JP2013246058A - Posture detection device - Google Patents

Abstract

In a posture detection device, the posture of a detected object can be accurately detected with a simple configuration regardless of the shape of the detected object.
A plurality of RFID tags 4 and 5 which are installed on an object X to be detected and each have unique information, and receive signals from the RFID tags 4 and 5 in a vertical and horizontal direction on a plane serving as a detection surface. A detection device 2 having a plurality of antennas arranged in a plurality and a calculation means 3 for obtaining the attitude of the detected object X based on the position information of the antennas that have received signals from the RFID tags 4 and 5 are provided.
[Selection] Figure 1

Description

  The present invention relates to an attitude detection device.

  In recent years, a robot system has been proposed that uses the environment and work information structuring technology to disperse and arrange information necessary for finishing work between tools and objects to be processed and automatically generates an operation program from that information. ing. At that time, in order for the finishing robot to perform the finishing operation by grasping the processing target in the storage tray, it is necessary to acquire the position and orientation information of the processing target.

  Generally, when an object is gripped by a robot, the position and orientation of the object are detected by a camera, a laser sensor, or the like, and the detected position and orientation information of the object is acquired. However, in the method using a camera or a laser sensor, accurate position information cannot be obtained due to the surface condition of the object or the influence of external light applied to the object, and the detection accuracy of the object position or orientation is reduced, or the object is detected. It may not be done. In particular, many of the processing objects used in the finishing operation are made of metal having a metallic luster, and it is not easy to acquire position and orientation information using a camera or a laser sensor.

  Therefore, Patent Document 1 proposes a method for acquiring position and orientation information of an object using an RFID (Radio Frequency IDentification) tag. In Patent Document 1, an RFID tag in which coordinate information (local coordinates of an object), a position of an operation site (gripping location), and the like are recorded, and a minute identification mark that changes in appearance according to the posture of the object It is installed. In this way, the RFID tag placed on the object is detected by a detector placed on the hand of the robot to obtain the position of the object (the origin of the local coordinate system of the object), and further the identification mark is detected by a laser sensor or the like. The object's posture is determined from the way it is seen. Then, the position and orientation information of the object with respect to the robot is acquired by converting the obtained position and orientation of the object into the coordinate system of the robot.

  Further, in Patent Document 2, an identification mark such as a two-dimensional barcode having a width is provided over the entire circumference of the outer wall surface of the cylindrical object, and the phase of the object is detected by detecting this identification mark. A method of gripping an object by a robot based on this phase, that is, a posture has been proposed.

JP 2004-90099 A JP-A-5-319414

  As described above, the detection of the position and orientation of an object using a camera is easily affected by surrounding environmental conditions such as the lighting condition, and in particular, the position and inclination in the depth direction of an object that is difficult to reach illumination light. Detection accuracy is poor and detection itself may fail. In addition, detection of the position and orientation of an object using a laser sensor is not affected by the surrounding environmental conditions, but stray light or the like is generated when the object is made of a metal material that reflects laser light. Cannot be used. Also, in the method using a laser sensor, the entire object is irradiated with laser light, the shape of the object is obtained from the return light, and then the posture of the object is calculated. It may take time to calculate.

  In the method of Patent Document 1, since the rough position and orientation of an object can be known by using an RFID tag, the detection range when detecting the position and orientation using an identification mark can be limited. However, the method disclosed in Patent Document 1 requires two-step detection, that is, detection of a rough position and posture using an RFID tag and detection of a position and posture using a laser sensor using an identification mark. It becomes complicated and the time until the position and orientation are finally detected becomes longer. Such a method of Patent Document 1 is characterized in that an identification mark for assisting image processing is pasted around the RFID tag to facilitate position and orientation measurement, and an identification mark is always required. Is.

