CN1479908A - 采用射频识别标签的物体跟踪和管理系统以及方法 - Google Patents

采用射频识别标签的物体跟踪和管理系统以及方法 Download PDF

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CN1479908A
CN1479908A CNA018204260A CN01820426A CN1479908A CN 1479908 A CN1479908 A CN 1479908A CN A018204260 A CNA018204260 A CN A018204260A CN 01820426 A CN01820426 A CN 01820426A CN 1479908 A CN1479908 A CN 1479908A
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罗伯特·C·弗朗西斯
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詹姆斯·P·麦吉
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罗伯特·A·萨伊纳蒂
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小理查德·L·希恩
汤世杰
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    • G06COMPUTING; CALCULATING OR COUNTING
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Abstract

公开了一种采用射频识别(“RFID”)标签的物体跟踪和管理系统以及方法。需要在多个位置之间移动的物体(132)配有具有关于该物体特征的信息的RFID标签(130)。所述位置也用含有关于该位置信息的RFID标签(140、150)加以标记。用于移动物体的运输车辆(110)配有能够探测来自RFID标签(130、140、150)的信号的RFID询问器(120)。车载处理器(160)向车辆操作者提供关于物体移动的指令。该处理器(160)还根据探测信号确定所述物体和位置的特征,并向操作者提供关于被移动物体特征、车辆位置以及任何指令执行差错的反馈。还描述了采用RFID标签的基本系统和方法的多种变型。

Description

采用射频识别标签的物体跟踪和管理系统以及方法
技术领域
本发明一般地说涉及物体跟踪和管理系统以及方法,更具体地说,涉及采用移动和/或静止射频识别标签的组合来识别物体、监控物体位置以及导引物体移动的系统和方法。
发明背景
为实现高效的仓库操作,在码垛货物和其他物体被运输到和运输自不同位置比如存储位置、堆放位置、集结区域和装载货场时,需要精确地跟踪待定位和/或传送的这些物体在仓库中的移动。在典型的传统仓库管理操作中,运输车辆例如叉车、前伸式叉车、铲车或码垛运输车的操作者收到一套打印的堆放或装载指令(一般由计算机生成),并且通过目视识别货物及其位置并根据指令上确定的位置将货物运到和运离该位置。在这种系统中,特别在具有很多位置和大量货物需要处理的大型仓库中,出错的可能性很大。
有些仓库管理操作采用贴附在货物上或者标记具体位置的条码。在这种系统的典型例子中,操作者采用手持条码扫描仪来阅读货物上的条码,并且在有些情况下,阅读货物位置上的条码。尽管这种系统是对单纯目视方法的改进,但是部分因为扫描仪与条码之间需要直接的视线、位置靠近和适当的对准,所以难于完全实施。它还需要操作者参与货物识别过程。在有些情况下,操作者可能需要离开运输车辆来手工扫描条码,从而延缓了仓库操作。特定的位置例如高存储货架和装载货场,因为需要条码与阅读器之间位置靠近,所以对于采用条码通常是特别困难的位置。其结果是,这些区域的货物通常靠目视识别。
已经提出射频识别(“RFID”)标签系统用于货物跟踪。在这种系统中,将RFID标签贴附在物体或位置上,它包含一个用于存储识别物体或位置信息的永久存储器以及用于与询问器(interrogator)互相作用的电路。RFID标签可以是无源的或有源的。在无源RFID标签的情况下,该标签包含用于将所接收RF信号至少一部分转换成标签进行信号处理和发射所需电能的电路。在典型的传统系统中,将含有与需跟踪货物项目特性相关信息的RFID标签贴附在货物项目上。采用RFID询问器来探测RFID标签的有无并读取该标签的特征信息。典型的RFID询问器包含一个RF收发器,用于向RFID标签发送询问信号和由之接收响应信号;一个或多个与收发器相连的天线;以及相关的解码器和编码器,分别用于读取和写入所接收和发射RF信号中的编码信息。询问器可以是一个便携式装置,可以携带至靠近待读取标签的位置,或者可以是一个固定装置,在标签被带到询问器位置时读取标签,如同标记图书被返回至设有询问器的返回台的情况一样。RFID标签还可以贴附在位置附近作为位置标记。在既探测到贴附于货物项目上的标签也探测到位置标记标签之后,与询问器相连的一个处理单元可以判定货物项目位于标记位置附近。虽然这些传统的物体跟踪系统能够保存货物项目以及有时其位置的记录,但是它们不能有效地用于跟踪和/或管理货物项目的移动。
