한국항해항만학회지 (Journal of Navigation and Port Research)

  • 제37권3호
  • /
  • Pages.309-313
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  • 2013
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  • 1598-5725(pISSN)
  • /
  • 2093-8470(eISSN)
한국항해항만학회 (Korean Institute of Navigation and Port Research)
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RFID/IMU/Encoder/근접센서를 활용한 무인지게차의 복합센서 시스템 연구

Technology Development for Composite Sensor System of Automatic Guided Vehicle(AGV) Using RFID/IMU/Encoder/Proximity Sensor

  • 신희영 (한국해양대학교 기계.에너지 시스템 공학과 대학원) ;
  • 최형식 (한국해양대학교 기계.에너지 시스템 공학과) ;
  • 김환성 (한국해양대학교 물류시스템 공학과) ;
  • 정성훈 (한국해양대학교 산업기술연구소)
  • Shin, Hee-Young (Divison of Mechanical and Energy systems Engineering, Korea Maritime University) ;
  • Choi, Hyeung-Sik (Divison of Mechanical and Energy systems Engineering, Korea Maritime University) ;
  • Kim, Hwan-Seong (Department of Logistics System Engineering, Korea Maritime University) ;
  • Jung, Sung-Hun (Research Institute of Industrial Technology, Korea Maritime University)
  • 투고 : 2013.04.25
  • 심사 : 2013.06.18
  • 발행 : 2013.06.30
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초록

본 연구는 복합센서를 활용한 무인지게차의 주행 시스템에 대한 것이다. 무인지게차가 화물 이 적재를 위해 랙에 진입할 시 필요한 주행기술로 무인지게차의 위치 및 방향을 정확하게 파악하기 위해 RFID, IMU센서 및 근접센서로 구성된 복합센서 시스템을 이용하였고, 각 센서의 성능실험을 통해 특성을 파악한다. 이를 직접 설계/제작한 실험용 차량에 부착하여 복합센서 시스템을 적용하는 실험을 수행하고 이를 통해 개발된 시스템의 성능을 검증하였다.

This paper is about a complex sensor system of an automatic guided vehicle(AGV) for loading and unloading payloads. For the AGV to approach to the target rack for loading and unloading the payload, a way to identify the position and orientation was studied. To identify the position and orientation of the AGV accurately, a complex sensor system composed of RFID, IMU, and limit sensors was developed, and the performance of each sensor was undertaken. A model AGV was constructed, and the good performance of the developed complex sensor system was verified through performance experiments.

키워드

참고문헌

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