  In the method of Patent Document 2, an identification mark is provided over the entire circumference of the outer peripheral surface of the object, and the phase when the object is moved while being rolled is detected as the posture, so that the shape of the object is limited. In the method of Patent Document 2, the position where the object is arranged is limited, and the moving direction of the object is limited to only one direction.

  The present invention has been made in view of the above-described problems, and it is an object of the present invention to make it possible to accurately detect the posture of a detected object with a simple configuration regardless of the shape of the detected object. And

  The present invention adopts the following configuration as means for solving the above-described problems.

  A first aspect of the invention is an attitude detection device, which is installed on an object to be detected, has a plurality of RFID tags each having unique information, and receives a signal from the RFID tag along a plane serving as a detection surface. And a detecting device having a plurality of antennas arranged vertically and horizontally, and a calculation means for obtaining the posture of the detected object based on the position information of the antenna that has received a signal from the RFID tag. To do.

  According to a second invention, in the first invention, the detection device includes a shielding plate that is disposed between the antennas and prevents magnetic flux interference between the antennas.

  According to a third invention, in the first or second invention, the antenna includes an antenna pattern formed on a surface of the substrate, and the substrate has a surface on which the antenna pattern is formed with respect to the detection surface. Adopt a configuration that is installed in an intersecting posture.

  According to a fourth invention, in any one of the first to third inventions, a configuration is adopted in which two or more RFID tags are installed on the lower surface of the detected object in a stable posture.

  In the present invention, the detection device has a plurality of antennas arranged vertically and horizontally along a plane serving as a detection surface. Since the reading range of the RFID tag of one antenna is limited, in the present invention, when the object to be detected is arranged opposite to the detection surface, only the antenna located in the range where the RFID tag exists is used to perform the RFID. Receive a signal from the tag. For this reason, in this invention, the position where an RFID tag exists can be specified. Furthermore, since the RFID tag has unique information, according to the present invention, it is possible to specify which RFID tag is located at which position based on a signal received from the RFID tag.

  In the present invention, as described above, the posture of the detected object is obtained from the position information of the antenna that has received the signal from the RFID tag (that is, the position where the RFID tag is present) based on the position information. . Therefore, according to the present invention, it is possible to know the posture of the detected object.

  According to the present invention, the posture of the detected object can be known without using a camera or a laser sensor. In addition, the surrounding environment such as the illumination state does not affect the detection accuracy unlike a camera, and even an object made of a metal material can receive a signal from the RFID tag with an antenna. Therefore, it is possible to always easily obtain an accurate posture of the detected object. Further, according to the present invention, it is not necessary to perform two-stage detection as in Patent Document 1, the apparatus and control are simplified, and the posture of the detected object can be detected in a short time. Further, according to the present invention, the posture of the detected object can be obtained for the detected object only by installing a plurality of RFID tags. Therefore, the posture of the detected object can be easily detected regardless of the shape of the detected object. As described above, according to the present invention, it is possible to accurately detect the posture of the detected object with a simple configuration regardless of the shape of the detected object.

It is the whole figure which showed typically the schematic structure of the attitude | position detection apparatus which concerns on one Embodiment of this invention, (a) is a top view, (b) is a block diagram. (A) is a schematic diagram of an antenna substrate in an attitude detection device according to an embodiment of the present invention, and (b) is a schematic diagram illustrating an antenna reading range provided in the attitude detection device of an embodiment of the present invention. . (A) is a bottom view of a metal part whose attitude is detected by the attitude detection apparatus according to one embodiment of the present invention, and (b) is a metal part attitude detection by the attitude detection apparatus according to one embodiment of the present invention. It is explanatory drawing explaining a method. (A) is a schematic diagram which shows the modification of the tag reader with which the attitude | position detection apparatus which concerns on one Embodiment of this invention is equipped, (b) is a block diagram which shows the modification of the attitude | position detection apparatus which concerns on one Embodiment of this invention. It is.