还存在如下的仓库货物跟踪系统,它包含位于不同位置的固定RFID询问器,用以在其位于靠近配置有询问器的位置时探测RFID标签项目。例如,有些仓库在装载货场门口或其附近具有RFID询问器。这种系统能够跟踪标签项目到达不同位置,但是不能探测远离这些位置的差错。例如,如果叉车由于驶至错误的装载位置而装载了错误的货物,则直到货物到达门口才能探测到该差错。这种迟延的差错探测对仓库操作的整体效率造成不利的影响。另外,在大量的装载货场门口都配置询问器也不是成本有效的。
因而需要提供一种全自动系统来处理物体在整个仓库或其它类似环境中的识别、移动和跟踪。需要一种适用于所有各种仓库操作所涉及位置比如堆放位置、存储货架、地板线道和装载货场的系统。需要一种与中央数据存储器结合运行以导引和跟踪在整个仓库中所有物体移动的系统。
本发明意在克服前述之一个或多个问题,而满足一个或多个上述需求。
发明概述
本发明提供了一种自动物体和位置识别系统,优选用于仓库管理操作,无需在大量位置配置固定的RFID询问器。在本发明的一个实施例中,一个运输车辆比如叉车或前伸式叉车在其上安装有一个RFID询问器。RFID标签贴附在物体(比如码垛和货物)上以及位置(比如存储位置、通过位置或装载货场)上。在码垛的情况下,从标签发射的信息可以包含码垛的特征、码垛的重量、和码垛上项目的标记。在位置的情况下,该信息表示位置比如位置代码或坐标。RFID询问器向RFID标签发送询问信号。当车辆与标签足够靠近时,但不必在直接视线中,各RFID标签响应于询问信号发出用标签特别信息编码的信号。
处理器可操作地连接至RFID询问器用于处理由询问器接收自标签的信号并确定所探测位置RFID标签的货物和位置的特征。处理器可以位于车辆仪表板上,可以位于远程位置处,或者位于两者处。
RFID标签优选用在物体以及位置上。替代地,在物体上可以贴附识别标记比如条码标记,而在一个或多个位置处采用RFID标签。在此情况下,运输车辆上的询问器还包含一个条码扫描仪用于读取条码标记中存储的信息。类似地,在物体上可以采用RFID标签,而在位置处比如沿着装载货场门口采用条码标记。
优选地,处理器通过用户界面向操作者提供关于物体特征、物体所在位置以及物体待移至位置的反馈信息。例如,处理器可以向操作者发送声音信号(比如嘟嘟声)或者可视信号(比如监视器上的红光或绿光或图形显示),以告知操作者是否已装载正确的物体或者物体是否位于正确的位置。处理器可以进一步构造成向操作者发送关于待执行任务的指令。
询问器还可以根据操作者的指令将信息比如物体的移动历史发送至物体上的RFID标签。RFID标签存储这些信息,这些信息可以随后例如由另一位置的RFID询问器加以读取。类似地,询问器可以根据处理器的指令将信息发送至某一位置处的RFID标签,然后由位置标签加以存储。
在本发明的另一个实施例中,询问器能够识别因而读取仅来自距离最靠近询问器的标签的信息。这通过动态降低询问信号的功率直到只有最靠近询问器的RFID标签响应来实现。因而可以降低不正确地识别位置或物体的概率。
在本发明的该实施例中,处理器可以产生一个能够由操作者察觉的信号,指示为探测到询问器所探寻RFID标签(目标RFID标签)所需的最低询问信号强度。最低询问信号强度可以由置信度表示(最低信号强度越低,置信度越高),或者由标签与询问器之间的大致距离表示(最低信号强度越低,该距离越短)。
在本发明的另一个实施例中,用具有两个彼此紧密靠近的RFID标签的RFID组件来标记通过位置,比如装载货场门口或停放于装载货场门口的卡车。在两个标签之间设置一个RF屏蔽件比如金属板或金属屏。当询问器位于该屏蔽件的一侧时,只有位于该屏蔽件与询问器同一侧的标签对询问信号产生响应。这种结构因而使得系统能够判定物体相对于通过位置的移动方向。例如,系统能够判定载有物体的车辆是通过门口从仓库内移动向装载货场还是从装载货场移动进入仓库。
在本发明的另一个实施例中,运输车辆配有RFID询问器,用于物体识别,并任选用于位置识别。用RFID标签对物体以及可能情况下对位置加以标记。另外,在仓库地板上配置磁带片段,用于提供指示片段位置的磁信号。车辆还配置有磁信号阅读器,用于探测来自磁带的磁信号。车载处理器可操作地与RFID询问器和磁信号阅读器相连,用于确定物体的特征以及任选地根据从询问器所接收信号确定位置和根据来自磁带阅读器的信号确定位置。
在本发明的另一个实施例中,运输车辆是“前伸式叉车”型,配有能够将物体定位在多个高度的提升机构。该车辆还配有与提升机构相连的高度传感器,用于产生指示提升机构将物体定位至所在高度的信号。指示该高度的信号可以是电子信号、可视信号、声音信号、磁信号、电磁信号或其它类型的信号。在装载或卸载来自垂直列的仓库货槽的物体时,本发明的该实施例特别有用。在该实施例中,必须使仅一个位置标签与该列关联,而系统能够用高度传感器识别该列中的正确货槽。
因此,在本发明的一个方面,一种用于对可定位于多个位置处的物体进行跟踪的系统,包括:(a)运输车辆,用于在各位置之间移动所述物体;(b)物体标记,与所述物体关联,其中存储有指示该物体特征的信息;(c)多个位置标记,其每个位于多个位置之一处,并且存储有指示所述标记位置的信息;(d)询问器,安装在所述车辆上,用于从物体标记中接收指示物体特征的信息并且从位置标记中接收指示标记位置的信息,该询问器包含一个用于发射待存储于标记上的信息的射频发射器和一个射频接收器;以及(e)处理器,与所述询问器可操作地相连。该处理器根据指示物体特征的信息确定物体的特征,根据指示标记位置的信息确定至少一个位置标记的位置,并且确定所述物体与所述位置之间的空间关系。例如,如此确定空间关系的最简单形式为,当基本上同时探测到物体和位置的RFID标签时,判定所述物体靠近或处于标签位置。
