WO2008035433A1 - Unité mobile et procédé de commande - Google Patents

Unité mobile et procédé de commande Download PDF

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Publication number
WO2008035433A1
WO2008035433A1 PCT/JP2006/318845 JP2006318845W WO2008035433A1 WO 2008035433 A1 WO2008035433 A1 WO 2008035433A1 JP 2006318845 W JP2006318845 W JP 2006318845W WO 2008035433 A1 WO2008035433 A1 WO 2008035433A1
Authority
WO
WIPO (PCT)
Prior art keywords
antenna
moving
tag
unit
communication
Prior art date
Application number
PCT/JP2006/318845
Other languages
English (en)
Japanese (ja)
Inventor
Tsutomu Hatase
Original Assignee
Fujitsu Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fujitsu Limited filed Critical Fujitsu Limited
Priority to PCT/JP2006/318845 priority Critical patent/WO2008035433A1/fr
Priority to JP2008535250A priority patent/JP4851530B2/ja
Publication of WO2008035433A1 publication Critical patent/WO2008035433A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096758—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where no selection takes place on the transmitted or the received information
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element

Definitions

  • the present invention relates to a mobile body and a control method for acquiring position information by wireless communication using IC tag power distributed on a floor surface, a wall surface, and the like, and in particular, a communication range of an antenna mounted on a mobile body by an IC tag.
  • the present invention relates to a mobile unit and a control method that can complete communication for acquiring position information while it exists in the network.
  • the floor surface or wall surface of the target area for example, latitude
  • An IC tag that stores coordinate information indicating longitude and longitude is installed in advance, and is mounted on the mobile unit when the mobile unit moves from an arbitrary position to the destination set by the user according to the set route.
  • the position information is read from the IC tag that is within the communication range of the antenna provided in the tag communication device (tag reader), for example, the current position of the moving body is corrected to the correct position, and the target position is set along the set route.
  • Moving body control is performed to control the vehicle so that it faces away.
  • Patent Document 1 Japanese Patent Laid-Open No. 5-134734
  • Patent Document 2 JP 2004-252579 A
  • IC tags require a time of about 200 msec to 300 msec to read information, depending on the standard.
  • the moving body is 2KmZh! If a person is moving at a speed that allows him to walk slowly, he / she moves a distance of 40 cm to 50 cm while reading the tag information.
  • the present invention provides a moving body and a control method that enable the tag information to be completely read by keeping the tag within the communicable distance of the antenna as much as possible even when the moving speed is high. Objective.
  • the present invention provides a mobile unit that reads position information of tags distributed and arranged in a travel target area through a wireless line.
  • a tag communication unit that communicates with a tag to obtain position information
  • An antenna that is connected to the tag communication unit and establishes a wireless link with the tag; an antenna moving unit that moves the antenna on a moving object;
  • a control unit that moves the antenna in the direction opposite to the moving direction by the antenna moving unit during communication with the tag by the tag communication unit;
  • control unit moves the antenna in the direction opposite to the moving direction at the same speed as the moving speed of the moving body during the communication with the tag by the tag communication unit.
  • a rotation angle detection unit for detecting the motor rotation angle Rm of the movement motor provided in the movement mechanism per unit time
  • a speed calculation unit for calculating the moving speed Vm Using the motor rotation angle Rm and the wheel rotation radius r, a speed calculation unit for calculating the moving speed Vm,
  • a speed converter that converts the moving speed Vm to the antenna moving speed Va in the direction opposite to the moving direction;
  • a rotation angle calculation unit that calculates a motor rotation angle Ra per unit time of the antenna moving motor based on the antenna moving speed Va and a conversion coefficient ga that converts the motor rotation amount of the antenna moving motor into the antenna moving amount;
  • a motor drive unit for driving the antenna moving motor so as to obtain an antenna rotation angle Ra per unit time
  • the control unit moves the antenna in a direction opposite to the moving direction at a predetermined speed lower than the moving speed of the moving body.
  • a rotation angle detection unit for detecting the rotation angle Rm of the moving motor provided in the moving mechanism per unit time
  • a speed calculation unit that calculates the moving speed Vm using the rotation angle and wheel turning radius, and a speed conversion that converts the moving speed to the antenna moving speed Va in the direction opposite to the moving direction by multiplying the moving speed by a predetermined conversion coefficient OC less than 1.
  • a rotation angle calculation unit that calculates a motor rotation angle Ra per unit time of the antenna moving motor based on the antenna moving speed Va and a conversion coefficient ga that converts the motor rotation amount of the antenna moving motor into the antenna moving amount;
  • a motor drive unit for driving the antenna moving motor so as to obtain a motor rotation angle Ra per unit time
  • the control unit causes the antenna moving unit to move the antenna in the direction opposite to the moving direction.
  • the control unit moves the antenna in the direction opposite to the moving direction by the antenna moving unit after a predetermined elapsed time from the start of communication.
  • the control unit calculates a predetermined tag communication possible distance by the antenna and a moving speed force at that time until the antenna is closest to the tag, and starts communication.
  • the force reaches the tag closest approach time
  • the antenna is moved in the direction opposite to the moving direction by the antenna moving part.
  • the control unit moves the antenna at the start point in the direction opposite to the moving direction by the antenna moving unit to reach the end point, and then returns to the start point after waiting for the end of communication with the tag.
  • a plurality of antennas and antenna moving units are provided, and in this case, the control unit is in a state where any one of the antennas existing at the start point position is connected to the tag communication device.