  First, the concept of the posture detection apparatus of this embodiment will be described. The posture detection apparatus described below is assumed to be used for the purpose of detecting the position and posture of a metal part and converting the coordinates of the metal part into the coordinates of the robot when finishing a metal part by a robot. . For this reason, a metal RFID tag is used as the RFID tag of the present invention. The RFID tag for metal can be read even if it is attached to metal, but the reading range is about one-tenth compared with a normal tag. On the contrary, the detection resolution of the position and orientation of the metal part is enhanced by utilizing this characteristic.

  In addition, a proximity type tag reader is used to read RFID tags existing in a close range. It is assumed that the tag reader includes a plurality of antennas for exchanging radio waves (signals and power) with the RFID tag. In addition, RFID tags are attached to both ends of the metal part in order to acquire posture information together with position information. The position where the RFID tag is attached to the metal part is described in these RFID tags as information. Then, the RFID tag is read while switching the antenna to be fed one by one, and the position and orientation information is acquired from the position of the antenna that can be read and the information described in the RFID tag.

  Here, a method for acquiring the posture information of the metal part will be described. Let a be the distance between the RFID tags attached to both ends of the metal part. The distance “a” is described as information in the pasted RFID tag, and is acquired as information when the RFID tag is read by the antenna, and used for calculating the posture. For example, assuming that the distance in the X-axis direction between RFID tags in the Cartesian coordinate system is b and the distance in the Y-axis direction is c, a metal part using the following formula (1) or (2) from parameters a, b, and c: The inclination θ with respect to the X axis is obtained. It should be noted that the slope θ can be obtained from both formula (1) and formula (2). However, in order to reduce the error, it is preferable to use an equation in which the larger value of the distance b and the distance c is a parameter.

  In the attitude detection device, antennas are arranged in a matrix in a tag reader, a metal part is placed in a tray made of a material that can transmit radio waves, placed on the tag reader, and an RFID tag attached to the metal part is detected. The position and orientation information of the metal part is acquired based on the position information of the antenna.

  In such an attitude detection device, it is conceivable to increase the accuracy of position detection by overlapping the reading range of the antenna with respect to the RFID tag and reading one RFID tag with a plurality of antennas. However, when the RFID tags are arranged in this way, depending on the type of antenna, the RFID tag may not be read at a portion where the reading ranges overlap. For example, when the reading range of the antenna to be used is 15 mm × 30 mm, an error of 15 mm or more may occur.

  In view of this, it is conceivable to narrow the reading range of the RFID tag by arranging the antenna vertically rather than parallel to the RFID tag. As a result, the reading range of one antenna is narrowed, and the antennas can be densely arranged so that the reading ranges do not overlap. However, in this method, since the distance between the antennas is shortened, there are cases where reading cannot be performed due to magnetic flux interference between the antennas. Therefore, in order to prevent magnetic flux interference, it is conceivable to sandwich a shielding plate between the antennas. By sandwiching the shielding plate, the shielding plate absorbs the magnetic flux of the antenna, so that magnetic flux interference with the adjacent antenna can be prevented.

  An evaluation experiment for such a posture detection apparatus was performed. In this experiment, the shielding plate was fixed to the rail of the acrylic plate with the groove, and the substrate on which the antenna was formed was arranged so that the antenna was attached to one surface of the shielding plate. Also, 1 mm and 3 mm aluminum plates were used as the shielding plates. When the 1 mm shielding plate is used, the distance from the antenna to the opposing shielding plate is 5 mm, and when the 3 mm shielding plate is used, the distance from the antenna to the opposing shielding plate is 3 mm. In this experiment, the metal part was placed directly on the tag reader without using a tray, and reading was performed. Further, the metal part was placed on the antenna, the metal part was shifted by 1 mm, and the range where reading could be performed at that time was examined.