处理器还优选能够通过用户界面向操作者提供关于物体移动的指令。这些指令可以包括(a)关于是否已经识别所需物体的反馈;(b)到所需位置的方向;和(c)关于物体是否已经运到所需位置的反馈。
在上述系统中,发射器或询问器优选能够发射用信息编码的信号,比如物体的移动历史或位置的存储历史,且所述物体或位置标记存储该编码信息。
该系统还优选包括一个信号发生器,与所述处理器可操作地相连,用于在所述询问器从所述位置标记接收指示该标记位置的信息时,通过用户界面比如声音信号或可视光显示或计算机监视器显示等,向所述车辆的操作者提供指示所述多个位置标记之一的位置的信号。
在本发明的另一个方面,所述RFID询问器构造并设置成仅读取来自最靠近该询问器的RFID标签的信息。这优选通过如下方式实现,动态降低询问信号的输出功率直到只有最靠近该询问器的RFID标签对询问信号产生响应。优选包含一个目标置信度指示器以提供该跟踪过程的可视反馈。
在本发明的另一个方面,至少一个位置标记限定有一个平面,其中该标记发射第一信号,指示该询问器位于所述平面的一侧,并发射第二信号,指示该询问器位于所述平面的另一侧。该位置标记可以包含由一屏蔽件隔开的两个RFID标签,比如通常位于所述平面内的金属板或金属屏,其中只有位于所述平面与询问器同一侧的RFID标签才对来自询问器的询问信号产生响应。
本发明的另一个方面为一种用于对可定位于一个交通承载表面上多个位置处的物体进行跟踪的系统。该系统包括:运输车辆,用于在各位置之间移动所述物体;物体标记,与所述物体关联,其中存储有指示物体特征的信息;和询问器,安装在所述车辆上,用于从所述物体标记接收指示物体特征的信息。该系统还包括一条磁带,贴附在所述交通承载表面上。该磁带包含多个片段。每个片段用指示该片段特征的信息加以编码,且产生用指示该片段位置的信息加以编码的磁信号。磁信号阅读器安装在所述车辆上,用于探测所述磁带产生的信号。处理器可操作地与所述询问器和磁信号阅读器相连,以根据指示物体特征的信息确定物体的特征,并且确定磁带至少一个片段的位置以及所述物体与所述位置之间的空间关系。
本发明的另一个方面为一种用于将其上贴附有射频识别标签的物体移向或移离特定高度的位置。该车辆包括:(a)射频识别询问器,用于接收来自所述标签的信号;(b)提升装置,能够将所述物体定位在多个高度;(c)高度传感器,用于产生指示物体所在高度的信号;(d)用于产生指示所述车辆水平位置的信号的装置;以及(e)处理器,可操作地与所述询问器、高度传感器和信号产生装置相连。该处理器根据从所述标签接收的信号确定所述物体的特征,根据从所述高度传感器接收的信号确定所述物体的高度,并且根据从所述信号产生装置接收的信号确定所述车辆的水平位置。
本发明的另一个方面为一种用于管理物体在环境中的多个位置之间移动的方法。将一第一射频识别标签贴附于所述物体上,并且该标签中存储有且能够发射用指示所述物体特征的信息加以编码的信号。将一第二射频识别标签贴附在一个位置上,并且该标签中存储有且能够发射用指示该第二标签位置的信息加以编码的信号。运输车辆配有一射频识别标签询问器,能够接收来自所述标签的信号并确定标签中存储的信息。该方法包括:(a)采用所述询问器接收指示所述物体特征的信息;(b)确定所述物体待移动至的预期位置;(c)采用所述车辆将所述物体移动到一个位置;(d)采用所述询问器接收指示所述位置的信息;并且(e)当步骤(d)中所接收信息指示的位置与所述预期位置一致时将所述物体放置在所述位置处。
本发明的另一个方面为一种采用具有可调功率输出水平的RFID询问器以在多个射频识别标签中搜寻一个目标RFID标签的方法。每个标签构造并设置成响应于来自所述询问器的询问信号发射识别信号。该方法依次包括:(a)以起始功率输出水平发射询问信号;(b)判断询问器是否已经探测到目标标签;(c)如果探测到目标标签则降低所述功率输出水平;(d)重复步骤(a)-(c),每次采用前次循环步骤(c)达到的降低功率输出水平作为步骤(a)中的起始功率输出水平,直到不再探测到目标标签;且(e)以(d)中末次循环前一次循环结束时达到的降低功率输出水平发射询问信号。
附图的简要说明
在结合附图阅读下面对具体实施例的详细说明之后,将清楚本发明的其它目的和优点。
图1表示本发明的实施例,其中在物体以及位置上都贴附有RFID标签;
图2(a)、2(b)和2(c)表示处于完成货物再定位任务不同阶段的车载询问器的监视器显示;
图3表示本发明的另一实施例,其中在物体上贴附条码标贴,并且在位置上配置RFID标签;
图4表示采用RFID标签确定相对位置和移动的一个原理;
图5表示本发明的一个实施例,其中将两个RFID标签定位在彼此紧密靠近的位置以探测运输车辆的相对位置;
图6表示本发明的一个实施例,其原理上与图5所示实施例类似,但不同的是具有静止的询问器和移动的RFID标签,用于确定贴附有RFID标签的物体的相对位置;
图7表示本发明的一个实施例,其中RFID询问器构造并设置成仅探测到与询问器最靠近的RFID标签;
图8表示根据本发明的一个方面识别与询问器最靠近的RFID标签的方法;
