IT202100005318A1 - SYSTEM FOR TRACKING THE POSITION OF OBJECTS IN A WORK ENVIRONMENT - Google Patents

Description

DESCRIPTION

SYSTEM FOR TRACKING THE POSITION OF OBJECTS IN A WORK ENVIRONMENT

The present invention relates to a tracking system of the type specified in the preamble to the first claim.

In particular, the invention relates to a device configured to track the position of objects in a work environment such as for example an industrial plant equipped for example for production.

As known, these systems (also called real-time location systems (RTLS) or real-time tracking systems) are used to automatically identify and track the location of objects in real time usually within a building or other contained area.

Application examples of these real-time tracking systems include tracking automobiles through an assembly line, locating pallets of goods in a warehouse, or searching for medical equipment in a hospital. Other possible applications can be aimed at identifying and managing resources within a structure, notifying new positions, combining identities more items placed in one location such as on a pallet.

These systems typically involve the use of wireless RTLS tags attached to objects and in most RTLS fixed landmarks receive wireless signals from the tags to determine their location.

The technologies used to perform localization can be of various types such as for example RFID, infrared, ultrasound identification, optical localization. The prior art described includes some important drawbacks.

In particular, a first drawback lies in the fact that the known systems for tracing the position of objects impose a measured design on the work environment and/or on the flow of objects to be monitored.

They therefore require specific installation and use procedures for each work environment, thus imposing? high purchase and use costs.

This aspect makes tracking systems particularly expensive and above all difficult to adapt to changes in the work environment.

In fact, often a working environment can undergo variations (for example to expand) and the system is not capable of adapting to these variations by imposing costly and laborious adaptation procedures of the tracking system. It is highlighted how in most cases the stiffness of the system determines the? impossibility? of this adaptation by requiring the design of a new tracking system.

In this situation, the technical task underlying the present invention? devising a tracking system capable of substantially obviating at least part of the aforementioned drawbacks.

In the context of this technical task ? an important aim of the invention is to obtain a tracking system which is easily adaptable to any work environment and/or to the flow of objects to be monitored. In particular, an important purpose of the present invention ? obtain a tracking system that can be quickly and easily adapted to changes in the work environment.

Another important purpose of the invention ? create a tracking system of reduced purchase and use costs.

The specified technical task and aims are achieved by a tracking system as claimed in the annexed claim 1. Examples of preferred embodiment are described in the dependent claims.

The characteristics and advantages of the invention are clarified below by the detailed description of preferred embodiments of the invention, with reference to the attached drawings, in which:

Fig.1 shows a tracking system according to the invention; And

Fig.2 illustrates the tracing system of Fig.1 at a different moment. In this document, measurements, values, shapes and geometric references (such as perpendicularity and parallelism), when associated with words such as "about" or other similar terms such as "almost?" or "substantially", are to be understood as less than measurement errors or inaccuracies due to production and/or manufacturing errors and, above all, less than a slight deviation from the value, measure, shape or geometric reference to which ? associated. For example, these terms, if associated with a value, preferably indicate a divergence of no more than 10% of the value itself.

Also, when used, terms such as ?first?, ?second?, ?superior?, ?inferior?, ?main? and ?secondary? do not necessarily identify an order, a priority? of relationship or relative position, but can simply be used for pi? clearly distinguish between different components.

The measurements and data reported in this text are to be considered, unless otherwise indicated, as performed in an ICAO International Standard Atmosphere (ISO 2533).

Unless otherwise specified, as apparent from the following discussions, terms such as "processing", "computing", "determination", "computing", or the like are understood to refer to the action and/or processes of a computer or similar electronic calculation that manipulates and / or transforms data represented as physical, such as electronic quantities of registers of a computer system and / or memories in, other data similarly represented as quantities? in computer systems, logs or other devices for storing, transmitting or displaying information.

With reference to the Figures, the tracing system according to the invention ? globally indicated with the number 1.

The tracking system 1 ? configured to track and identify the position of objects 1a in a work environment such as an industrial plant equipped for production. In detail it ? configured to define the absolute position of an object 1a, i.e. the position of object 1a with respect to the environment.

The tracking system 1 can? include a server 2; one more nodes 3 located in the environment 1a and defining a communication network 1b placing the nodes 3 in data connection with the server 2; and tag 4 each of which is configured to be applied, suitably integrally, to an object 1a.

Each node 3 pu? include a node identifier.

Each tag 4 can? include a code? identification of the tag itself so? to allow the server 2 to identify the tag 4 and therefore the? object 1a to which ? associated. The position of an object 1a in the environment ? determined by the position of tag 4 and by the position of node 3 which ? tag 4 is connected. The position of tag 4 identifies the position of tag 4 with respect to node 3, while the position of node 3 identifies the position of node 3 with respect to server 2, ie the environment.

