Transport system, positioning device, positioning method, computer program product and computer readable recording medium

Abstract

A transport system, a positioning device, a positioning method, a computer program product and a computer-readable recording medium. The positioning device comprises: a plurality of electronic tags arranged to be arranged at equal intervals along a line segment; and a fixed-frequency sampling module arranged to be able to move around the line segment. The fixed-frequency sampling module has two antenna parts and a positioning part. The positioning part is electrically connected to the two antenna parts. The two antenna parts couple the plurality of electronic tags and read the wireless radio frequency identification signals from the plurality of electronic tags at a fixed frequency. The positioning part estimates a coordinate on the line segment according to a plurality of identifiers and a plurality of intensity distribution curves from the wireless radio frequency identification signals. The antenna spacing between the two antenna parts is: d2=(n+0.5)×d1, d1 is a tag spacing between two adjacent electronic tags, n is an integer, and n≧0.

Description

Technical Field

[0001] The present invention relates to a transport system with a positioning function, and more particularly to a transport system that performs positioning based on the intensity distribution data of a fixed-frequency radio frequency identification (RFID) signal, its positioning device, positioning method, computer program product, and computer-readable recording medium. Background Art

[0002] The handling system has the function of moving and transporting objects, such as overhead cranes (also known as bridge cranes, etc.) or trolley systems. The overhead crane system has the function of lifting large equipment, which is indispensable for industries with related needs (such as the steel industry).

[0003] Take the overhead crane as an example. When the overhead crane is in operation, whether the positioning is accurate or not is related to the smooth operation and product quality. The existing positioning methods of the overhead crane have gradually evolved from manual command, encoders installed on the axles, and laser positioning to positioning using wireless radio frequency identification (RFID) technology. For example, a frequency hopping RFID reader is used to read signals from multiple RFID tags used for positioning as positioning data, and the positioning data is transmitted to a remote host via a wireless network. The remote host calculates a position value as the basis for a real position.

[0004] However, the computing burden will be overly concentrated on the remote host. At the same time, the remote host needs to send and receive a large amount of data, which will also affect the operating efficiency of the entire system. In practical operation, a single antenna will read the same information within a small range. In other words, due to the insufficient information collected by a single antenna, the space for improving positioning discrimination will be limited.

[0005] In view of this, it is necessary to provide a technical solution different from the past to solve the problems existing in the conventional technology. Summary of the invention

[0006] One object of the present invention is to provide a positioning device, which controls dual antennas to read the wireless radio frequency identification signal of an electronic tag at a fixed frequency for estimating a coordinate for positioning, thereby improving the accuracy of positioning.

[0007] Another object of the present invention is to provide a transport system that controls dual antennas to read the radio frequency identification signal of the electronic tag at a fixed frequency for estimating a coordinate for positioning, thereby improving the accuracy of positioning.

[0008] Another object of the present invention is to provide a positioning method, which controls dual antennas to read the wireless radio frequency identification signal of the electronic tag at a fixed frequency to estimate a coordinate for positioning, thereby improving the accuracy of positioning.

[0009] Another object of the present invention is to provide a computer program product that controls dual antennas to read the wireless radio frequency identification signal of the electronic tag at a fixed frequency for estimating a coordinate for positioning, thereby improving the accuracy of positioning.

[0010] Another object of the present invention is to provide a computer-readable recording medium with a stored program, which controls dual antennas to read the wireless radio frequency identification signal of the electronic tag at a fixed frequency for estimating a coordinate for positioning, thereby improving the accuracy of positioning.

[0011] To achieve the above-mentioned purpose, one aspect of the present invention provides a positioning device, comprising: a plurality of electronic tags, which are configured to be arranged at equal intervals along a line segment; and a fixed-frequency sampling module, which is configured to be able to move around the line segment, the fixed-frequency sampling module having two antenna parts and a positioning part, the positioning part is electrically connected to the two antenna parts, the two antenna parts are coupled to the plurality of electronic tags and read the wireless radio frequency identification signals from the plurality of electronic tags at a fixed frequency, the positioning part estimates a coordinate on the line segment based on a plurality of identifiers and a plurality of intensity distribution curves from the wireless radio frequency identification signals; wherein an antenna spacing between the two antenna parts is shown as follows: d2=(n+0.5)×d1, wherein d1 is a tag spacing between two adjacent electronic tags, d2 is the antenna spacing, n is an integer, and n≧0.