图9表示图7所示实施例提供的RFID标签识别过程中置信度的可视显示;
图10表示本发明的一个实施例,其中采用RFID标签来识别物体,采用磁带来识别位置;
图11表示本发明的一个实施例,其中采用高度传感器来识别RFID标签所标记存储货架中的特定货槽。
发明的详细说明
参照图1,物体跟踪和仓库管理系统100用于跟踪物体132比如货物或货盘,包括运输车辆110比如码垛运输车、叉车、或前伸式叉车。车辆110上安装有询问器120比如RFID询问器,与可以是计算机形式的处理器相连,包括中央处理单元(CPU)160、显示器170和输入装置180比如键盘、定点装置、和/或触板式显示器。该系统还包括数个标记,比如RFID标签130、140和150。物体标记比如RFID标签130贴附在物体132上;其它标记比如RFID标签140、150用作位置标记,并且位于不同的位置比如存储位置(仓库货槽)142和装载货场152。车载处理器还可以通过RF联接或其它在车辆处理器与主计算机之间提供连续联接的适宜通讯系统连接至远程主计算机190。主计算机190还可以连接至其它运输车辆上的RFID询问器和处理器。主计算机190和处理器还可以是大型计算机网络的一部分。
RFID标签130、140和150能够接收、存储和发送信息,并且可以是适于此目的的任何类型。该标签可以包含天线、用于处理RF信号的电路、微处理器和数字存储器。它们可以是无源器件,仅在接收到询问信号之后才发送信号,并且依赖于入射RF波的功率。它们也可以是有源器件,连续地或周期性地发送信号,并且含有其自身的电源。商业上可得到的RFID标签例子包括IntellitagRFID标签,当前可以从Intermec Technologies Corporation(Everett,WA)购得。
标签可以存储关于物体或位置的各种信息。例如,标签130可以存储代码,比如货物编号或码垛编号,指示物体的特征。它也可以存储关于物体移动历史的信息或关于物体重量的信息。标签140和150可以存储指示位置的信息,比如装载货场的编号、仓库货槽的编号和拖车识别编号。位置标签还可以存储关于位置的其他信息,比如存储在该位置的物体的历史,关于存储在该位置的物体类型的信息,或者关于该位置的限制或警告。
RFID询问器120可以是任何适于接收信号的类型。它可以是RF接收器,还可以包含用于向无源RFID标签提供询问信号的发射器。询问器120可以进一步能够发送待存储在RFID标签中的信息。因此,询问器可以提供关于物体移动历史或仓库位置存储历史的更新信息。作为另一个例子,车辆可以配有用于确定物体重量的重量传感器,在此情况下该信息可以存储在标签上,和/或与标签上已经存储的信息进行比较。
处理器可以包括任何适宜的处理器,包括通用或专用计算机。处理器优选具有适用于运动车辆上的坚固设计。显示器170可以包含监视器、光源和/或扬声器或发声器。处理器可以编程以与操作者通过图形用户界面互动。输入装置180可以包含键盘、任何适宜类型的定点装置、和/或声音识别装置。显示器170还可以是触摸屏监视器,在此情况下输入装置180是监视器的一部分。
远程计算机190可以是任何适宜的类型,包括通用或专用计算机。它还可以包含用于仓库管理的数据库,用于存储比如货物移动历史、定单、清单、帐单记录、人员记录和客户记录等信息。数据库的内容可以通过来自询问器的询问结果、由操作者经由车载处理器的手工输入、以及通过远程联接来自主计算机的信息不时地更新。
运输车辆110还可以配置成用于询问位于相对于车辆110的多个不同位置的RFID标签和/或以不同频率通讯的标签(例如,用于货物项目的标签可以采用与位置标签不同的频率)。该多功能性可以通过将各具有不同取向的多个天线与询问器连接或者在同一车辆上安装各具有其自身频率的多个RFID询问器来实现。
在本发明的一个例示性应用中,考虑一个如下仓库,其中货项到达仓库待分配至不同的目的地,沿着一个主传送带移动,然后通过不同的支线,最后组装成码垛。运输车辆110的操作者从显示器170上读取来自远程计算机190的指令以装载位于特定支线142端点的码垛132。参见图2(a)。操作者将车辆110驾驶至指明的仓库位置142并抵达一个码垛。询问器120询问标签140,其发送一个用位置信息编码的信号。询问器探测该信号,该信号被发送至处理器以判断车辆110是否到达正确的位置。当处理器确认该位置正确时,则处理器通过用询问器120询问标签130来识别码垛132。标签130发送一个用码垛编号编码的信号。询问器120所接收的信号由处理器加以处理。如果码垛编号是正确的,则操作者继续装载码垛132。处理器然后指示操作者将码垛移动至装载货场152(图2(b))。在装载货场152,进行与开始位置142处类似的位置确认操作。如果车辆到达正确的装载货场,则操作者会接收到车辆已经到达正确装载货场的确认信息(图2(c))。如果操作者将码垛运到错误的位置,则处理器会向显示器170发送一个指示该错误的信息。处理器还可以通过显示地图和/或一系列方向来指示操作者如何到达正确位置。采用RFID标签和相关的计算机系统因而有利于容易地并且基本即时地对货物和位置进行识别和确认。关于货物特征、位置和移动的任何操作者差错都可以立即识别,并且可以立即采取纠正行动。因此可以大幅度降低与目视检查有关的差错可能性。
