이동중인 무인 물류 로봇의 작업장내 위치 인식을 위한 RTLS 센서의 개발 연구

초록

Recently, due to the increase in e-commerce and the increase in palletized cargo, logistics work has increased, and the need for unmanned logistics automation is increasing. In addition, due to the decrease in the skilled manufacturing population, an indoor real-time positioning system that measures the absolute position of an unmanned logistics robot moving in the workplace is becoming an important technology for unmanned logistics automation. In this study, we conducted research to develop a real-time indoor positioning system (RTLS) using UWB signals that is less affected by surrounding obstacles and can be built at a relatively low cost. We conducted research to calculate the indoor absolute position of logistics equipment by using direction measurement using the angle of arrival of beacon and anchor signals using an absolute encoder and triangulation using the position of a rotating antenna.