Server 2 can include an object database associating to each tag 4 (in detail to each identification code) a position of the tag 4 with respect to the server 2 and therefore to the environment. Preferably, the object database associates an object 1a with each identification code and therefore with a tag 4.

Server 2 can include a map of the environment in which to perform object tracking 1a. Said map identifies the zones of possible location of the objects 1a (ie of tag 4) and those where it is not possible to locate an object 1a.

Server 2 can include a position database associating to each node 3 (in detail to each identifier of node 3) the position of node 3 in the environment. The position database can? be defined by an operator at the time of? installation of the tracking system 1. Alternatively or in addition it can? be defined (or at least updated as described below) automatically by server 2.

The communication network 1b can? be a wireless network and especially WiFi. It can define a coverage radius and therefore a coverage area.

The communication network 1b can? allow a direct connection of the nodes 3 with the server 2 or, alternatively, an indirect connection of the nodes 3 with the server 2, i.e. through other nodes 3.

Suitably the tracing system 1 comprises at least three nodes 3 so? to allow server 2 to trilate the position of tag 4.

In addition to the communication network 1b, each node 3 ? configured to define a local network 1c with at least one tag 4 cos? that node 2 can identify the position of tag 4 (and therefore of object 1a) with respect to node 3.

The local area network 1c ? a data connection between tag 4 and node 3 preferably wireless. In detail the local network 1c ? a pulsed network, ie exploiting, suitably periodic, radiofrequency energy pulses of extremely short time duration usually of the order of a few tens of picoseconds or a few nanoseconds. Pi? in detail the local network 1c ? a UWB (ultra wideband) network. Alternatively or added the local network 1c ? a WiFi network and in particular a WiFi Tof 802.11mc network. In detail, the local network 1c ? a Tof 802.11mc WiFi network or other wireless network such as to allow the distance of the nodes 3 to be measured using the round trip delay. Preferably the local network 1c ? a WiFi network at a different frequency from the communication network 1b.

Preferably, the system 1 exploits both a WiFi (in particular a WiFi Tof 802.11mc) and pulsed (such as UWB) communication network 1b, allowing the same system 1 to exploit the type of communication network 1b pi? appropriate.

Local 1c networks can at least partially overlap so? that a tag 4 can connect to pi? knots 3.

Can the communication networks 1b at least partially overlap so? that a node 3 can connect to one or more? knots 3.

One or more? communications networks can not overlap the server 2 and therefore a node 3 can? connect to server 2 through one or more? knots 3.

Each node 3 identifies a fixed reference point for the tracking system 1, ie a point substantially stationary with respect to the environment and whose position can therefore be easily identified with precision.

Each node 3 pu? comprising a first antenna configured to define the local network 1c; and a second antenna configured to define said communication network 1b.

Each tag 4 can? comprising a first connector 41 configured to connect the tag to the local network 1c and therefore to at least one node 3 and a second connector 42 configured to directly connect said tag 4 to the communication network 1b and therefore to the server 2.

Each tag 4 can? comprise at least one sensor 43 for detecting the displacement/movement of tag 4.

L?at least a sensor 43 pu? comprising at least one geolocation sensor configured to identify the position of the tag 4 and therefore its movements. Alternatively or addition it pu? include at least an inertial sensor such as an accelerometer configured to detect linear acceleration and therefore a speed? linear motion of tag 4 and/or a gyroscope configured to detect an angular acceleration and therefore the inclination of tag 4.

Each tag 4 can? include a clock 44 configured to measure the passage of time.

Each tag 4 can? include a card 45 for controlling the operation of tag 4.

In particular, the card 45 defines for the tag 4 a first configuration in which the tag 4 functions as a tracer and allows to identify the object 1a and a second configuration in which the tag 4 functions as a fixed reference point (i.e. as a node 3).

In the first configuration, the second connector 42 ? deactivated and therefore the tag 4 is not ? connected to the communication network 1b and therefore to the server 2 only through at least one node 3.

In this first configuration, the first connector 41 ? active and therefore the tag 4 ? connected to the local network 1c and therefore to at least one node 3. Therefore, the tag 4 communicates with one or more? nodes 3 which, having determined the position of tag 4 with respect to node 3, send the position of tag 4 with respect to node 3 to server 2.

In the second configuration, the second connector 42 ? active cos? that the tag 4 ? directly connected to the communication network 1b and therefore to the server 2. Does tag 4 work like this? as a node 3 by varying the coverage of the communication network 1b. In the second configuration, the first connector 41 ? active allowing tag 4 to receive the relative position from at least one tag 4 with respect to tag 4 in second configuration. In detail, in this configuration the first connector 41 defines a local network 1c which can? extend the coverage of the local networks 1c of the nodes 3.