  • the corresponding antenna moving unit moves the antenna in the direction opposite to the moving direction, reaches the end point position, waits for the end of communication with the tag, and moves other antennas remaining at the start point position. Switch to the tag communication device to prepare for the next tag communication, and return the antenna at the end point to the start point.
  • the antenna moving unit installs an antenna at each of a start point position and an end point position of an endless belt that is wound around a pulley that is rotated in the moving direction on a moving body,
  • the control unit drives the endless belt and moves one antenna to the start position force end point and the other antenna at the same time. After moving to the start point position, one antenna arrives at the end point position and then waits for the end of communication with the tag to move to the start point position. Switch the other antenna to the tag communication device and connect it to the next tag communication. Prepare for.
  • the moving body is a moving port bot provided with a rotatable arm, and an antenna is disposed at the end of the arm in order to use the arm as an antenna moving unit.
  • control unit keeps the arm extended in the movement direction during movement, and rotates the arm in the direction opposite to the movement direction when communication with the tag is started by the tag communication device. Move (swing) to move the antenna in the opposite direction.
  • the present invention provides a method for controlling a moving object.
  • the present invention is provided between a moving mechanism that drives a moving body, a tag communication unit that acquires position information by communicating with tags distributed in a traveling target area, and a tag that is connected to the tag communication unit. Equipped with an antenna that establishes a wireless link and an antenna moving unit that moves the antenna on a moving object, and is distributed in the area to be traveled
  • the antenna moving unit moves the antenna in a direction opposite to the moving direction during communication with the tag by the tag communication unit. .
  • the antenna of the tag communication device (tag reader) is set to the moving direction of the moving body as the moving body moves. Since the antenna is moved in the opposite direction, the relative speed between the antenna mounted on the moving object and the IC tag placed on the floor or wall can be reduced to zero or small.
  • FIG. 1 is an explanatory diagram showing an embodiment of a moving body according to the present invention.
  • FIG. 2 is an explanatory diagram showing details of the moving mechanism and the antenna moving mechanism in the embodiment of FIG.
  • FIG. 4 Circuit block diagram of the IC tag communication unit provided in this embodiment
  • FIG. 5 is a block diagram of a functional configuration of an antenna movement control unit provided in this embodiment.
  • FIG. 6 is a block diagram of the hardware environment of a computer that implements the control unit of this embodiment.
  • FIG. 7 is an explanatory diagram of route setting used for automatic driving according to this embodiment.
  • FIG. 8 An explanatory diagram of the processing operation for starting antenna movement in conjunction with the start of tag communication in this embodiment.
  • FIG. 9 is a flowchart of movement control in the present embodiment.
  • FIG. 10 is a flowchart showing details of the antenna movement control in step S5 of FIG. 9.
  • the antenna movement control is started when the closest tag distance is reached in this embodiment. Illustration of processing operation
  • FIG. 12 is a flowchart showing details of antenna movement control corresponding to FIG.
  • FIG. 13 is an explanatory diagram of another embodiment of the present invention in which two sets of antennas and antenna movements are mounted.
  • FIG. 14 is an explanatory diagram showing details of the moving mechanism and the antenna moving mechanism in the embodiment of FIG.
  • FIG. 15 is an operation explanatory diagram of antenna movement control according to the embodiment of FIG.
  • FIG. 16 is a flowchart showing details of antenna movement control corresponding to FIG.
  • FIG. 17 is an explanatory diagram of another embodiment of the present invention in which two sets of antennas are mounted on an endless belt and move.
  • FIG. 18 is an explanatory diagram showing details of the moving mechanism and the antenna moving mechanism in the embodiment of FIG.
  • FIG. 19 is an operation explanatory diagram of antenna movement control according to the embodiment of FIG.
  • FIG. 20 is a flowchart showing details of antenna movement control corresponding to FIG.
  • FIG. 21 is an explanatory diagram of another embodiment of the present invention in which an antenna is moved by an arm swing of a mobile robot.
  • FIG. 1 is an explanatory view showing an embodiment of a moving body according to the present invention.
  • a moving body 10 is realized as a cart, a wheelchair, or a mobile robot, and includes a driving wheel 14 and a steering wheel 16 in a main body 12.
  • the driving wheel 14 travels the main body 12 along the road surface 18 by a motor drive or the like, and the steering wheel 16 can change its moving direction by changing its direction.
  • an IC tag communication unit 22 On the main body 12 of the moving body 10, an IC tag communication unit 22, an antenna 24, an antenna moving unit 26, and a control unit 28 are mounted. On the other hand, the floor surface position of the road surface 18 on which the moving body 10 travels is
  • the IC tag communication unit 22 mounted on the moving body 10 communicates with the IC tag 20 through a wireless line by the antenna 24, and in this embodiment, the longitude stored in advance in the IC tag 20
  • the antenna moving unit 26 moves the antenna 24 on the main body 12 in a predetermined movement range along the moving direction. It is mounted so that it can move back and forth in the direction of movement and in the opposite direction.
  • the control unit 28 causes the antenna moving unit 26 to move the antenna 24 in the direction opposite to the moving direction of the moving body 10.
  • the movement of the antenna 24 by driving the antenna moving unit 26 by the control unit 28 has the following two controls.
  • the control (2) is a control for reducing the moving speed of the antenna 24 relative to the IC tag 20 with respect to the moving speed of the moving body 10.
  • FIG. 2 is an explanatory diagram showing details of the moving mechanism and the antenna moving mechanism in the embodiment of FIG.