  In this experiment, the RFID tag could not be read when a 3 mm shielding plate was used. This is presumably because the magnetic flux was not sufficiently linked because the magnetic flux was generated in parallel with the RFID tag on the antenna. In addition, when a 1 mm shielding plate was used, the RFID tag could not be detected in a very thin area between the back surface of the substrate on which the antenna was formed and the aluminum plate as viewed from above. The RFID tag could be detected in the region sandwiched between the two. Depending on the type of antenna and other conditions, it cannot be said that the RFID tag cannot be read when a shielding plate of 3 mm or more is used, but it can be seen that the thinner the shielding plate, the higher the reading accuracy.

  Subsequently, an embodiment of the posture detection apparatus according to the present invention will be described with reference to the drawings. In the following drawings, the scale of each member is appropriately changed in order to make each member a recognizable size.

  FIG. 1 is an overall view schematically showing a schematic configuration of an attitude detection device 1 of the present embodiment, where (a) is a plan view and (b) is a block diagram. As shown in these drawings, the posture detection device 1 of the present embodiment includes a tag reader 2 (detection device), a position / posture calculation device 3 (calculation means), an ID tag 4 (RFID tag), and an ID tag 5 ( RFID tag).

  As shown in FIG. 1A, the tag reader 2 includes a base 2a and a plurality of antenna substrates 2b. The base 2a is a base for supporting the antenna substrate 2b. As shown in FIG. 2A, the antenna substrate 2b includes a substrate 2b1 and an antenna pattern 2b2 (antenna) formed on the surface of the substrate 2b1. Such an antenna substrate 2b is fixed to the upper surface of the base 2a with the antenna facing upward. Thus, the upper surface of the tag reader 2 is used as a detection surface for receiving radio waves from the ID tag 4 and the ID tag 5.

  In the present embodiment, a plurality of 25 antenna substrates 2b are arranged vertically and horizontally along a horizontal plane (XY 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 are arranged in five rows in the Y direction. As shown in FIG. 1 (a), an antenna provided on the antenna substrate 2b disposed on the most -Y side and on the -X side is an antenna a, and the antenna b and the antenna c are arranged in the order of arrangement from the antenna a toward the X direction. , Antenna d and antenna e, and antennas fy in the order of arrangement while changing the column. These antennas a to y are electrically connected to the position / orientation calculation device 3, and output information read from the ID tag 4 or the ID tag 5 toward the position / orientation calculation device 3.

  FIG. 2B is a diagram schematically illustrating the reading 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 reading range overlaps between the antennas. In the region where the reading ranges overlap, two or four antennas can transmit and receive radio waves with the ID tag (ID tag 4 or ID tag 5).

  Returning to FIG. 1, the position / orientation calculation device 3 is composed of, for example, a computer, and based on a program stored in advance, information acquired by the antennas a to y, position information of the antennas a to y stored in advance, etc. The position and orientation information of the part X is calculated. This position / orientation calculation apparatus stores the positions (XY coordinate values) of the antennas a to y in advance. Then, the position / orientation calculation device 3 calculates the attitude of the metal part X from the position information and the like of the ID tag 4 and the ID tag 5. In addition, the attitude | position calculation method of the metal component X in this embodiment is demonstrated later.

  The ID tag 4 and the ID tag 5 are passive tags that are made of an IC chip having unique information and operate by receiving radio waves (signals) 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 a battery is incorporated as an ID tag (RFID tag). Active tags and semi-active tags can also be used. The signal transmission method between the ID tag 4 and ID tag 5 and the tag reader 2 may be an electromagnetic induction method or a radio wave method.

  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 installed on the lower surface X1 of the metal part X in a stable posture. The ID tag 4 is installed at one end of the long metal part X, and the ID tag 5 is installed 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 are arranged so that the distance between them is as long as possible. The stable posture of the metal component X is the most stable posture when the metal component X is placed on the tag reader 2, for example, the posture with the widest surface as the lower surface, or the lowest center of gravity. Or the posture that becomes.