[0012] In one embodiment of the present invention, the two antennas include a first antenna and a second antenna, and the coordinate estimation process includes: calculating Sm = (Smax – Smin), wherein Smax and Smin are respectively a maximum signal strength and a minimum signal strength of a plurality of wireless radio frequency identification signals read by the first antenna and the second antenna; calculating Pd1 = (P11 – P12) and Sd1 = (S11 – S12), if Sd1 > Sm, then let Sd1 = Sm, if S12 is not read, then P12 = P11 and Sd1 = Sm, wherein S11 and S12 are respectively a maximum first signal strength and a first maximum first signal strength of all wireless radio frequency identification signals read by the first antenna after sorting, P11 is a position value converted from an identifier of an electronic tag to which the maximum first signal strength belongs read by the first antenna, and P12 is a position value converted from an identifier of an electronic tag to which the second maximum first signal strength belongs read by the first antenna; calculating Pd2 = (P21 – P22) and Sd2 = (S21 – S22), if Sd2 > Sm, then let Sd2 = Sm, if S22 is not read, then P22 = P21 and Sd2 = Sm, where S21 and S22 are respectively a maximum second signal strength and a first maximum second signal strength after all the wireless radio frequency identification signals read by the second antenna are sorted, P21 is the position value converted from the identifier of the electronic tag to which the maximum second signal strength belongs read by the second antenna, and P22 is the position value converted from the identifier of the electronic tag to which the second maximum second signal strength belongs read by the second antenna; compare Sd1 and Sd2, if Sd1 ≧ Sd2, then Sd = Sd2 and Pd = Pd2; if Sd1 < Sd2, then Sd = Sd1 and Pd = Pd1; and calculate Pe = P11 + ((Pd × Sd) / 2Sm), with Pe as the coordinate.

[0013] In an embodiment of the present invention, the fixed-frequency sampling module is coupled to a human-machine interface.

[0014] In one embodiment of the present invention, the plurality of electronic labels are disposed at equal intervals on a flexible roll strip.

[0015] To achieve the above-mentioned object, another aspect of the present invention provides a transport system comprising at least one positioning device as described above.

[0016] In one embodiment of the present invention, the transport system includes a first positioning device configured as the positioning device, and the fixed-frequency sampling module of the first positioning device is disposed on a first carrier, and the first carrier can move along a first track.

[0017] In one embodiment of the present invention, the first track is a multi-curve track.

[0018] In one embodiment of the present invention, the first track is a straight track.

[0019] In one embodiment of the present invention, the transport system further includes a second positioning device configured as the positioning device, and a straight line segment used to configure the plurality of electronic tags in the second positioning device is perpendicular to a straight line segment used to configure the plurality of electronic tags in the first positioning device.

[0020] In one embodiment of the present invention, the fixed-frequency sampling module of the second positioning device is disposed on the first carrier.

[0021] In one embodiment of the present invention, the fixed-frequency sampling module of the second positioning device is disposed on a second carrier, and the second carrier can move along a second track on the first carrier.

[0022] To achieve the above-mentioned purpose, another aspect of the present invention provides a positioning method, comprising: controlling a fixed-frequency sampling module to move around a line segment where a plurality of electronic tags are set; controlling two antenna parts of the fixed-frequency sampling module to read a wireless radio frequency identification signal from at least one of the plurality of electronic tags at a fixed frequency, and estimating a coordinate on the line segment based on a plurality of identifiers and a plurality of intensity distribution curves from the wireless radio frequency identification signal; wherein an antenna spacing between the two antenna parts is shown as follows: d2=(n+0.5)×d1, wherein d1 is a tag spacing between two adjacent electronic tags, d2 is the antenna spacing, and n is an integer, n≧0.

[0023] In one embodiment of the present invention, the two antennas include a first antenna and a second antenna, and the coordinate estimation process includes: calculating Sm = (Smax – Smin), wherein Smax and Smin are respectively a maximum signal strength and a minimum signal strength of a plurality of wireless radio frequency identification signals read by the first antenna and the second antenna; calculating Pd1 = (P11 – P12) and Sd1 = (S11 – S12), if Sd1 > Sm, then let Sd1 = Sm, if S12 is not read, then P12 = P11 and Sd1 = Sm, wherein S11 and S12 are respectively a maximum first signal strength and a first maximum first signal strength of all wireless radio frequency identification signals read by the first antenna after sorting, P11 is a position value converted from an identifier of an electronic tag to which the maximum first signal strength belongs read by the first antenna, and P12 is a position value converted from an identifier of an electronic tag to which the second maximum first signal strength belongs read by the first antenna; calculating Pd2 = (P21 – P22) and Sd2 = (S21 – S22), if Sd2 > Sm, then let Sd2 = Sm, if S22 is not read, then P22 = P21 and Sd2 = Sm, where S21 and S22 are respectively a maximum second signal strength and a first maximum second signal strength after all the wireless radio frequency identification signals read by the second antenna are sorted, P21 is the position value converted from the identifier of the electronic tag to which the maximum second signal strength belongs read by the second antenna, and P22 is the position value converted from the identifier of the electronic tag to which the second maximum second signal strength belongs read by the second antenna; compare Sd1 and Sd2, if Sd1 ≧ Sd2, then Sd = Sd2 and Pd = Pd2; if Sd1 < Sd2, then Sd = Sd1 and Pd = Pd1; and calculate Pe = P11 + ((Pd × Sd) / 2Sm), with Pe as the coordinate.

[0024] To achieve the above objective, another aspect of the present invention provides a computer program product. When a computer loads and executes the computer program, the computer can execute the positioning method as described above.