在上述例示性方法的过程中或者其结束时,车辆110上的处理器可以向主计算机190发送物体的状态和其他有关信息。处理器还可以将更新的移动历史和/或码垛132状态写入RFID标签130。该信息可以在后面由例如目标位置的跟踪系统加以利用。该信息可以由处理器产生,从主计算机接收,或者由操作者通过输入装置180手工输入。
图3中画出了一种改型的管理系统200。该系统与图1中所示的系统100类似,不同之处在于对货物132采用条码标记230来替代RFID标签,采用条码扫描仪220来扫描货物或码垛上的条码。位置仍然由RFID标签140和150加以标记。对物体和位置采用不同类型的识别标记提供了额外的灵活性,可以兼容更多种类的仓库结构和操作,包括兼容没有用RFID标签标贴的条码码垛。当然,不必采用条码来替代所有货物的RFID标签。可以混合地使用条码和RFID标签用于货物识别目的,从而进一步扩大了系统可处理的物体范围。运动和方向判断
在特定的应用场合,除了获知货物的位置之外,还需要获知货物是否已经通过并且沿什么方向移动通过特定点。例如,当叉车将码垛运送至拖车上时,只是知道码垛已经到达装载货场通常是不够的;通常还需要知道码垛是否已经从装载货场一侧通过拖车门。原则上,如图4中所示,可以采用位于一个平面两侧的两个RFID标签320和330,并根据哪个标签首先探测到来判定询问器的运动方向。但是为了在这种判断中实现任何合理的精确度,必须将两个标签设置成相互远离。也就是说,两个标签之间的距离必须足够大,使得在该距离范围内询问信号的强度从显著大于探测阈值降低至显著低于探测阈值。该距离通常大于场地(比如仓库拖车门)所允许的尺寸。另外,在该过程中,当码垛运输车从远处抵达点310时发生最精确的运动判断,而不是在其正通过点310时。因此,该测量不能体现货物的真实状态。
为解决此问题,图5中画出了根据本发明的能够探测物体运动的位置标记400的优选结构。它包括两个间隔开较短距离的RFID标签420和430。在这两个标签之间设置有一个RF屏蔽件410,比如金属板、金属屏或其他RF反射或吸收材料。屏蔽件410优选设置成相对于货物的运动方向成一定的角度(比如45度)。在标签420与屏蔽件之间限定有间隙450,优选为大约1英寸(2.5cm),以保持标签的灵敏度。在第二标签之后优选设置一第二金属板440,并减小标签430的最大读取距离,从而进一步确保在任何给定的位置只有一个标签能够被读取。整个组件可以被封装在一个RF透明盒罩(未画出)中。
因为当带有RFID询问器和货物的运输车辆处于RF屏蔽件410与标签1420相同的一侧时,RF屏蔽件基本上阻断了来自标签2430的所有询问信号,所以询问器不会探测到标签2。类似地,当询问器处于屏蔽件410与标签2430相同的一侧时,标签1420不会被探测到。只有当询问器运动通过分隔这两个标签的平面附近的较短范围时,询问器才会探测到全部两个标签。因此,根据探测到标签1420和标签2430的时间顺序,可以精确地判断通过RF屏蔽件410所限定平面的运动方向。
同样的原理可以用在图6中所示的略微不同的结构中。在此情况下,运动标记400移动通过静止询问器天线510。当RF屏蔽件通过天线时的精确运动可以根据标记400中的两个标签被探测到的时间顺序来判断。区分多个RFID标签
在多个RFID标签处于询问器的可探测范围内的情况下,如果多于一个标签对询问信号产生响应则会引发困难。例如,假定车辆到达由RFID位置标签标记的目标位置,但是还存在其他的位置标签也处于询问器的探测范围内并且它们同样对询问信号产生响应。因为询问器接收到多于一个响应信号,所以车辆的操作者会不能判断目标RFID标签是否最靠近车辆。一个解决办法是保持低功率的RF询问信号,从而降低探测范围内具有多个标签的可能性。但是这会同样显著降低询问器的探测范围,从而减少了采用RFID标签的许多优点。
根据本发明的一个方面,通过动态衰减询问信号,也即通过采用高RF功率电平的询问信号开始询问并且将功率电平降低至阈值电平以使目标RFID标签响应于询问信号,可以克服此困难。如图7中所示,系统包括询问器120、处理器660、天线122和衰减器640。衰减器优选为数字装置,在目标标签620远离时比目标标签620靠近时发送更强的询问信号。对于能够改变输出功率的询问器,天线构造在询问器内;对于具有固定输出功率的询问器,可以在询问器的输出端与天线之间连接一个数控衰减器。如图8中所示,询问器以发射全功率询问信号而开始(810),并判断是否已经探测到目标标签。如果探测到目标标签(820),可能情况下一并探测到其他标签,则将询问信号的功率降低既定的因数或增量(830)。如果仍然探测到目标标签,则以更大的功率降低因数或更大的功率降低增量从开始点重复该过程,直到不再探测到目标标签(840)。一旦不再能探测到目标标签,则将询问信号的功率往回增加到前一步骤的水平(850)。以减小的功率降低因数或增量开始,从步骤840重复该过程。优选的因数或增量一般可以根据相邻标签之间的预期最小间隔在系统安装时通过经验确定。
该程序的最终作用在于,只要探测范围大于询问器与目标标签之间的距离时则询问信号的RF功率电平保持降低,并且只要探测范围小于询问器与目标标签之间的距离时则询问信号的RF功率电平保持增加。因此,随着询问器与目标标签之间距离的变化,使询问信号的功率电平调整至“搜寻”最佳值,使得探测范围与该距离匹配。