  • the moving mechanism 30 drives the moving body 10 by driving the driving wheels 14.
  • a motor 32 is provided as a drive source
  • the drive shaft of the motor 32 is connected to the gear box 36
  • the gear box 36 converts the rotation of the motor 32 into the rotation of the left and right drive wheels 14 by gear connection.
  • An encoder 34 is coaxially connected to the drive shaft of the motor 32.
  • the encoder 34 outputs a predetermined number of N pulses per rotation of the motor 32.
  • the moving mechanism 30 is provided with a steering drive mechanism 38 so that the moving direction of the moving body can be changed by controlling the direction of the steering wheel 16 as the front wheel.
  • the antenna moving unit 26 is provided with a motor 40 as a drive source, and the drive shaft of the motor 40 can be driven to rotate, for example, a screw shaft 46 via a gear box 44.
  • the screw shaft 46 is connected to a screw nut attached to the antenna 24.
  • the screw shaft 46 is moved in one direction by the motor 40 via the gear box 44.
  • the antenna 24 moves in the direction opposite to the moving direction, and when the screw shaft 46 is rotated in the opposite direction, the antenna 24 moves in the same direction as the moving direction.
  • the end of the screw shaft 46 on the moving direction side becomes the starting point 48 when the antenna 24 moves, and the opposite side becomes the end point 50 when the antenna 24 moves.
  • an encoder 42 is coaxially connected to the drive shaft of the motor 40, and the encoder 42, like the encoder 34 on the moving mechanism 30 side, generates N pulses predetermined per rotation of the motor, The moving position of the antenna 24 can be detected by counting these pulses.
  • the control unit 28 is provided with a movement control unit 52 and an antenna movement control unit 54.
  • the movement control unit 52 controls the motor 32 and the steering mechanism 38 of the moving mechanism 30 to automatically move the moving body 10 along the set route for the target position set by the user.
  • the antenna movement control unit 54 detects the moving speed of the moving body 10 by driving the motor 32 of the moving mechanism 30 and converts it into an antenna moving speed opposite to the moving direction of the antenna 24 to drive the motor 40. Then, the antenna 24 is moved in the direction opposite to the moving direction. Details of the control by the antenna movement control unit 54 will be made clear later.
  • FIG. 3 is a circuit block diagram of the IC tag 20 used in the present embodiment.
  • the IC tag 20 is formed of a package having a card shape of a business card, for example, and an antenna coil 56 is provided on the surface of the knocker, etc., and a smoothing circuit 58, a memory 60, a voltage stabilization circuit as internal circuits.
  • a logic circuit 64, a data demodulation circuit 66, a data modulation circuit 68, and a clock extraction circuit 70 are provided.
  • the IC tag 20 does not have a built-in power supply, and the antenna coil 56 receives the radio wave transmitted from the antenna 24 by the IC tag communication unit 22 mounted on the mobile body 10, and smoothes out the received signal.
  • circuit 58 a DC voltage is generated smoothly and used as a power source.
  • the IC tag 20 operates for the first time when it enters the communicable distance of the antenna 24 by the IC tag communication unit 22 mounted on the moving body 10, and is activated by the power supply from the smoothing circuit 58.
  • the data modulation circuit 68 is operated to transmit tag response information including a tag ID, etc., whereby the IC tag communication unit 22 of the mobile unit 10 recognizes the presence of the IC tag 20 and stores it in the memory 60 in advance.
  • Request to read location information such as longitude and latitude
  • the logic circuit 64 reads the position information from the memory 60, modulates it with the data modulation circuit 68, and transmits it from the antenna coil 56.
  • the clock in the logic circuit 64 is extracted from the received signal received from the antenna coil 56 by the clock extraction circuit 70 and supplied to the logic circuit 64.
  • a non-volatile memory such as FRAM is used as the memory 60.
  • FIG. 4 is a circuit block diagram of the IC tag communication unit 22 provided in the moving body 10 in the present embodiment.
  • the IC tag communication unit 22 has an antenna 24 externally connected, and a CPU 72 is provided inside.
  • the memory 72, the data modulation circuit 78, the transmission circuit 80, and the reception circuit 82 are connected to the bus 74 of the CPU 72.
  • the data demodulation circuit 84 and the interface control unit 86 are connected.
  • the CPU 72 executes a communication control program stored in the memory 74, and constantly transmits a calling radio wave from the antenna 24.
  • the communicable distance by the radio wave transmitted from the antenna 24 is determined by a specific antenna pattern depending on the structure of the antenna 24, but is about several tens of centimeters. Of course, if the transmission power by the transmission circuit 80 is increased, the communicable distance by the antenna 24 can be appropriately extended as necessary.
  • the CPU 72 executes a program for IC tag communication stored in the memory 76, constantly transmits a ringing radio wave from the antenna 24, and receives a response signal from the IC tag 20 shown in FIG. Then, the data modulation circuit 78 and the transmission circuit 80 are used to transmit the position information calling signal, the response signal from the IC tag 20 is received by the antenna 24, amplified by the reception circuit 82, and then the data demodulation circuit The position information demodulated and stored in 84 is stored in the memory 76, and then output to the control unit 28 of the moving body 10 in FIG. 1 via the interface control unit 86.
  • FIG. 5 is a block diagram of a functional configuration of the antenna movement control unit 54 provided in the control unit 28 of FIG.
  • the antenna movement control unit 54 includes a motor rotation angle detection unit 88, a movement speed calculation unit 90, a speed conversion unit 92, a motor rotation angle calculation unit 94, and an antenna movement motor drive unit 96, which are provided in the mobile mechanism 30.