[0025] To achieve the above-mentioned purpose, another aspect of the present invention provides a computer-readable recording medium, wherein the computer-readable recording medium stores a program. When a computer loads and executes the program, the computer can complete the positioning method as described above.

[0026] The transport system, positioning device, positioning method, computer program product and computer readable recording medium of the present invention utilize the two antenna parts of the above-mentioned fixed-frequency sampling module and the electronic tag to receive data. The fixed-frequency sampling module directly estimates the positioning coordinates using the data received by the two antenna parts. For example, two-dimensional coordinates can be distributedly calculated using two fixed-frequency sampling modules to avoid excessive concentration of calculations that affects the system's operating efficiency. Additionally, the positioning coordinates can be further transmitted to a remote interface for display or storage. Compared with the conventional technology of using the remote host to calculate the position value, the problem of excessive concentration of the calculation burden on the remote host and affecting the system's operating efficiency can be improved. In addition, the use of dual antennas to collect signals from electronic tags can avoid the situation where a single antenna causes insufficient information and limited positioning identification. The fixed-frequency method can also be used to read the wireless radio frequency identification signal of the electronic tag to avoid the problem of inconsistent signal strength and positioning error caused by conventional frequency hopping reading. The above-mentioned coordinate estimation process can further improve the positioning accuracy, so that the target object to be located can be located more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the relative positions of the fixed-frequency sampling module and the electronic label according to an embodiment of the present invention.

[0028] Figure 2 It is a schematic diagram of a positioning device according to an embodiment of the present invention applied to a transport system.

[0029] Figure 3a It is a schematic diagram of locating the left side of an electronic tag facing the first antenna when two antennas (the first antenna and the second antenna) read multiple electronic tags according to an embodiment of the present invention.

[0030] Figure 3b It is a schematic diagram of locating the right side of an electronic tag facing the first antenna when two antennas (the first antenna and the second antenna) read multiple electronic tags according to an embodiment of the present invention.

[0031] Figure 4a It is a schematic diagram of locating the left side of an electronic tag facing the first antenna when the first antenna of the two antennas (the first antenna and the second antenna) reads only a single electronic tag according to an embodiment of the present invention.

[0032] Figure 4b It is a schematic diagram of locating the right side of an electronic tag facing the first antenna when the first antenna of the two antennas (the first antenna and the second antenna) reads only a single electronic tag according to an embodiment of the present invention.

[0033] Figure 5 It is a schematic diagram of an electronic label disposed on a flexible roll-up strip according to an embodiment of the present invention.

[0034] Figure 6 The schematic diagram of the track of a trolley system in which the transport system of one embodiment of the present invention is configured as a non-linear multi-curved track.

[0035] Figure 7 It is a schematic diagram of component connections of a fixed-frequency sampling module according to an embodiment of the present invention.

[0036] Figure 8 It is a schematic diagram of coupling between a fixed-frequency sampling module and a human-machine interface according to an embodiment of the present invention.

[0037] Fig. 9 It is a flowchart of a positioning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the above and other purposes, features, and advantages of the present invention more clearly understood, the preferred embodiments of the present invention are specifically cited below, and are described in detail in conjunction with the accompanying drawings. Furthermore, the directional terms mentioned in the present invention, such as up, down, top, bottom, front, back, left, right, inside, outside, side, periphery, center, horizontal, lateral, vertical, longitudinal, axial, radial, topmost or bottommost, etc., are only referenced to the directions of the attached drawings. Therefore, the directional terms used are used to illustrate and understand the present invention, but are not used to limit the present invention.

[0039] See also Figure 1 As shown, an embodiment of a positioning device according to one aspect of the present invention may include a plurality of electronic tags G and a constant frequency sampling module R. The plurality of electronic tags G may be, for example, radio frequency identification (RFID) tags, etc. The plurality of electronic tags G may be configured to be equidistantly spaced along a line segment to serve as positioning points. The line segment may be a straight line or a curve. For example, the plurality of electronic tags G may be equidistantly spaced along the central axis of a track K. Furthermore, each of the plurality of electronic tags G may be written with a tag information as a positioning data. For example, a tag identifier (such as a Tag ID or a number such as actual coordinate information) may be pre-stored as a positioning basis. The tag identifier may be a sequentially generated value or a random garbled code in combination with a lookup table, but is not limited thereto.

[0040] like Figure 1As shown, the fixed-frequency sampling module R can be coupled to the plurality of electronic tags G, for example, the fixed-frequency sampling module R is located within the signal sensing range of the plurality of electronic tags G, and the fixed-frequency sampling module R can be configured to be able to move around the line segment, for example, the fixed-frequency sampling module R can be carried by a carrier (such as a vehicle body, etc.) and move along the direction X or -X (not indicated, i.e., the opposite direction of X) extending along the line segment, and the fixed-frequency sampling module R can read the wireless radio frequency identification signals from the plurality of electronic tags at a fixed frequency, and estimate a coordinate of the line segment according to a plurality of identifiers and a plurality of intensity distribution curves from the wireless radio frequency identification signals.