Card 45? configured to command passage to the second configuration preferably if the sensor 43 does not detect a movement for at least a limited time, ie if the tag 4 remains stationary for a predefined period of time detected by the clock 44. Preferably, it is? configured to command passage to the second configuration if for at least a limited time the sensor 43 detects a movement substantially lower than a movement threshold.

The time limit can be at least equal to 1 minute and in detail to 5 minutes.

The movement threshold can? be substantially less than 1 m and in detail substantially between 0.5 m and 0.1 m.

When a tag 4 changes its configuration, server 2 updates the position database. In particular, if a tag 4 passes into the second configuration, the server 2 inserts the positions of the tag 4 in the second configuration into the database and in particular associating it (to be precise, its identification code) with the position of said tag 4 in the environment .

It should be noted that the position of tag 4 in the second configuration is calculated during the period of time defined by the time limit. It ? then calculated pi? times with the tag 4 in the first configuration allowing an accurate detection of its position and therefore ensuring greater precision of the position database. If a tag 4 passes in first configuration, server 2 updates the position database by removing from it this tag 4 passed in first configuration.

Finally, each tag 4 can? include a battery or other power system for the tag itself.

The operation of the tracking system 1 previously described in structural terms defines a new method for tracking objects 1a.

For clarity, ?nodes 3? nodes 3 and tags 4 in second configuration and ?tag 4? only 4 tags in first configuration.

The procedure can include at least one tracing phase in which server 2, through one or more? nodes 3, identifies the position of tag 4 and therefore of? object 1to which ? associated said tag 4.

In the tracing phase each tag 4 sends to one or more? nodes 3 a first signal comprise at least their own identification code. Each node 3 receiving said first signal sends the server 2 the first signal and a second signal comprising at least the identifier of the node itself.

It is highlighted how all nodes 3 receiving the first signal of a tag 3 send the first signal back to server 2.

Server 2 identifies the position of tag 4 with respect to node 3 on the basis of the first signal and the position of node 3 on the basis of the position database and in particular on the position associated with the identifier of node 3. The position of an object 1a in the? environment ? then determined by the server according to the positions of tag 4 and node 3 and appropriately to the object database.

The tracing phase can be performed continuously or at regular intervals such as every 30 seconds.

The procedure can include a phase of exchange in which a tag 4 pu? change configuration.

In detail, a tag 4 and, to be more precise, the card 45 controls the swap phase, i.e. the transition to the second configuration of the tag 4, if for at least the aforesaid time limit the sensor 43 does not detect a movement and, to be precise, detects a displacement substantially lower than said movement threshold. Tag 4 starts like this to operate as node 3.

Alternatively, a tag 4 pu? switch to first configuration if the sensor 43 detects a movement suitably at least equal to the movement threshold. In this case tag 4 stops working as node 3 and goes back to working as tag 4.

At this point, the procedure can include at least a verification phase in which the coverage of the environment by the nodes is verified 3.

In the verification phase, server 2, identifying the configuration variation of at least one tag 4, updates the position database.

In detail, if a tag 4 passes into second configuration, server 2 updates the position database by inserting the new node 3 (that is to tag 4 passed into second configuration) associated with its position in the environment. Alternatively or in addition, if a tag 4 passes to first configuration, server 2 updates the positions database by removing it from said associations database.

The exchange phase can? be simultaneous to the tracing phase. Therefore, the position of this tag 4 can? be calculated with high precision using its calculation of the position occurred pi? times in the tracing phase.

In addition or alternatively, in this phase the server 2, for example on the basis of the position database, can? verify the position of the nodes 3 and, to be precise, the reciprocal positioning of the nodes 3. On the basis of this positioning, the server 2 can? define the coverage of each server 2 and therefore command the deactivation of one or more? server 2 if their coverage area ? substantially integrally superimposed on those of one or more? other servers 2.

Alternatively or in addition, server 2 can? command the deactivation of part of the nodes 3 sending a same first signal (ie a first signal coming from the same tag 4). Preferably, server 2 commands the deactivation of one or more? nodes 3 whose first signal has lower power than the others.

In a further alternative or addition, the server 2 pu? command the deactivation of part of the nodes 3 based on their position with respect to the same server and with respect to one or more? nodes 3. For example, server 2 pu? command the deactivation of a node 3 if it identifies the position of said node 3 substantially in line with other nodes 3 (i.e. if server 2 identifies at least one other node 3 (for example with a signal of greater strength) on the line/axis joining the server 2 to tag 4 under investigation).

It should be noted that, in some cases, the procedure may include periodic verification phases of the coverage of the environment.

The tracking system 1 according to the invention achieves important advantages.

In fact, the possibility to use the tags 4 as nodes 3 allows in a simple and rapid way to adapt, in a simple, fast and economic way, the coverage of the system 1 to eventual modifications of the environment.