  • the output value E of the motor 32 is read at regular sample intervals, and the difference from the previous read value Eo (E—Eo) is also the motor rotation angle Rm for each sample cycle. To detect.
  • the motor rotation angle Rm is detected by the following equation.
  • the moving speed calculation unit 90 calculates the motor rotation angle R m force output from the motor rotation angle detection unit 88, the rotation angle Rw of the drive wheel 14, and further calculates the rotation angle Rw of the drive wheel and the rotation radius r of the drive wheel 14. Based on this, the moving speed Vm of the moving body 10 is calculated.
  • the moving speed calculation unit 90 transmits the motor rotation angle Rm output from the motor rotation angle detection unit 88 and the rotation angle of the motor 32 to the drive wheel 14 via the gear box 36. Based on the ratio gm, the rotation angle Rw of the drive wheel 14 is calculated by the following equation.
  • the moving speed calculation unit 90 calculates the moving speed Vm by the following equation based on the rotation radius r of the drive wheel 14.
  • Vm 2 7c r X RwZ360 (3)
  • the speed converter 92 converts the moving speed Vm calculated by the moving speed calculator 90 into an antenna moving speed Va in the direction opposite to the antenna moving direction. At this time, the conversion coefficient ex is used to calculate the following formula.
  • Va a X (-Vm) (4)
  • the motor rotation angle calculation unit 94 converts the antenna moving speed Va converted by the speed conversion unit 92 and the conversion coefficient ga for antenna movement by the gear box 44 and the screw shaft 46 driven by the motor 40 in FIG. Based on this, the rotation angle Ra per sample period to the antenna drive motor 40 is calculated by the following equation.
  • the antenna moving motor drive unit 96 outputs a motor command value for flowing a motor drive current according to the motor rotation angle Ra of the antenna drive motor 40 in the sample period calculated by the motor rotation angle calculation unit 94 to the antenna drive motor. Output to 40.
  • the antenna moving motor driving unit 96 reads the value of the encoder 42 simultaneously with the output of the command value corresponding to the rotation angle Ra with respect to the antenna moving motor 40, and the difference force from the previous reading value Motor rotation The angle Ra is detected, and feedback control is performed so as to maintain the command value by taking the deviation from the motor rotation angle Ra as the command value.
  • the read value of the encoder 42 provided in the antenna moving unit 26 in FIG. 2 reaches the start point 48 of the antenna 24 by comparing the value at the start point 48 with the value at the end point 50 in advance. Alternatively, arrival at the end point 50 can be detected.
  • FIG. 6 is a block diagram of a hardware environment of a computer that implements the control unit 28 in the present embodiment.
  • a RAM 102, a ROM 104, a hard disk drive 105, and a device interface 106 are connected to a bus 100 of a CPU 98.
  • an operation unit 108 necessary for operating the mobile unit 10 a display unit 110 for displaying various information associated with the operation of the mobile unit 10, and voice messages to the user of the mobile unit 10 are displayed.
  • An audio output unit 112 for output is connected.
  • the motor driver 114, 116 and the communication adapter 118 force S are connected to the bus 100 of the CPU 98.
  • the motor driver 114 performs input / output of the motor 32 and the encoder 34 provided in the moving mechanism 30 in FIG.
  • the motor driver 116 performs input / output between the antenna moving motor 40 and the encoder 42 provided in the antenna moving unit 26.
  • the communication adapter 118 receives, for example, a position signal read from the IC tag 20 with the interface control unit 86 of the IC tag communication unit 22 shown in FIG. 4 mounted on the moving body 10.
  • the hard disk drive 105 in FIG. 6 stores a control program for realizing the functions of the movement control unit 52 and the antenna movement control unit 54 provided in the control unit 28 in FIG. Therefore, when the mobile unit 10 is turned on and the computer is started, the OS is read from the hard disk drive 105 to the RAM 102 by the boot process by the BI OS in the ROM 104, and when the OS is started, the movement control and antenna are started from the hard disk drive 105.
  • the application program for movement control is read and arranged in RAM102, and the CPU It will be executed from 98 days.
  • FIG. 7 is an explanatory diagram of route setting used for the automatic traveling of the present embodiment by the movement control unit 52 provided in the control unit 28 of FIG.
  • FIG. 7 shows a plan view of the moving area 120 in which the moving body 10 of the present embodiment is used.
  • the force route 125 from the start position 122 to the destination 124 is shown. Is set.
  • Position coordinates shown in a grid pattern are shown in the mobile body area 120 where the route 125 is set, and the IC tag 20 shown in FIG. 3 is embedded at each intersection position of the grid coordinates.
  • the position information at each position is stored in advance.
  • the moving body 10 starting from the start position 122 is placed at the intersection of the squares!
  • the IC tag 20 is mounted on the moving body and enters the communicable distance of the antenna 24.
  • Start communication read the position information from the IC tag 20, correct the position information power of the tag that read the current position of the moving body, and move toward the destination 124 while correcting the positional deviation with respect to the route 125 become.
  • FIG. 8 is an explanatory diagram showing the processing operation by the antenna movement control unit 54 of the control unit 28 provided in FIG. 2 that starts antenna movement in conjunction with the start of tag communication in this embodiment, divided in time. is there.
  • the moving body 10 is moving in the right direction at a moving speed Vm indicated by an arrow.
  • the antenna 24 is positioned at the starting position on the moving direction side in the antenna moving unit 26.