[0041] Alternatively, if Figure 1 As shown, the fixed frequency sampling module R may have two antenna parts T1, T2 and a positioning part D, and the two antenna parts T1, T2 and the positioning part D may be integrated into one or fixed into one by a frame. The two antenna parts T1, T2 may respectively have an applicable RFID antenna, such as a small antenna, etc. The two antenna parts T1, T2 may be located within a signal sensing range of the electronic tag G, so that the two antenna parts T1, T2 are coupled to the plurality of electronic tags G and read the wireless radio frequency identification signals from the plurality of electronic tags G at a fixed frequency; the positioning part D may include the function of a stand-alone network RFID reader, and the positioning part D may be electrically connected to the two antenna parts T1, T2 to estimate the coordinates of the line segment according to the identifier and the intensity distribution curve (as shown in Figures 3a, 3b, 4a and 4b) from the wireless radio frequency identification signal. It should be understood that the coordinate may be a coordinate in a one-dimensional coordinate system, but is not limited thereto, and may also be one of several components of a coordinate in a multi-dimensional (such as a two-dimensional or three-dimensional) coordinate system, but is not limited thereto.

[0042] For example, the above-mentioned positioning device embodiment of the present invention can be applied to the positioning function of a transportation system, for example: the transportation system can be a conveyor belt system (one-dimensional coordinate system), a single-track or double-track overhead crane system (one-dimensional or two-dimensional coordinate system) or a warehousing system (three-dimensional coordinate system), etc. The following is explained using the application of a double-track overhead crane system (two-dimensional coordinate system) as an example, but is not limited to this.

[0043] For example, Figure 1 and Figure 2 As shown, taking the double-track overhead crane system as an example, the positioning device can be used to locate and generate two-dimensional coordinates, for example: comprising a plurality of electronic tags G, a first fixed-frequency sampling module R1 and a second fixed-frequency sampling module R2 (such as Figure 1The plurality of electronic tags G can be divided into a first group and a second group. The electronic tags G in the first group are arranged at equal intervals along a first track K1. The number of the electronic tags G can be adjusted according to actual needs. For example, a high density of the electronic tags G can improve the positioning accuracy. The electronic tags G in the second group are arranged at equal intervals along a second track K2. The second track K2 is perpendicular to the first track K1. For example, the first track K1 and the second track K2 can be overhead crane tracks in a steel plant.

[0044] like Figure 1 and Figure 2 As shown, the two antenna parts T1 and T2 of the first fixed frequency sampling module R1 are coupled to the electronic tags G in the first group, and the coupling method is such as mutual coupling via radio waves. The first fixed frequency sampling module R1 can be configured to be able to move along the first track K1, read the wireless radio frequency identification (RFID) signals from the plurality of electronic tags G in the first group at a fixed frequency, and estimate a first component of the two-dimensional coordinate, such as the X component, based on the identifier and the intensity distribution curve of the wireless radio frequency identification signal from the first group. It should be understood that the process of obtaining the intensity distribution curve of each electronic tag G can be such as: during the process of the antenna parts T1 and T2 being moved, a large number of wireless radio frequency identification signals from the electronic tags G with the same identifier are collected via the antenna parts T1 and T2, and an intensity distribution curve of the electronic tag G with a specific identifier is generated through the formed chart, but it is not limited to this.

[0045] like Figure 1 and Figure 2 As shown, the two antenna parts T1 and T2 of the second fixed frequency sampling module R2 are coupled to the electronic tags G in the second group, and the second fixed frequency sampling module R2 can be configured to be able to move along the second track K2, read the wireless radio frequency identification signals of the plurality of electronic tags G in the second group at a fixed frequency, and estimate a second component of the two-dimensional coordinate, such as the Y component, based on the identifier and the intensity distribution curve of the wireless radio frequency identification signal from the second group. The following further illustrates many embodiments of the positioning device of the present invention, but is not limited thereto.

[0046] In one embodiment, if Figure 2As shown, the first fixed-frequency sampling module R1 can be set on a first carrier A1 (such as a large car in a double-track overhead crane system) that can move along the first track K1, and the second fixed-frequency sampling module R2 can be set on a second carrier A2 (such as a small car in a double-track overhead crane system) that can move along the second track K2 on the first carrier A1. The second carrier A2 can be provided with a sling V, such as a hook and chain assembly, etc., for hanging heavy objects. The second carrier A2 can also be provided with a cabin (not shown) for personnel to operate the overhead crane system; the first fixed-frequency sampling module R1 is located within the wireless sensing range of the electronic tag G in the first group, and the second fixed-frequency sampling module R2 is located within the wireless sensing range of the electronic tag G in the second group.