Another advantage? given by the particular protocols of the local network 1c. In particular, the use of UWB is particularly advantageous in the case of tags 4 within the coverage of a node 3, while Wifi is preferable with nodes 3 and therefore local network 1c which is not very visible or absent. Furthermore, the adoption of a 1c local network of the WiFi type (in particular 802.11mc) gives the tag the possibility? to be detected by third-party devices such as Android smartphones/tablets.

Another plus? given by the high precision of the tracking system 1. This aspect can? be accentuated with, for example, the use of the environment map which allows for the identification of possible errors (identification of the position of tag 4 in an area that cannot be placed) giving system 1 greater precision.

Other advantages are to be identified in the fact that system 1 allows real-time control of supplies to the assembly line with high precision and reliability.

A not secondary advantage? to be identified in the tracking system 1, a fact which has a low cost and, at the same time, a high precision.

The invention? susceptible of variations falling within the scope of the inventive concept defined by the claims.

For example, passing a tag in the second configuration can? be defined when a tag 4 is not ? connected to any node 3.

In particular, a tag 4 pu? switch to second configuration upon detection of an alert signal emitted by a second tag 4. A tag 4 and in detail a first connector 41 can? issue an alert if it does not detect any local network issued by a node 3.

Consequently, you can have a permutation phase and in particular the transition to a second configuration of a tag 4 when said tag 4 receives an alert signal from a second tag 4.

In this context, all the details can be replaced by equivalent elements and the materials, shapes and dimensions can be any.

Claims (10)

1. Tracing system (1) of the position of objects (1a) in a work environment characterized by the fact that it includes: - a server (2); - tag (4) each of which is configured to be applied to one of said objects (1a); - nodes (3) placed in said environment and defining a communication network (1b) of said nodes (3) with said server (2); each of said nodes (2) defining a local data network (1c) with at least one of said tags (3) so? to allow to identify the relative position with respect to said tag (3) of said node (3) and therefore of said object (1a); - said server (2) comprising a position database associating each node (3) with a position in said environment and connected to said communication network (1b) so? to receive said relative position from said node (3) and then define the position of said object (1a) in said environment as a function of said relative position and of said position database; by the fact that said tag (4) comprises - a first connector (41) configured to connect said tag (4) to said local network (1c); - a second connector (42) configured to directly connect said tag (4) to said communication network (1b); - at least one sensor (43) for detecting the displacement of said tag; - a clock (44) configured to measure the passage of time; And - a defining command card (45). or a first configuration in which said second connector (42) ? deactivated and said first connector (41) ? active allowing said tag to connect exclusively to said local network (1c) cos? to be communicated to said node said relative position e or a second configuration in which said second connector (42) ? active cos? that said tag (4) works as one of said nodes (4) and therefore connects to said communication network (1b) modifying the coverage of said communication network (1b) and said first connector (41) ? active allowing the reception of relative position from at least one of said tags (41); by the fact that said board (45) commands said tag (4) to switch from said first configuration to said second configuration when said sensor (43) does not detect a movement at least for a limited time; and by the fact that said server (2) ? configured to update said position database by inserting the position in said environment of each of said tag (4) in said second configuration. 2. Tracking system (1) according to claim 1, wherein said time limit ? at least equal to 5 minutes. 3. Tracking system (1) according to at least one previous claim, wherein said card (45) commands said tag (4) to switch from said first configuration to said second configuration when said sensor (43) detects a displacement substantially lower than a movement threshold. 4. Tracking system (1) according to the previous claim, wherein said movement threshold ? substantially between 0.5 m and 0.1 m. 5. Tracing system (1) according to at least one previous claim, comprising at least three of said nodes (3) so? to allow the server (2) to trilateralize the position of said tag (4). 6. Tracking system (1) according to at least one preceding claim, wherein said card (45) commands said tag (4) to switch from said first configuration to said second configuration upon detection of an alert signal emitted by a second tag (4). 7. Tracking system (1) according to at least one previous claim, wherein said local network (1c) ? an impulse network. 8. Tracking system (1) according to at least one previous claim, wherein said local network (1c) ? a WiFi network. 9. Tracking system (1) according to claims 8 and 9, wherein said local network (1c) ? at least one between a Tof 802.11mc WiFi network and a UWB network. 10. Method of tracking comprising - a tracking system (1) according to at least one preceding claim; - a tracing phase in which said server (2), through said nodes (3), identifies the position of said tag (4) and therefore of said object (1a) to which ? associated said tag (4); and characterized by understanding - a switching phase in which said sensor (43) does not detect a movement for at least said time limit and therefore said board (45) controls passage to said second configuration; - a verification step in which said server (2) updates said position database by inserting as new node (3) the tag 4 passed in said second configuration associated with the position in the environment defined in said tracking step.