  As shown in FIG. 1B, the ID tag 4 includes a unique number that is individual information, a distance a from the ID tag 4 to the ID tag 5, and position coordinates of the operation part of the metal part X (operation part wx and The operation part xy) is stored as unique information. In addition, the position coordinate of the operation part of the metal part X is a coordinate which shows the position of the operation part in the component coordinate system which prescribes | regulates the shape of the metal part X, as shown to Fig.3 (a). The operation part is a part gripped by the robot. Further, in the present embodiment, the component coordinate system is an orthogonal coordinate in which the position where the ID tag 4 is installed is the origin, the longitudinal direction of the metal component X is the X-axis direction, and the short direction of the metal component X is the Y direction. It is considered as a system. The position coordinates of the operation part of the metal part X are as coordinates wx indicating the position of the operation part in the X-axis direction in the part coordinate system and coordinates wy indicating the position of the operation part in the Y-axis direction in the part coordinate system. , Stored in the ID tag 4. The ID tag 5 stores a unique number that is individual information.

  Next, the attitude detection method for the metal part X by the attitude detection apparatus 1 of the present embodiment will be described. Here, as shown in FIG. 1A, the ID tag 4 is positioned in the reading range of only the antenna i, and the ID tag 5 is between the antenna q and the antenna v (the reading range of the antenna q and the antenna v). It is assumed that the metal part X is placed on the tag reader 2 in a state where the metal part X is located in a region where the reading range overlaps with the tag reader 2.

  First, the position / orientation calculation apparatus 3 acquires the unique number of the ID tag 4, the distance a between the ID tag 4 and the ID tag 5, the operation part wx, and the operation part wy from the antenna i, and obtains the information from the antenna i. Store as information acquired in i. Further, the position / orientation calculation apparatus 3 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.

  Subsequently, as shown in FIG. 1B, the position / orientation calculation apparatus 3 includes an operation part wx, an operation part wy, a distance a, a position of the ID tag 4, and a position of the ID tag 5. A posture calculation data group D is created. The operation part wx, the operation part wy, and the distance a are included in the posture calculation data group D by moving information included in the information acquired by the antenna b. The position of the ID tag 4 is data consisting of the position of the ID tag 4 in the X-axis direction and the position in the Y-axis direction. Here, the position in the X-axis direction and the position in the Y-axis direction of the ID tag 4 are assumed to be x1 and y1 that are the coordinates of the antenna i. The position of the ID tag 5 is data consisting of the position of the ID tag 5 in the X-axis direction and the position in the Y-axis direction. Here, the position of the ID tag 5 in the X-axis direction is set to x2 obtained by averaging the coordinates of the antenna q in the X-axis direction and the coordinates of the antenna v in the X-axis direction. The position of the ID tag 5 in the Y-axis direction is y2 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.

  Subsequently, the position / orientation calculation device 3 calculates the attitude of the metal part X from the attitude calculation data group D. The absolute value of the difference between the position x1 of the ID tag 4 in the X-axis direction and the position x2 of the ID tag 5 in the X-axis direction is expressed as a distance b between the ID tag 4 and the ID tag 5 in the X-axis direction (FIG. 3B). The absolute value of the difference between the position y1 of the ID tag 4 in the Y-axis direction and the position y2 of the ID tag 5 in the Y-axis direction is the distance c between the ID tag 4 and the ID tag 5 in the Y-axis direction (see FIG. 3 (b)). Here, the position / orientation calculation apparatus 3 selects the longer one of the distance b and the distance c, and the distance selected in the arithmetic expression (the above expression (1) or (2)) using the selected distance as a parameter. Then, by further substituting the distance a, the attitude (inclination θ) of the metal part X is calculated.

  Then, the position / orientation calculation device 3 converts the operation part wx and the operation part wy from the obtained attitude of the metal part X into coordinates represented by the coordinate system of the robot. For example, when the coordinate system of the robot is a coordinate system composed of the X axis and the Y axis of the present embodiment, the coordinate (wx) of the operation part is calculated based on the following formula (3) from the inclination θ with respect to the X axis. , Wy) can be converted into robot coordinates (Wx, Wy).