[0047] In one embodiment, if Figure 2 As shown, the first fixed-frequency sampling module R1, the second fixed-frequency sampling module R2 and each of the plurality of electronic tags G have at least one linear polarization antenna, for example, as a part of the two antenna parts T1 and T2, the linear polarization antenna of the first fixed-frequency sampling module R1 and the linear polarization antenna of the electronic tags G in the first group can be configured so that the polarization directions are perpendicular to each other, for example: the antenna directions or installation directions are perpendicular to each other, etc., and the linear polarization antenna of the second fixed-frequency sampling module R2 and the linear polarization antenna of the electronic tags G in the second group are configured so that the polarization directions are perpendicular to each other. In this way, by utilizing the configuration method of linear polarization mismatch, the spacing between electronic tags can be reduced, and the identification degree can still be maintained, thereby improving the problem of excessive spacing between conventional positioning electronic tags.

[0048] It should be understood that if Figure 1 and Figure 2 As shown, if several electronic tags G on a track (such as the first track K1 or the second track K2) are read by two antenna parts T1 and T2 of a fixed frequency sampling module (such as the first fixed frequency sampling module R1 or the second fixed frequency sampling module R2) in a fixed frequency manner, for example: fixed frequency 915 MHz is used for reception, but it is not limited to this, and it can also be other frequencies, then when the antenna parts T1 and T2 of the fixed frequency sampling module are moved, the signal strength waveforms received from different electronic tags G are consistent, for example: the coordinates of the precise position of the fixed frequency sampling module can be further obtained through several identifiers and several intensity distribution curves from the wireless radio frequency identification signal. An example is given below, but it is not limited to this.

[0049] For example, taking two-dimensional coordinates as an example, Figure 2As shown, the first component and the second component can be used to combine and mark the position point formed by the intersection of the first track K1 or the second track K2, so as to use the first component and the second component to represent the two-dimensional coordinates of the position point (such as the position of the sling V of the overhead traveling vehicle system), and then determine the precise position of the sling, so as to facilitate the hanging operation. It should be understood that the two-dimensional coordinates can use the information in the memory of the several electronic tags and use an algorithm to calculate the detailed position, and the algorithm is illustrated as follows.

[0050] See also Figure 3a and Figure 3b As shown, they are schematic diagrams for locating the left and right positions of the electronic tag facing the first antenna when two antenna parts (such as the first antenna T1 and the second antenna T2) both read multiple electronic tags. It is assumed that the electronic tags G1, G2, G3, G4, and G5 are installed with a fixed spacing Pd, and the spacing between the first antenna T1 and the second antenna T2 is 1.5×Pd. The tag information (such as location information) stored in the electronic tags G1, G2, G3, G4, and G5 are P1, P2, P3, P4, and P5 respectively; Smax and Smin are respectively a maximum signal strength and a minimum signal strength among the several wireless radio frequency identification signals read by the first antenna and the second antenna, and Sm is the difference between Smax and Smin; S11 and S12 are respectively a maximum first signal strength and a maximum first signal strength after all the wireless radio frequency identification signals read by the first antenna are sorted, Sd1 is the difference between S11 and S12, and P11 is the maximum first signal strength and the minimum first signal strength of the wireless radio frequency identification signals read by the first antenna. The first antenna T1 reads the position value (such as P2) converted from the identifier of the electronic tag to which the maximum first signal strength belongs, and P12 is the position value (such as P1) converted from the identifier of the electronic tag to which the second maximum first signal strength belongs. S21 and S22 are respectively the maximum second signal strength and the first maximum second signal strength after all wireless radio frequency identification signals read by the second antenna T2 are sorted, Sd2 is the difference between S21 and S22, P21 is the position value (such as P3) converted from the identifier of the electronic tag to which the maximum second signal strength belongs, and P22 is the position value (such as P4) converted from the identifier of the electronic tag to which the second antenna T2 reads the second maximum second signal strength. Figure 3a and Figure 3b It can be seen that each antenna part T1, T2 reads the signals of two adjacent electronic tags, and the estimation process for coordinate positioning is shown below.

[0051] Please also refer to Figure 4a and Figure 4b As shown in FIG. 1 , they are schematic diagrams for locating the left and right positions of the electronic tag facing the first antenna when the first antenna T1 in the two antenna units reads only a single electronic tag. Figure 3a and Figure 3b part, the difference is: Figure 4a In the example, although the first antenna T1 only reads the tag information P2 (i.e. P11) and its signal strength S11 (S12 is not read), the second antenna T2 can read the tag information P3, P4 (i.e. P21, P22) and their signal strengths S21, S22. Since the signal strength S21 of the electronic tag G3 is greater than the signal strength S22 of the electronic tag G4, it can be inferred that the first antenna T1 is on the left side of the electronic tag G2 to which the tag information P2 belongs; similarly, in Figure 4b In the example, since the signal strength S22 of the electronic tag G4 is greater than the signal strength S21 of the electronic tag G3, it can be inferred that the first antenna T1 is on the right side of the electronic tag G2 to which the tag information P2 belongs, and the position offset can be estimated by the tag information P3, P4 (i.e., P21, P22) and their signal strengths S21, S22. In this way, the positioning accuracy can be greatly improved. Compared with the single-antenna positioning technology, the positioning error caused by the insufficient information collected by the single antenna can be improved. Therefore, the above embodiment can be used to achieve the application requirements of high positioning accuracy. In addition, for the sake of clarity, the above positioning process is reorganized as follows.