  • a radio wave transmitted by calling the IC tag communication unit 22 is emitted from the antenna 24 to form a communicable area 126 indicated by a broken line.
  • the IC tag 20 when the IC tag 20 enters the communicable area 126 of the antenna 24 as shown in the figure, the IC tag 20 operates by generating power from the received radio wave, and sends a response signal. For example, communication for reading position information is started with the IC tag communication unit 22 of 10. When communication is started in this way, the antenna moving unit 26 starts moving the antenna 24 in the direction opposite to the moving direction at the same moving speed Va as the moving speed Vm as indicated by an arrow.
  • FIG. 8 (B) shows a state in which the moving body 10 has further advanced, and the antenna 24 moves in the opposite direction to the moving direction at the same moving speed Va as the moving speed Va. The distance of 24 does not change. 24 is in a stopped state.
  • FIG. 8C shows a state in which the antenna 24 is moved to the end point position by the antenna moving unit 26.
  • the moving body 10 further proceeds with the antenna 24 moved to the end point position and stopped, and passes the re-approaching position of the IC tag 20.
  • the moving body 10 moves to a state immediately before the communicable range power of the antenna 24 from the IC tag 20 also deviates and falls out of the communicable range.
  • the antenna 24 is moved in the direction opposite to the moving direction, so that the case of FIG.
  • the relative speed with the IC tag 20 is set to zero to ensure a communicable distance, and even when the antenna is moved to the end point, the communication of the IC tag 20 is performed as the moving body 22 moves. Since communication can be continued until it has passed through the possible distance, the communication time required for communication with the IC tag 20 can be secured sufficiently.
  • the communication time of 200 to 300 msec required for the communication is a force that deviates from the communicable distance force. A sufficient communication time for reading the position information from the IC tag 20 can be secured to complete the necessary communication.
  • FIG. 9 is a flowchart of the movement control process of the moving body 10 by the control unit 28 in the present embodiment.
  • a route 125 for the destination 124 is determined in step S2, for example, as shown in FIG.
  • automatic traveling control for moving the moving body along the route is started in step S3.
  • step S5 If the IC tag 20 exists in the communicable distance of the antenna 24 in step S4 during this automatic travel control and it is determined that there is a tag response, the process proceeds to step S5, and antenna movement control is executed.
  • the position information is acquired from the IC tag 20 in step S6 along with the antenna movement control, for example, the current position of the moving body 10 is corrected in step S7.
  • step S8 whether or not the destination has been reached is checked. If not reached, the processing from step S3 is repeated. When arrival at the destination is determined in step S8, stop control is performed in step S9.
  • FIG. 10 is a flowchart showing details of the antenna movement control in step S5 of FIG. It is.
  • the antenna movement control in Fig. 10 can be explained as follows with reference to Figs.
  • step S 1 the motor rotation angle detection unit 88 provided in the antenna movement control unit 54 in FIG. 5 reads the value E of the encoder 34 provided in the motor 32 for driving the traveling mechanism, and in step S 2 the encoder difference (E ⁇ EO) is calculated, and in step S3, the motor rotation angle detection unit 88, the movement speed calculation unit 90, and the speed conversion unit 92 in FIG.
  • step S4 the value of the encoder 42 of the antenna moving motor 40 in FIG. 2 is read to detect the antenna position. If the end point is not reached in step S5, the motor rotation angle calculation unit in FIG. 94 and the function of the antenna moving motor drive unit 96 calculate the command value of the antenna moving motor 40, output the command value to the antenna moving motor 40 in step S7, drive the motor 40, and via the gear box 44 Rotate the screw shaft 46 and start moving the antenna 24 in the opposite direction.
  • the antenna 24 is moved in the direction opposite to the moving direction at the same speed as the actual moving speed Vm of the moving body 10 at that time.
  • the conversion coefficient a 1, and if the conversion coefficient ex is less than 1, the antenna moves in the direction opposite to the moving direction at an antenna moving speed Va lower than the moving speed Vm corresponding to that value. Moved.
  • step S5 If it is determined in step S5 that the end point has been reached while the antenna is moving, the process proceeds to step S8 to check whether tag communication is completed.
  • step S8 When it is determined in step S8 that tag communication has been completed, a reverse rotation command is sent to the antenna moving motor 40 in step S9, and control is performed to return the antenna 24 moved to the end point 50 to the start point 48.
  • step S 10 the value of the encoder 42 of the antenna moving motor 40 is read to detect the antenna position, and in step S 11, it is checked whether or not the start point has been reached.
  • step S 11 the process proceeds to step S 12 where a stop command is sent to the antenna moving motor 40 to stop the antenna movement, and the antenna 24 is returned to the position of the start point 48 and the next step is performed. It will prepare for communication with the IC tag.
  • FIG. 11 shows the antenna transfer when the antenna of the mobile object is closest to the IC tag in this embodiment. It is explanatory drawing of the processing operation which starts dynamic control.
  • Fig. 11 (A) shows a state in which the IC tag 20 is in the communicable area 126 of the antenna 24 mounted on the moving body 10. At this time, the communicable distance L2 between the antenna 24 and the IC tag 20 is the antenna.
  • the 24 characteristic powers are also known in advance.
  • the antenna 24 of the moving body 10 is connected to the IC tag 20 with a predetermined communicable distance L2 in the state shown in FIG. Based on the moving speed Vm of the moving object 10 at that time, the time T until the antenna 24 is closest to the IC tag 20 is calculated.