  As described above, in the attitude detection device 1 of the present embodiment as described above, the tag reader 2 includes a plurality of antennas a to y arranged in a matrix, and the reading range of one antenna a to y is limited. In such an attitude detection device 1, when the metal part X is placed on the tag reader 2, the ID tag 4 and the ID tag 5 are only connected to the antenna located in the range where the ID tag 4 and the ID tag 5 exist. Receive a signal. For this reason, in the attitude | position detection apparatus 1 of this embodiment, based on the positional information on antennas ay, the position where ID tag 4 and ID tag 5 exist can be specified. Furthermore, since the ID tag 4 and the ID tag 5 have unique information, according to the attitude detection device 1 of the present embodiment, which ID tag is based on the signals received from the ID tag 4 and the ID tag 5. It is possible to specify at which position is. And in the attitude | position detection apparatus 1 of this embodiment, the attitude | position of the metal component X is calculated | required from the positional information on the ID tag 4 and ID tag 5 which were specified in this way.

  According to such a posture detection apparatus 1 of the present embodiment, the posture of the metal part X can be detected without using a camera or a scanner, and it can be divided into a plurality of times in order to obtain accurate operation part coordinates. There is no need to detect this. Therefore, the posture of the metal part X can be accurately detected with a simple configuration.

  Moreover, in the attitude | position detection apparatus 1 of this embodiment, the attitude | position of the metal component X can be calculated | required only by installing the two ID tag 4 and ID tag 5 with respect to the metal component X. FIG. Therefore, the posture of the metal part X can be easily detected regardless of the shape of the metal part X.

  Moreover, in the attitude | position detection apparatus 1 of this embodiment, two ID tags (ID tag 4 and ID tag 5) are installed with respect to the lower surface X1 of the metal part X of a stable attitude. For this reason, when the metal part X is placed on the tag reader 2, a plurality of ID tags can be reliably opposed to the tag reader 2. Therefore, the attitude of the metal part X can be reliably detected.

  In addition, about the ID tag 5 and the ID tag 6, it is preferable to use what can be detected only in a short distance. Accordingly, it is possible to prevent the distant antennas a to f from detecting the ID tag 5 and the ID tag 6 and to obtain the positions of the ID tag 5 and the ID tag 6 more accurately. However, in such a case, if the ID tag 5 and the ID tag 6 exist far away from the antennas a to f, or exist on the back side of the metal part X when viewed from the antennas a to f, the ID tag 5 and The ID tag 6 cannot be detected. For this reason, as described above, the positions where the ID tag 5 and the ID tab 6 are installed are set to the antennas a to 5 by installing the two ID tags 5 and 6 on the lower surface X1 of the metal part X in a stable posture. It is preferable to reliably detect at any of f.

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to the said embodiment. Various shapes, combinations, and the like of the constituent members shown in the above-described embodiments are examples, and various modifications can be made based on design requirements and the like without departing from the spirit of the present invention.

  For example, in the above embodiment, the configuration using the tag reader 2 arranged so that the antenna pattern 2b2 on the substrate 2b1 faces upward has been described. However, the present invention is not limited to this, and as shown in FIG. 4A, a tag reader 2A in which the antenna substrate 2b is placed vertically may be used. In such a tag reader 2, the antenna substrate 2 b is installed so that the surface of the substrate 2 b 1 on which the antenna pattern 2 b 2 is formed has a posture that intersects the detection surface. This narrows the antenna installation area viewed from the detection surface side (the side shown in FIG. 4A), and the magnetic field range decreases when viewed from the same side. Therefore, the reading range of the antenna on the detection surface is reduced, and the detection resolution can be further improved.