[0052] Specifically, the process of estimating the coordinates (such as the components of the two-dimensional coordinates) includes: calculating Sm = (Smax –Smin), wherein Smax and Smin are respectively a maximum signal strength and a minimum signal strength of a plurality of wireless radio frequency identification signals read by the first antenna and the second antenna; calculating Pd1 = (P11 – P12) and Sd1 = (S11 – S12), if Sd1 > Sm, then let Sd1 = Sm, if S12 is not read, then P12 = P11 and Sd1 = Sm, wherein S11 and S12 are respectively a maximum first signal strength and a first largest first signal strength of all wireless radio frequency identification signals read by the first antenna after sorting, P11 is a position value converted from the identifier of the electronic tag to which the maximum first signal strength belongs read by the first antenna, and P12 is a position value converted from the identifier of the electronic tag to which the second largest first signal strength belongs read by the first antenna; calculating Pd2 = (P21 – P22) and Sd2 = (S21 – S22), if Sd2 > Sm, then let Sd2 = Sm, if S22 is not read, then P22 = P21 and Sd2 = Sm, wherein S21 and S22 are respectively a maximum second signal strength and a first maximum second signal strength after sorting all the wireless radio frequency identification signals read by the second antenna, P21 is the position value converted from the identifier of the electronic tag to which the maximum second signal strength belongs read by the second antenna, and P22 is the position value converted from the identifier of the electronic tag to which the second maximum second signal strength belongs read by the second antenna; compare Sd1 and Sd2, if Sd1 ≧ Sd2, then Sd = Sd2 and Pd = Pd2; if Sd1 < Sd2, then Sd = Sd1 and Pd = Pd1; and calculate Pe = P11 + ((Pd × Sd) / 2Sm), with Pe as the coordinate.

[0053] In one embodiment, if Figure 5 As shown, the electronic labels G may also be pre-installed in a soft roll-shaped strip F, for example: the electronic labels G with different numbers are arranged at intervals Td (such as a length between 15 and 25 centimeters), and the soft roll-shaped strip F may also be embedded with strong magnets or affixed with adhesive, so as to simplify the process of installing the electronic labels G along a track by using the soft roll-shaped strip, for example: the soft roll-shaped strip and its electronic labels G may be installed on the track surface, on the side of the track, on the track, below the track, etc. Here, only the installation on the track surface is taken as an example, but it is not limited to this.

[0054] In one embodiment, if Figure 5As shown, each electronic tag G may also be provided with a metal sheet (not shown), for example, the metal sheet may be provided between the electronic tag G and the flexible coil strip F to ensure that the microwave characteristics of the electronic tag G are consistent so as to receive and send RFID signals using a fixed frequency method.

[0055] Accordingly, the positioning device embodiment of the present invention can be applied to not only a double-track overhead travelling system but also a single-track overhead travelling system, as illustrated below by way of example, but not limited thereto.

[0056] For example, the transport system embodiment may include a first positioning device configured as the positioning device, and the fixed-frequency sampling module of the first positioning device is arranged on a first carrier, and the first carrier can move along a first track. For example: the vehicle body used in the monorail overhead crane system is equipped with a group of positioning devices, and the fixed-frequency sampling modules of the group of positioning devices can move along a linear first track for one-dimensional coordinate positioning purposes.

[0057] Additionally or alternatively, the transport system embodiment may also include a second positioning device configured as the positioning device, and the line segments used to configure the several electronic labels in the second positioning device are perpendicular to the line segments used to configure the several electronic labels in the first positioning device; wherein the fixed-frequency sampling module of the second positioning device is arranged on the first carrier, for example: the flat vehicle body used in the storage system is equipped with two sets of positioning devices, and the fixed-frequency sampling modules of the two sets of positioning devices can move along a non-linear first track (such as an arc, circle, ellipse, polygon, zigzag or circuitous, etc.) for two-dimensional coordinate positioning purposes; alternatively, the fixed-frequency sampling module of the second positioning device can be arranged on a second carrier, and the second carrier can move along a second track (such as a linear track) on the first carrier, for example: the trolley and the small car used in the double-track overhead crane system are respectively equipped with a set of positioning devices (a total of two sets of positioning devices), and the fixed-frequency sampling modules of the two sets of positioning devices can move along the first track and the second track that are perpendicular to each other for two-dimensional coordinate positioning purposes.

[0058] For example, a positioning device used for positioning in each dimension can generate a coordinate component or a one-dimensional coordinate in a two-dimensional coordinate. The positioning device may include a plurality of electronic tags that are arranged to be spaced evenly along a line segment (such as a straight line or a curve); and a constant frequency sampling module that is configured to be able to move around the line segment. The sampling module has two antenna parts and a positioning part. The positioning part is electrically connected to the two antenna parts. The two antenna parts are coupled to the plurality of electronic tags and read the wireless radio frequency identification signals from the plurality of electronic tags at a constant frequency. The position part estimates a coordinate on the line segment based on several identifiers and several intensity distribution curves from the wireless radio frequency identification signal; wherein the antenna spacing between the two antenna parts is as follows: d2=(n+0.5)×d1, wherein d1 is a tag spacing between two adjacent electronic tags, d2 is the antenna spacing, n is an integer, n≧0, for example: n is 1, to obtain a better estimation result, it should be understood that n can be adjusted according to actual needs, but should not be greater than the total number of all electronic tags to avoid unreasonable situations. For detailed description, please refer to the relevant description of the above embodiment, which will not be repeated here.