  • Fig. 11 (B) is the time when the moving body 10 has passed the closest approach time T for which the state force of Fig. 11 (A) is also calculated. At this time, the antenna 24 of the moving body 10 is opposed to the IC tag 20. The antenna has moved to the closest position, and at this point, the movement control of the antenna 24 by the antenna moving unit 26 is started.
  • the antenna 24 is moved at the antenna moving speed Va in the direction opposite to the moving direction with the same value as the moving speed Vm of the moving body 10 at that time.
  • Vm Va
  • the antenna 24 stays at the closest position of the IC tag 20 during the movement by the antenna moving part 26 with respect to the moving body 10 of the moving body 10 as shown in FIG. 11 (C). Therefore, the shortest communication distance between the antenna 24 and the IC tag 20 is secured, and the optimum communication state can be maintained.
  • Fig. 11 (D) shows the state where the antenna 24 has moved to the end position, and after that, the antenna 24 moves with the moving body 10 and can communicate with the IC tag 20 as shown in Fig. 11 (E). Being out of the distance is a challenge.
  • FIG. 12 is a flowchart showing details of antenna movement control corresponding to FIG.
  • the destination set in steps S1 to S3, the route determination and the automatic driving control along the route are the same forces as in FIG. 9.
  • the process proceeds to step S5 and is preset.
  • the arrival time T to the tag position of the antenna 24 is calculated as the tag closest approach time from the communicable distance L2 of the antenna 24 and the moving speed Vm of the moving body 10 at that time.
  • step S6 the elapse of the closest approach time T of the IC tag is monitored, and the closest approach time T elapses. Then, it progresses to step S7 and antenna movement control is started.
  • the details of this antenna movement control are the same as those shown in the flowchart of antenna movement control in FIG. Also, the processing of steps S8 to S11 after the antenna movement control is completed is the same as the processing of steps S6 to S9 in FIG.
  • FIG. 13 is an explanatory diagram of another embodiment of a moving body according to the present invention in which two sets of antennas and antenna moving units are mounted.
  • FIG. 13 (A) is a front view
  • FIG. 13 (B) is a side view.
  • the main body 12 of the moving body 10 is provided with an antenna moving unit 26-1 that moves the antenna 24-1 and an antenna moving unit 26-2 that moves the antenna 24-2.
  • Other configurations of the IC tag communication unit 22 and the control unit 28 are basically the same as those in the embodiment of FIG.
  • FIG. 14 is an explanatory diagram showing details of the moving mechanism and the antenna moving unit in the embodiment of FIG.
  • the moving mechanism 30 is provided with the antenna moving portions 26-1 and 26-2 of two forces which are the same as those in the embodiment of FIG.
  • the antenna moving unit 26-1 is provided with an antenna moving motor 40-1, an encoder 42-1, a gear box 44-1, and a screw shaft 46-1.
  • the antenna 24-1 is moved in the opposite direction or in the reverse direction. Can be moved to.
  • the antenna moving unit 26-1 is provided with an antenna moving motor 40-2, an encoder 42-2, a gear box 44-2, and a screw shaft 46-2, and moves the antenna 24-2 in the moving direction or It can move in the opposite direction.
  • the antennas 24-1 and 24-2 are connected to the IC tag communication device 32 via the switching unit 128.
  • the control unit 28 is provided with a movement control unit 52 and an antenna movement control unit 54.
  • the control of the moving mechanism 30 by the movement control unit 52 is the same as the embodiment of FIG.
  • the antenna movement control unit 54 connects one of the two antennas 24-1 and 24-2 existing at the start position, for example, the antenna 24-1, to the IC tag communication device 32 via the switching unit 128.
  • the antenna moving motor 40-1 of the antenna moving unit 26-1 is driven to move the antenna 24-1 in the direction opposite to the moving direction of the moving body 10. Move to.
  • the antenna 24-1 When the antenna 24-1 reaches the end point position, it waits for the communication with the IC tag 20 to be completed. Another antenna 24-2 at the starting point position is switched and connected to the IC tag communication device 32 via the switching unit 128 to prepare for communication with the next IC tag. After switching the connection to the antenna 24-2, the antenna 24-1 moved to the end position by the antenna moving unit 26-1 is returned to the start position by the reverse drive of the antenna drive motor 40-1. .
  • FIG. 15 is an operation explanatory diagram of antenna movement control according to the embodiment of FIG. Fig. 15 (A) shows the case where the IC tag 20 is placed in the communicable area 126 of the antenna 24-1, which is currently connected to the IC tag communication unit 22 and mounted on the mobile unit 10, and a tag call response is obtained. Yes, Fig. 15 (B) is a plan view.
  • FIG. 15 (D) shows a state in which the antenna 24-1 has moved to the end point position. If communication with the IC tag 20 is completed at this position, as shown in FIG. 15 (E), Switch the antenna connection to the IC tag communication unit 22 from the previous antenna 24-1 to another antenna 24-2 that exists at the start point, and change the communication area 126 of the antenna 24-2 after switching. Switch to setting and prepare for communication with the next IC tag.
  • Fig. 15 (D) when communication with the IC tag 20 is not completed even when the antenna 24-1 moved first reaches the end point position, the antenna 24-1 is set at the end point position. — Waiting for the completion of communication with the IC tag 20 while moving the moving body 10 with 1 fixed, and after the communication is completed, connect another antenna 24-2 at the start position as shown in Fig. 15 (D). Switch to. Further, after switching to the connection of the antenna 24-2, the antenna 24-1 moves to the end position, and the antenna 24-1 moves in the reverse direction to return to the start position.