  Moreover, as shown in FIG. 4A, it is preferable to install a shielding plate 6 between the antenna substrates 2b (that is, between the antennas). The shielding plate 6 is made of a material such as aluminum that absorbs magnetic flux, and prevents magnetic flux interference between antennas. Depending on the type of antenna, there is an antenna that cannot detect an ID tag in a region where the reading ranges of the two antennas shown in the above embodiment overlap. In the case of using such an antenna, the shield plate 6 is installed as described above to prevent magnetic flux interference between the antennas and prevent the reading ranges from overlapping. For this reason, the antennas can be densely arranged so that the reading ranges do not overlap. As shown in FIG. 4A, when the antenna substrate 2b is placed vertically, the antennas can be arranged more densely than in the above embodiment, but in this case, magnetic flux interference is likely to occur. On the other hand, by installing the shielding plate 6, it is possible to arrange the antenna more densely than the above embodiment while preventing magnetic flux interference from occurring.

  In the above embodiment, the ID tag 4 stores the distance a from the ID tag 4 to the ID tag 5 and the position coordinates (operation part wx and operation part xy) of the operation part of the metal part X. The configuration has been described. However, the present invention is not limited to this, and as shown in FIG. 4B, the position / orientation calculation device 3 can detect the distance a from the ID tag 4 to the ID tag 5 and the operation part of the metal part X. The position coordinates (operation part wx and operation part xy) may be stored.

  Moreover, in the said embodiment, the structure whose object whose attitude | position is detected is the metal component X was demonstrated. However, the present invention is not limited to this, and a part or the like made of a material other than metal can also be set as a posture detection target. That is, the material of the detected object of the present invention is not limited.

  Moreover, in the said embodiment, the structure by which the tag reader 2 is arrange | positioned under the metal component X was demonstrated. However, the present invention is not limited to this, and the tag reader 2 can be disposed above or on the side of the metal part X. In this case, when the detected object 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 detected object on the tag reader 2 side.

  Moreover, in the said embodiment, the structure in which the two ID tags were installed in the metal component X was demonstrated. However, the present invention is not limited to this, and three or more ID tags may be installed on the metal part X. In such a case, for example, a polygonal shape that apexes the ID tag may be derived from the position of the ID tag, and the posture of the metal part X may be detected from the orientation of the polygonal shape.

  Moreover, in the said embodiment, the structure which detects the attitude | position of the small metal component X was demonstrated. However, the present invention is not limited to this, and a large component can be used as an object to be detected to detect the posture of the large component when, for example, a large component is transported by a crane or the like. It is. In such a case, a resolution of several centimeters may not be necessary. For example, an active tag may be used as the ID tag to further expand the readable range of the ID tag.

  DESCRIPTION OF SYMBOLS 1 ... Attitude detection device, 2 ... Tag reader (detection device), 2a ... Base, 2A ... Tag reader (detection device), 2b ... Antenna substrate, 2b1 ... Substrate, 2b2 ... Antenna pattern, 3 ... ... Position and orientation calculation device (calculation device), 4 ... ID tag (RFID tag), 5 ... ID tag (RFID tag), 6 ... Shield plate, X ... Metal part (detected object)

Claims (4)

A plurality of RFID tags installed on the detected object and each having unique information;
A detection device that receives a signal from the RFID tag and has a plurality of antennas arranged in a vertical and horizontal direction on a plane serving as a detection surface;
An attitude detection apparatus comprising: a calculation unit that obtains an attitude of the detected object based on position information of the antenna that has received a signal from the RFID tag. The detection device includes:
The posture detection apparatus according to claim 1, further comprising a shielding plate that is disposed between the antennas and prevents magnetic flux interference between the antennas. The antenna comprises an antenna pattern formed on the surface of the substrate,
The posture detection device according to claim 1, wherein the substrate is installed in a posture in which a surface on which the antenna pattern is formed intersects the detection surface.   The attitude detection apparatus according to claim 1, wherein two or more RFID tags are installed on the lower surface of the detected object in a stable attitude.

Images