此处所述动态衰减系统的作用在于,询问信号的最佳RF功率电平与询问器位于紧邻目标标签位置时的置信度直接关联:低RF功率电平意味着较小的探测范围因而意味着更近的目标标签和更高的置信度。相反,高RF功率电平意味着较大的探测范围因而意味着更远的目标标签和更低的置信度。
可以利用该特征来提供指示询问器与目标标签之间距离的信号。例如,可以用数字衰减器的输出表示距离的函数。替代地,在功率可调询问器中,可以用询问器中控制点处的可调电压来设定输出功率。该电压可以用作指示距离的信号。该指示距离的信号可以反过来用于通过用户界面为操作者提供可视帮助以到达目标标签。可以在车载计算机显示器170上显示一个图形条700,比如图9中所示的图形条,来表示置信度。图形条710的长度可以编程为在对应于最高RF功率设置的最小位置720与对应于最低RF功率设置的最大位置730之间变化。替代地,该图形条可以编程为指示到目标标签的距离。在此情况下的图形条长度随着RF功率电平而增加。还存在多种其他的可能性,从距离置信度的数字显示到圆点图案,其大小表示到标签的距离。
替代地,置信度指示器可以编程为显示移动平均值,根据一系列读取中探测到的目标标签计数与所有探测到的标签的总计数之比计算得出。
一种替代的动态衰减系统包含与上述系统中相同的部件,但是构造并设置成重复发射询问信号,只要探测到多个RFID标签就持续降低询问信号的功率电平,直到只有一个RFID标签对询问信号产生响应。因为询问信号强度随距离降低,所以在多个RFID标签中唯一对应的RFID标签基本上与询问器最为靠近。替代/附加位置识别
基于RFID标签的系统可以与其他控制和/或导引系统结合以实现所需的功能。例如,可以采用能够应用在用于车辆导引的道路和仓库地板的磁带作为对RFID位置标记的替代或附加装置用于位置确定。适宜的磁带在本领域是公知的。这种磁带的例子公开在序列号为No.08/341,369的美国专利申请中,申请人为Dahlin等人,申请日为1994年11月17日,名称为“Conformable Magnetic Articles for Use WithTraffic-Bearing Surfaces(适用于交通承载表面的磁性物)”,公开号为WO 96/16231。在采用这种磁带的系统中,将磁带设置在交通承载表面上。安装在运输车辆上的磁性传感器在该传感器通过一部分磁带时对磁信号进行探测。另外,这种磁带可以磁化(“编码”或“写入”)成指示沿磁带位置的图案,从而使得在车辆上的传感器读取编码信息之后能够确定车辆位置。这种导引系统可以与RFID系统结合使用以实现更高的运作效率。
图10中画出了这种系统的一个例子,其中码垛存储在仓库地板上划定的线道(1ane)中。可以沿每个线道设置一条这种磁带540。车辆510配置有RFID询问器(图中画成与处理器520为一体)以及磁信号阅读器530。磁带被编码成使得通过车辆上的磁带阅读器可以确定沿磁带的位置。例如,在紧邻堆放位置的磁带片段处的磁带模式可以作为数字编码读取,从而处理器将其识别为指示对应于堆放位置比如地板位置的位置编号。处理器通过磁带阅读器530接收来自磁带的位置信息,并且通过询问器和天线550接收来自RFID标签(比如标签560)的码垛特征信息。处理器还向车辆发出关于待执行任务的指令,包括码垛装载坐标、码垛编号和码垛目标坐标。
本发明的另一例可能操作是码垛移动不仅包括水平车辆移动而且包括码垛向和从仓库货架中的垂直移动,如图11中所示。在这种系统中,仓库货架可以如上所述用RFID标签790标记。如前面各实施例中一样,车辆750配有询问器760和天线770,可以用于读取标签790以识别所需的仓库货架。为了免于需要用单独的位置标记对每个仓库货架中的每个货槽进行标记,需要使车辆750(在该实施例中为前伸式叉车)配置有高度传感器780。通过高度传感器对前伸式叉车的叉臂的垂直移动进行监控,而高度传感器向处理器或远程主计算机发送一个高度信号。高度传感器优选为一个计数器,与叉臂的驱动机构相连,但是也可以是用于测量高度的任何其他适宜装置,比如线位移机构、激光测距仪等。处理器可以指令操作者将叉臂提升至既定的高度以放置或提取货架。操作者可以手工控制叉臂提升至该高度,或者该堆垛车可以编程为自动停止在所需高度。通过这种系统,可以有效地控制货物项目沿所有三个方向的移动。另外,在叉车上采用高度传感器免除了在垂直延伸仓库货架中的每个存储高度(货槽)处设置RFID传感器的需要。相反地,可以用一个RFID标签来识别每列货槽,而该列中的各个货槽由高度指示器识别。
上述具体实施例提供了一种全自动系统,用于在整个仓库或其他类似环境中识别、移动和跟踪物体。该系统在全部仓库操作中向操作者提供了立即的反馈,从而最大限度降低了发生差错的可能性。该系统适用于仓库操作中涉及的所有各种位置,比如堆放位置、存储货架、地板线道、和装载货场。因为该系统能够与中央数据存储器结合运行,所以该系统能够在整个仓库范围内导引和跟踪所有物体移动。通过采用本发明,可以大幅度降低货物管理中的差错,从而提高生产率。
由于对本领域技术人员来说,在本文的教导之下,可以用不同但相当的方式对本发明进行改变和实施,所以上述特定的实施例只是例示性的。另外,除下面权利要求中所述的之外,对本文所示结构或设计的细节不应理解为有任何限制。因此显然可以对上面公开的特定实施例进行替换或改变,并且所有这些变型都应认为是处于本发明的范围和精神内。相应地,本申请所要求的保护在下面的权利要求中给出。