  • FIG. 16 is a flowchart showing details of antenna movement control corresponding to FIG.
  • one of the antennas at the start position is switched and connected to the IC tag communication unit 22 in step S1, and the antenna connected to the IC tag communication unit 22 in this state is targeted for step S2.
  • the antenna movement control is performed by obtaining the antenna moving speed Va in the reverse direction, which is the same as the moving speed Vm by the motor 32 of the moving mechanism 30 in FIG. This The details of steps S2 to S8 are the same as steps S2 to S7 of FIG.
  • step S9 When it is determined in step S6 that one antenna has reached the end point position, in step S9 the tag communication is completed, and in step S10, another antenna that remains at the start point position is sent to the IC tag communication unit 22. After the connection, a reverse rotation command is sent to the antenna moving motor in step S11, and the process of returning the antenna moved to the end point position to the start point position is performed in steps S12 and S13. Send a stop command to the moving motor to finish the process.
  • the antenna is moved in the direction opposite to the moving direction to reach the end point. If there is only one, it is necessary to return the antenna to the starting point position.If there is a next IC tag during this time, communication cannot be made before returning to the starting point position, and it takes time to start communication of the next IC tag.
  • By placing two sets of antennas and moving the antenna it will always be at the start point position, and if one of the two antennas is present, communication with the next IC tag will be performed to the antenna start point position. This can be done quickly without waiting for the return time.
  • FIG. 17 is an explanatory diagram of another embodiment of the present invention in which two sets of antennas are mounted on an endless belt and moved.
  • Fig. 17 [Correct! On the main body 12 of the moving body 10, the endless belt 130 is looped around the pair of pulleys 132, 134, and the endless belt 130 is attached to the IC tag 20 on the floor side. phase against the antenna 24 1 is placed in position, which the endless belt 130 of the belt length is one-half the belt length apart another antenna at the position 24 - 2 by connecting, Ru.
  • FIG. 18 is an explanatory diagram showing details of the moving mechanism and the antenna moving unit in the embodiment of FIG.
  • the moving mechanism 30 is the same as the embodiment of FIG. 2, whereas the antenna moving unit 26 is provided with two antennas 24-1, 24-2 on the endless belt 130, and the endless belt 130 rotates.
  • the antenna 24-1 at the end position can be moved to the starting position at the same time.
  • the pulley 132 of the endless belt 130 is connected to the drive shaft of the antenna moving motor 40, and the rotation of the pulley 132 by the motor 40 rotates the endless belt 130 to move the antenna in the direction opposite to the moving direction.
  • the control unit 28 is provided with a movement control unit 52 and an antenna movement control unit 54, and the movement control unit 52 is the same as that of the embodiment of FIG.
  • the antenna movement control unit 54 of the present embodiment when the antenna 24-1 existing at the starting point position is connected to the IC tag communication unit 22 by the switching unit 128, starts communication with the IC tag.
  • the endless belt 130 is driven by 40 to move the antenna 24-1 to the start position and the antenna 24-1 to the end position, and at the same time, the other antenna 24-2 is also moved to the start position.
  • FIG. 19 is an operation explanatory diagram of antenna movement control according to the embodiment of FIG. Fig. 19 (A) shows the state where the IC tag 20 is in the communicable area 126 of the antenna 24-1, which is present at the start point of the endless belt 130.
  • the antenna 24-1 moves in the direction opposite to the moving direction as shown in FIG. 19B, and at the same time, the antenna 24-2 moves in the moving direction.
  • FIG. 20 is a flowchart showing details of antenna movement control corresponding to FIG.
  • the antenna movement control is performed by driving the endless belt 130 through the processing of steps S2 to S8 in a state where the antenna 24-1 at the start position is switched and connected to the IC tag communication unit 22 in step S1, and the antenna 24 — Move 1 in the opposite direction.
  • the antenna 24-2 at a different end point moves in the moving direction and is directed to the starting point.
  • the details of the processing in steps S2 to S8 are the same as those shown in steps S1 to S7 in FIG.
  • step S6 When it is determined in step S6 that the end point of the antenna 24-1 has been reached, the process proceeds to step S9. After sending a stop command to the antenna movement motor, in step S10, the presence / absence of tag communication completion is checked. When it is determined that the communication is completed, the antenna 2 moved to the start position in step S11 4-2 will be switched to the IC tag communication unit 22.
  • FIG. 21 is an explanatory diagram of another embodiment of the present invention in which an antenna is moved by an arm swing of a mobile robot.
  • the mobile robot 10-1 is used as the moving body.
  • the mobile robot 10-1 can be moved by the drive wheel 14 and the moving direction can be changed by the steering wheel 16.
  • the part is the same as that shown in the moving mechanism 30 in FIG.
  • the robot body 10-1 has an arm 134 swingably attached to the body part so that it can swing downward. During movement, the arm 136 extends forward as shown in the figure, and this arm 136 operates as an antenna moving part.
  • the antenna 24 is installed at the tip of the arm 136.
  • the mobile robot 1 0-1 Tag communication is started with the IC tag communication device (not shown) mounted on the mobile phone, and along with the start of this tag communication, the mobile robot 10-1 moves the arm 136 in the direction opposite to the moving direction. Start swinging backwards to move 24.
  • Fig. 21 (B) shows a state in which the mobile robot 10-1 further moves forward, and the arm 136 is swung rearward along with this, and is opposite to the movement direction of the arm 136.