[0059] In one embodiment, the two antennas include a first antenna and a second antenna. The process of coordinate estimation includes: calculating Sm = (Smax – Smin), where Smax and Smin are respectively a maximum signal strength and a minimum signal strength among several radio frequency identification signals read by the first antenna and the second antenna; calculating Pd1 = (P11 – P12) and Sd1 = (S11 – S12). If Sd1 > Sm, then let Sd1 = Sm. If S12 is not read, then P12 = P11 and Sd1 = Sm, where S11 and S12 are respectively a maximum first signal strength and a second-largest first signal strength after sorting all the radio frequency identification signals read by the first antenna, P11 is the position value converted from the identifier of the electronic label to which the maximum first signal strength read by the first antenna belongs, and P12 is the position value converted from the identifier of the electronic label to which the second-largest first signal strength read by the first antenna belongs; calculating Pd2 = (P21 – P22) and Sd2 = (S21 – S22). If Sd2 > Sm, then let Sd2 = Sm. If S22 is not read, then P22 = P21 and Sd2 = Sm, where S21 and S22 are respectively a maximum second signal strength and a second-largest second signal strength after sorting all the radio frequency identification signals read by the second antenna, P21 is the position value converted from the identifier of the electronic label to which the maximum second signal strength read by the second antenna belongs, and P22 is the position value converted from the identifier of the electronic label to which the second-largest second signal strength read by the second antenna belongs; comparing Sd1 and Sd2. If Sd1 ≧ Sd2, then Sd = Sd2 and Pd = Pd2; if Sd1 < Sd2, then Sd = Sd1 and Pd = Pd1; and calculating Pe = P11 + ((Pd × Sd) / 2Sm), and using Pe as the coordinate. For detailed description, reference can be made to the relevant description of the above embodiment, which will not be elaborated here.

[0060] On the other hand, in addition to being configured as the one-dimensional, two-dimensional or three-dimensional coordinate system as described above, the handling system can also be configured as, for example, a multi-bend track system. For example, a set of positioning devices can be configured as a trolley system of a non-linear multi-bend track.

[0061] As Figure 6 shown, the trolley system can have a multi-bend track H, which can be regarded as extending along a multi-bend line segment that is connected end to end for at least one trolley (not shown) to run. It should be understood that the multi-bend track H includes a plurality of line segments that are parallel or perpendicular to each other (as shown by the left diagonal cross-section in Figure 6 ) and the curved connection segments therebetween.

[0062] As Figure 6 As shown, by deploying the above-mentioned electronic tags along the curves passed by the multi-curve track H, for example: the electronic tags store different tag information as positioning data, and using the above-mentioned positioning process, it can be known that the two antenna parts of the above-mentioned positioning device are on the left and right sides of a specific electronic tag, and its position offset can also be estimated by the tag information and signal strength of the specific electronic tag and its surrounding electronic tags to generate the above-mentioned coordinates as positioning data of a target object (such as a trolley, etc.), which has been explained above and will not be repeated. Thereby, the above-mentioned transport system of the present invention can be applied to multi-curve track systems and one-dimensional, two-dimensional or three-dimensional coordinate systems.

[0063] In one embodiment, if Figure 7 As shown, each of the first fixed-frequency sampling module R1 and the second fixed-frequency sampling module R2 may have a circuit component E1 (such as a circuit board, etc.), a communication interface E2 (such as Ethernet, Wi-Fi and / or Zigbee communication components, etc.) and an antenna component E3 (such as two linear polarization antennas, etc.), the circuit component E1 may have a processor E11 (such as a digital signal processor or a special application integrated circuit, etc.) and a radio frequency transceiver E12 (such as a radio frequency transceiver with a set frequency, etc.), the processor E11 is electrically connected to the radio frequency transceiver E12 and the communication interface E2, the radio frequency transceiver E12 is electrically connected to the processor E11 and the antenna component E3, the processor E11 can control the radio frequency transceiver E12 to send and receive the wireless radio frequency identification signal through the antenna component E3 according to a fixed frequency, which can be used to realize the above-mentioned fixed-frequency reading of the wireless radio frequency identification signal of the electronic tag, and the function of estimating the above-mentioned coordinates according to the identifier and intensity distribution curve from the wireless radio frequency identification signal. Thereby, the number of control components can be appropriately simplified so as to implement the above functions by utilizing the control logic (such as software or hardware logic) inside the processor.