Claims (40)

1.一种用于对可定位于多个位置处的物体进行跟踪的系统,该系统包括:
(a)运输车辆,用于在各位置之间移动所述物体;
(b)物体标记,与所述物体关联,其中存储有指示该物体特征的信息;
(c)多个位置标记,其每个位于多个位置之一处,并且存储有指示所述标记位置的信息;
(d)询问器,安装在所述车辆上,用于从所述物体标记中接收指示所述物体特征的信息并且从所述位置标记中接收指示所述标记位置的信息,该询问器包含一个用于发射待存储于标记上的信息的射频发射器和一个射频接收器;以及
(e)处理器,位于所述车辆上,与所述询问器可操作地相连,其中该处理器根据指示所述物体特征的信息确定所述物体的特征,根据指示所述标记位置的信息确定至少一个所述位置标记的位置,并且确定所述物体与所述位置之间的空间关系。
2.如权利要求1所述的系统,其中所述射频发射器发射一个或多个询问信号;
其中每个位置标记包含一个射频识别标签,用于响应于所述一个或多个询问信号之一发射用指示该标记位置的信息加以编码的信号;
其中所述物体标记包含一个射频识别标签,用于响应于所述一个或多个询问信号之一发射用指示所述物体特征的信息加以编码的信号;并且
其中所述射频接收器接收来自所述位置标记和物体标记的信号。
3.如权利要求1所述的系统,其中每个位置标记包含一个射频识别标签,用于发射用指示该标记位置的信息加以编码的信号;
其中所述物体标记包含其中含有指示所述物体特征的信息的条码;
其中所述射频发射器发射询问信号,而所述接收器接收所述编码信号;且
其中所述询问器还包含一个读取所述条码的条码阅读器。
4.如权利要求2所述的系统,其中所述询问器的发射器还能够发射用信息加以编码的信号,且所述物体标记存储该编码信息。
5.如权利要求1所述的系统,还包括一个信号发生器,与所述处理器可操作地相连,用于在所述询问器从所述位置标记接收指示该标记位置的信息时,向所述车辆的操作者提供指示所述多个位置标记之一的位置的信号。
6.如权利要求5所述的系统,其中提供给操作者的所述信号为声音信号。
7.如权利要求5所述的系统,其中提供给操作者的所述信号为可视信号。
8.如权利要求7所述的系统,还包括一个计算机显示监视器,其中所述可视信号为显示在该监视器上的计算机生成图案。
9.如权利要求8所述的系统,其中所述处理器在所述监视器上显示对操作者的指令,该指令包含待运输物体的特征以及该物体待运输到的至少一个位置。
10.如权利要求1所述的系统,还包括一个附加询问器,安装在所述车辆上,用于从所述物体标记提取指示所述物体的特征的信息并且从所述位置标记提取指示该标记位置的信息。
11.如权利要求2所述的系统,其中所述询问器还包含多个天线,用于接收来自多个方向的射频信号。
12.如权利要求2所述的系统,其中所述询问器接收来自一个射频识别标签的信号,并产生指示该询问器与标签之间距离的信号。
13.如权利要求12所述的系统,其中所述询问器根据该询问器与标签之间的距离改变询问信号的功率电平。
14.如权利要求12所述的系统,其中所述询问器产生指示该询问器与标签之间距离的可视信号。
15.如权利要求2所述的系统,其中至少一个位置标记限定有一个平面,其中该至少一个位置标记发射一第一信号,指示该询问器位于所述平面的一侧,并发射一第二信号,指示该询问器位于所述平面的另一侧,并且
其中所述第二信号不同于所述第一信号。
16.如权利要求15所述的系统,其中所述至少一个位置标记包含两个射频识别标签,在其间限定有所述平面,用于响应于来自所述询问器的具有足够强度的询问信号发射指示所述位置的信号,并且其中该至少一个位置标记构造并设置成使得位于询问器同一侧的标签能够对询问信号产生响应而防止另一标签对该询问信号产生响应。
17.如权利要求16所述的系统,其中所述至少一个位置标记还包含一个射频屏蔽件,位于所述两个标签之间。
18.如权利要求17所述的系统,其中所述屏蔽件包括金属板。
19.如权利要求2所述的系统,其中所述运输车辆还包含能够在多个高度提取和定位货物的提升装置和用于测量货物所处高度的高度传感器,并且其中所述处理器可操作地与该高度传感器相连以确定货物所处的高度。
20.如权利要求2所述的系统,其中所述询问器的发射器还能够发射用信息编码的信号,并且所述位置标记至少其一存储该编码信息。
21.一种射频识别系统,包括:
(a)询问器,用于发射询问信号;
(b)射频识别标签组件,用于接收该询问信号并因而发射一个响应信号,所述标签组件与一个限定有一第一侧和一第二侧的平面相关联;以及
(c)处理器,可操作地连接至所述询问器,
其中所述询问器接收所述响应信号,并且其中所述处理器根据该响应信号判断询问器是处于所述平面的第一侧还是第二侧。
22.如权利要求21所述的系统,其中所述标签组件在询问器处于所述平面的第一侧时发射第一信号,且在询问器处于所述平面的第二侧时发射不同于所述第一信号的第二信号。
23.如权利要求22所述的系统,其中所述标签组件包含两个射频识别标签,其间限定有所述平面,用于响应于来自所述询问器的具有足够强度的询问信号发射信号,其中该标签组件构造并设置成使得位于询问器同一侧的标签能够接收足够强度的询问信号而防止另一标签接收足够强度的询问信号。
24.如权利要求23所述的系统,其中所述标签组件还包含一个射频屏蔽件,位于所述两个标签之间。
25.如权利要求24所述的系统,其中所述屏蔽件包括金属板。
26.一种射频识别系统,包括:
(a)询问器,包含:
(1)发射器,用于发射询问信号,和
(2)接收器;以及
(b)多个射频识别标签,每个标签能够响应于所述询问信号发射用指示该标签特征的信息加以编码的信号,
其中所述询问器的发射器改变询问信号以仅接收来自最靠近询问器的标签的编码信号。
27.如权利要求26所述的系统,其中所述询问器开始时发射的询问信号的功率电平足以使所述多个射频标签响应于询问信号发射指示标签特征的信号,然后调整询问信号的强度直到所述多个标签中只有一个响应于询问信号发射指示其特征的信号。
28.一种用于对可定位于一个交通承载表面上多个位置处的物体进行跟踪的系统,该系统包括:
(a)运输车辆,用于在各位置之间移动所述物体;
(b)物体标记,与所述物体关联,其中存储有指示物体特征的信息;
(c)一条磁带,与所述交通承载表面关联,其中所述磁带包含多个片段,其中每个片段用指示该片段特征的信息加以编码,且每个片段产生用指示该片段位置的信息加以编码的磁信号;
(d)询问器,安装在所述车辆上,用于从所述物体标记接收指示该物体特征的信息;
(e)磁信号阅读器,安装在所述车辆上,用于探测所述磁带产生的信号;以及
(f)处理器,可操作地与所述询问器和磁信号阅读器相连,以根据指示所述物体特征的信息确定所述物体的特征,并且确定所述磁带至少一个片段的位置以及所述物体与所述位置之间的空间关系。
29.一种用于在多个位置之间移动物体的运输车辆,其中的物体上贴附有射频识别标签,所述车辆包括:
(a)射频识别询问器,用于接收来自所述标签的信号;
(b)提升装置,能够将所述物体定位在多个高度;
(c)高度传感器,用于产生指示物体所在高度的信号;
(d)用于产生指示所述车辆水平位置的信号的装置;以及
(e)处理器,可操作地与所述询问器、高度传感器和信号产生装置相连,其中该处理器根据从所述标签接收的信号确定所述物体的特征,根据从所述高度传感器接收的信号确定所述物体的高度,并且根据从所述信号产生装置接收的信号确定所述车辆的水平位置。
30.一种射频识别组件,用于确定射频询问信号源的方向,包括:
(a)第一射频识别标签,具有第一特征,其中该第一标签响应于所述射频询问信号发射指示所述第一特征的信号;
(b)第二射频识别标签,具有第二特征,其中该第二标签响应于所述射频询问信号发射指示所述第二特征的信号;以及
(c)射频信号屏蔽件,位于所述第一与第二射频识别标签之间,
其中所述屏蔽件限定有一个分隔所述第一与第二标签的平面,并且其中所述屏蔽件在询问信号源与第一标签处于所述平面同一侧时仅允许第一标签对询问信号产生响应,而在询问信号源与第二标签处于所述平面同一侧时仅允许第二标签对询问信号产生响应。
31.如权利要求30所述的组件,其中所述屏蔽件是金属板。
32.一种用于管理物体在环境中的多个位置之间移动的方法,其中一第一射频识别标签贴附于所述物体上且其中存储有且能够发射用指示所述物体特征的信息加以编码的信号,一第二射频识别标签贴附在一个位置上且其中存储有且能够发射用指示该第二标签位置的信息加以编码的信号,并且一运输车辆配有一射频识别标签询问器,能够接收来自所述标签的信号并确定标签中存储的信息,该方法包括:
(a)采用所述询问器接收指示所述物体特征的信息;
(b)确定所述物体待移动至的预期位置;
(c)采用所述车辆将所述物体移动到一个位置;
(d)采用所述询问器接收指示所述位置的信息;并且
(e)当步骤(d)中所接收信息指示的位置与所述预期位置一致时将所述物体放置在所述位置处。
33.如权利要求32所述的方法,还包括确定所述物体预期特征的步骤,其中只有在步骤(a)中所接收信息指示的特征与所述物体的预期特征一致时才执行步骤(c)。
34.如权利要求32所述的方法,还包括如下步骤,向操作所述运输车辆的操作者提供包含物体预期特征和预期位置的指令的可视显示。
35.如权利要求34所述的方法,其中提供可视显示包括将所述指令显示在计算机屏幕上。
36.如权利要求35所述的方法,其中显示在计算机屏幕上包括通过一个图形用户界面显示。
37.一种采用具有可调功率输出水平发射射频询问信号的射频识别询问器以在多个射频识别标签中搜寻一个目标射频标签的方法,每个标签能够响应于来自所述询问器的询问信号发射识别信号,该方法依次包括:
(a)以起始功率输出水平发射询问信号;
(b)判断询问器是否已经探测到目标标签;
(c)如果探测到目标标签则降低所述功率输出水平;
(d)重复步骤(a)-(c),每次采用前次循环步骤(c)达到的降低功率输出水平作为步骤(a)中的起始功率输出水平,直到不再探测到目标标签;且
(e)以(d)中末次循环前一次循环结束时达到的降低功率输出水平发射询问信号。
38.如权利要求37所述的方法,还包括在权利要求37中的至少部分步骤中将所述询问器相对于所述目标标签移动。
39.如权利要求38所述的方法,还包括提供指示所述功率输出水平的可视信号。
40.如权利要求39所述的方法,其中所述提供可视信号的步骤包括在每个次序(a)-(e)结束时更新所述功率输出水平的可视信号。
CNB018204260A 2000-12-12 2001-04-20 采用射频识别标签的物体跟踪和管理系统以及方法 Expired - Fee Related CN1270269C (zh)

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