prevented from detecting the ID tag 4 and the ID tag 5, so that the positions of the ID tag 4 and the ID tag 5 can be obtained more accurately. However, in this case, if the ID tag 4 and the ID tag 5 are located at positions far from the antennas a to y, or if the metal parts X exist between the antennas a to y and the ID tag, And the ID tag 5 can not be detected. As described above, by providing two ID tags 4 and ID tags 5 on the lower surface X1 of the metal part X in the stable posture, the ID tag 4 and the ID tag 5 can be connected to the antenna it is preferable to be able to reliably detect any one of a to y.

While the preferred embodiments of the present invention have been described with reference to the accompanying drawings, the present invention is not limited to the above embodiments. All shapes, combinations, and the like of each constituent member shown in the above-described embodiments are merely examples, and addition, omission, substitution, and other modifications of the constitution are possible based on design requirements and the like without departing from the spirit of the present invention. The invention is not to be limited by the foregoing description, but is only limited by the appended claims.

For example, in the above-described embodiment, a configuration using the tag reader 2 arranged such that the antenna pattern 2b2 on the substrate 2b1 faces upward is described. However, the present invention is not limited to this, and a tag reader 2A in which the antenna substrate 2b is vertically arranged as shown in Fig. 4A may be used. In this tag reader 2A, the antenna substrate 2b is provided such that the surface of the substrate 2b1 on which the antenna pattern 2b2 is formed is in an attitude that crosses the detection surface. That is, the surface of the substrate 2b1 may not be parallel to the vertical direction, or may be inclined.

As a result, the installation area of the antenna can be narrowed on the detection surface side (the side shown in FIG. 4A), so that the magnetic field range is reduced when viewed from the same side. Therefore, the antenna reading range on the detection surface is reduced, and the degradation capability of detection can be further improved.

As shown in Fig. 4A, shielding plates 6 may be provided between a plurality of antenna substrates 2b (i.e., between a plurality of antennas). The shielding plate 6 is made of a material such as aluminum that absorbs magnetic flux, thereby preventing magnetic flux interference between the antennas. There is an antenna in which the ID tag can not be detected in an area where the two antenna readout ranges shown in the above embodiment overlap. When such an antenna is used, it is possible to prevent the magnetic flux interference between the antennas by installing the shielding plate 6 as described above, thereby preventing overlapping of the read ranges. Therefore, the antennas can be densely arranged so that the read ranges do not overlap. As shown in Fig. 4A, when the antenna substrate 2b is arranged vertically, the antennas can be arranged more tightly than in the above embodiment, but in this case, magnetic flux interference easily occurs. By providing the shielding plate 6 thereon, it is possible to arrange the antenna more densely than the above-described embodiment while preventing the occurrence of magnetic flux interference.

In the above embodiment, the ID tag 4 detects the distance a from the ID tag 4 to the ID tag 5 and the position coordinates (the manipulation part wx and the manipulation part wy) of the manipulation part of the metal part X, Is described. However, the present invention is not limited to this. As shown in FIG. 4B, the position and orientation calculation device 3 calculates the distance a from the ID tag 4 to the ID tag 5, And the position coordinates (the manipulation part wx and the manipulation part wy) of the manipulation part may be stored.

In the above-described embodiment, the configuration in which the object to detect the attitude is the metal part X has been described. However, the present invention is not limited to this, and a part or the like made of a material other than metal may be an object of attitude detection. That is, the material of the object to be detected of the present invention is not limited.

In the above embodiment, the structure in which the tag reader 2 is disposed under the metal part X has been described. However, the present invention is not limited to this, and the tag reader 2 may be arranged on the upper side or the side of the metal part X. [ At this time, when the object to be detected is made of a metal material that does not pass magnetic flux, it is necessary to provide two or more ID tags on the surface of the object to be detected on the side of the tag reader 2.

In the above-described embodiment, a configuration in which two ID tags are provided in the metal part X has been described. However, the present invention is not limited to this, and three or more ID tags may be provided in the metal part X. In such a case, for example, a polygonal shape having the ID tag as a vertex may be calculated from the position of the ID tag, and the posture of the metal part X may be detected in the direction of the polygon.

In the above embodiment, the configuration for detecting the attitude of the small-sized metal part X has been described. However, the present invention is not limited to this, and it may be used to detect the posture of the large-sized component when the large-sized component is transported by a crane or the like, for example. In such a case, it is sufficient that the resolving power of several centimeters is sufficient. For example, the readable range of the ID tag may be further expanded by using the active tag as the ID tag.

One… Attitude detection device
2, 2A ... Tag reader (detection device)
2a ... Expectation
2b ... Antenna substrate
2b1 ... Board
2b2 ... Antenna pattern (antenna)
3 ... Position and orientation calculating device (calculating device)
Four, five ... ID tag (RFID tag)
6 ... Shielding plate
X ... Metal parts (object to be detected)

Claims (6)

At least two RFID tags provided on the object to be detected and each having unique information,
A detection device having a detection surface located on a side for detecting the RFID tag and a plurality of antennas arranged in two directions orthogonal to each other along with the detection surface while receiving signals from the RFID tag,
Based on the position information of the antenna which receives the signal from one RFID tag of the two RFID tags and the position information of the antenna which receives the signal from the RFID tag of the other one of the two RFID tags, Calculating means for calculating the posture of the detected object
And an attitude detection device. The apparatus according to claim 1,
And a shield plate disposed between the plurality of antennas and preventing magnetic flux interference between the plurality of antennas. The antenna according to claim 1 or 2, wherein the antenna comprises an antenna pattern formed on a surface of a substrate,
Wherein the substrate is provided in a posture in which the surface on which the antenna pattern is formed intersects the detection surface. The attitude detecting device according to claim 1, wherein two or more RFID tags are provided on the lower surface of the object to be detected in the stable posture. The attitude detecting device according to claim 2, wherein two or more RFID tags are provided on the lower surface of the object to be detected in the stable posture. The attitude detecting device according to claim 3, wherein two or more RFID tags are provided on the lower surface of the object to be detected in the stable posture.

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