  • the distance seen from the moving direction of the antenna 24 at the tip of the IC tag 20 and the arm 136 is fixed substantially constant by the swing of the direction.
  • Fig. 21 (C) shows a state in which the mobile robot 10-1 has further moved.
  • the arm 136 is swung horizontally backward, and the relative position of the antenna 24 and the IC tag 20 in the traveling direction is still fixed. It ’s in position and it ’s easy to move.
  • the position where the arm 134 is swung horizontally behind this is the end point position of the antenna 24, and the mobile robot 10-1 moves and completes the communication with the IC tag 20 as it is.
  • the present invention also provides a program that functions as the movement control unit 52 and the antenna movement control unit 54 of the control unit 28 provided in the moving body 10, and this program is shown in Figs. 12, The contents shown in the flowcharts of FIGS. 16 and 20 are obtained.
  • the present invention also provides a recording medium storing a program for realizing the control unit 28 of the moving object.
  • This recording medium can be installed in portable storage media such as CD-ROMs, floppy disks (R), DVD disks, magneto-optical disks, and IC cards, and inside and outside computer systems.
  • portable storage media such as CD-ROMs, floppy disks (R), DVD disks, magneto-optical disks, and IC cards, and inside and outside computer systems.
  • a storage device such as a node disk drive, a database that holds a program via a line, or another computer system and database, and a transmission medium on the line are included.
  • the above embodiment has been described by taking a cart, a wheelchair, and a mobile robot as examples of the moving body.
  • the present invention is not limited to this, and the positional information is obtained from an IC tag installed on the floor or wall surface.
  • the present invention can be applied as it is to an appropriate moving body regardless of whether it is automatic traveling, manual traveling, or a driving instruction by a person while reading the information.
  • a passive IC tag that does not have a power source as an IC tag and generates an internal power source by receiving radio waves transmitted from an antenna from an IC tag communication device on the mobile side is used.
  • a passive IC tag that does not have a power source as an IC tag and generates an internal power source by receiving radio waves transmitted from an antenna from an IC tag communication device on the mobile side is used.
  • an active IC tag with a built-in power supply.
  • the position information is stored in the IC tag and read by communication from the mobile body is taken as an example, but in addition to the position information, various types related to the location where the mobile body is installed. This information may be stored, read out, and displayed on the mobile unit side.
  • a moving mechanism using a screw shaft and a moving mechanism using an endless belt are taken as examples of the antenna moving unit.
  • any mechanism that can move the antenna on the moving body is used. Any appropriate mechanism can be applied.
  • the present invention includes appropriate modifications that do not impair the object and advantages thereof, and is not limited by the numerical values shown in the above embodiments.

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  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'unité mobile selon l'invention utilise un canal sans fil pour lire les informations de position d'étiquettes IC, qui sont réparties dans une zone de déplacement, pour un déplacement automatique. L'unité comprend un mécanisme mobile pour entraîner l'unité mobile à se déplacer ; une partie de communication avec les étiquettes IC (lecteur/scripteur d'étiquette) qui communique avec les étiquettes IC pour acquérir des informations de position ; une antenne qui est connectée à la partie de communication avec les étiquettes IC pour établir un canal sans fil vers les étiquettes IC ; une partie mobile d'antenne qui déplace l'antenne dans l'unité mobile ; et une partie de commande qui commande à la partie mobile d'antenne de déplacer l'antenne dans la direction opposée à la direction de déplacement pendant la communication avec les étiquettes IC via la partie de communication avec les étiquettes IC. La partie de commande entraîne le déplacement de l'antenne, par exemple, à la même vitesse que la vitesse de déplacement de l'unité mobile dans la direction opposée à la direction de déplacement pendant la communication avec les étiquettes IC via la partie de communication avec les étiquettes IC.
PCT/JP2006/318845 2006-09-22 2006-09-22 Unité mobile et procédé de commande WO2008035433A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2006/318845 WO2008035433A1 (fr) 2006-09-22 2006-09-22 Unité mobile et procédé de commande
JP2008535250A JP4851530B2 (ja) 2006-09-22 2006-09-22 移動体及び制御方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2006/318845 WO2008035433A1 (fr) 2006-09-22 2006-09-22 Unité mobile et procédé de commande

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WO2008035433A1 true WO2008035433A1 (fr) 2008-03-27

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JP (1) JP4851530B2 (fr)
WO (1) WO2008035433A1 (fr)

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WO2019065176A1 (fr) * 2017-09-28 2019-04-04 愛知製鋼株式会社 Système de véhicule et procédé de communication d'étiquette
US10831195B2 (en) 2016-06-29 2020-11-10 Nidec Corporation Mobile body guidance system, mobile body, guidance device, and computer program
US10866587B2 (en) 2016-04-27 2020-12-15 Nidec Shimpo Corporation System, method, and computer program for mobile body management
US11460864B2 (en) 2016-07-29 2022-10-04 Nidec Corporation Moving body guidance system, moving body, guidance device, and computer program

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US10831195B2 (en) 2016-06-29 2020-11-10 Nidec Corporation Mobile body guidance system, mobile body, guidance device, and computer program
US11460864B2 (en) 2016-07-29 2022-10-04 Nidec Corporation Moving body guidance system, moving body, guidance device, and computer program
WO2019065176A1 (fr) * 2017-09-28 2019-04-04 愛知製鋼株式会社 Système de véhicule et procédé de communication d'étiquette
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JP4851530B2 (ja) 2012-01-11

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