[0064] Additionally, if Figure 8 As shown, in one embodiment, the first fixed-frequency sampling module R1 and the second fixed-frequency sampling module R2 are coupled to at least one human-machine interface M1, for example: at least one of the first fixed-frequency sampling module R1 and the second fixed-frequency sampling module R2 is coupled to the human-machine interface M1 via a network N, and the coupling method can be through a wired network or a wireless network, for example: the coordinates are transmitted to the human-machine interface M1 through the above-mentioned communication interface E2 for display, storage or analysis. In this way, the coordinates estimated by the first fixed-frequency sampling module R1 and the second fixed-frequency sampling module R2 using the antenna parts T1 and T2 can be used for precise positioning, and can also be further transmitted to a remote location for display, storage or analysis, so as to further optimize the workflow using technologies such as big data or artificial intelligence.

[0065] On the other hand, Fig. 9As shown, the present invention provides an embodiment of a positioning method, which may include an operation step J1 and an estimation step J2. Before the operation step J1, a configuration step J0 may be performed. The following description is based on the application of a double-track overhead travelling vehicle system as an example, but it is not limited to this and may also be applied to similar systems with other configurations to perform positioning functions. Please refer to FIGS. 1 and 2 together. In the configuration step J0, a plurality of electronic tags G may be arranged at equal intervals on two mutually perpendicular vertical line segments (such as line segments extending along two tracks K1 and K2).

[0066] like Fig. 9 As shown, the operation step J1 can control the constant frequency sampling module to move around a line segment where a plurality of electronic labels are set, for example: Figure 2 As shown, two fixed-frequency sampling modules R1 and R2 are controlled to move along two vertical line segments where a plurality of electronic tags G are set.

[0067] like Fig. 9 As shown, the estimation step J2 can control the two antenna parts of the fixed frequency sampling module to read the RFID signal from at least one of the plurality of electronic tags at a fixed frequency, and estimate a coordinate on the line segment according to the plurality of identifiers and the plurality of intensity distribution curves from the RFID signal. For example, as shown in FIGS. 1 and 2, the two fixed frequency sampling modules R1 and R2 are controlled to read the RFID signals of the plurality of electronic tags G at a fixed frequency, so that the two fixed frequency sampling modules R1 and R2 estimate a first component and a second component of the coordinate according to the plurality of identifiers and the plurality of intensity distribution curves from the RFID signal. The antenna spacing between the two antenna parts T1 and T2 is as follows: d2=(n+0.5)×d1, wherein d1 is a tag spacing between two adjacent electronic tags G, d2 is the antenna spacing, and n is an integer, n≧0.

[0068] It should be understood that during the execution of the operation step J1, the estimation step J2 can be performed synchronously and repeatedly to facilitate real-time estimation of the coordinates, for example: Figure 2 As shown, when applied to a double-track overhead crane system, an intersection of the two fixed-frequency sampling modules R1 and R2 on a plane can be used as a reference position of a hanger V, and further as a reference for positioning control of the overhead crane system.

[0069] Accordingly, the positioning method can also be applied to other systems (such as a monorail overhead crane system, etc.), for example, including controlling a fixed-frequency sampling module to move around a line segment where a plurality of electronic tags are set; controlling the two antenna parts of the fixed-frequency sampling module to read the wireless radio frequency identification signal from at least one of the plurality of electronic tags at a fixed frequency, and estimating a coordinate on the line segment based on a plurality of identifiers and a plurality of intensity distribution curves from the wireless radio frequency identification signal; wherein an antenna spacing between the two antenna parts is shown as follows: d2=(n+0.5)×d1, wherein d1 is a tag spacing between two adjacent electronic tags, d2 is the antenna spacing, n is an integer, and n≧0.

[0070] In one embodiment, the two antennas include a first antenna and a second antenna, and the coordinate estimation process includes: calculating Sm = (Smax – Smin), wherein Smax and Smin are respectively a maximum signal strength and a minimum signal strength of a plurality of wireless radio frequency identification signals read by the first antenna and the second antenna; calculating Pd1 = (P11 – P12) and Sd1 = (S11 – S12), if Sd1 > Sm, then let Sd1 = Sm, if S12 is not read, then P12 = P11 and Sd1 = Sm, wherein S11 and S12 are respectively a maximum first signal strength and a first maximum first signal strength of all wireless radio frequency identification signals read by the first antenna after sorting, P11 is a position value converted from an identifier of an electronic tag to which the maximum first signal strength belongs read by the first antenna, and P12 is a position value converted from an identifier of an electronic tag to which the second maximum first signal strength belongs read by the first antenna; calculating Pd2 = (P21 – P22) and Sd2 = (S21 – S22), if Sd2 >Sm, then let Sd2 = Sm, if S22 is not read, then P22 = P21 and Sd2 = Sm, wherein S21 and S22 are respectively a maximum second signal strength and a first maximum second signal strength after sorting all the wireless radio frequency identification signals read by the second antenna, P21 is the position value converted from the identifier of the electronic tag to which the maximum second signal strength belongs read by the second antenna, and P22 is the position value converted from the identifier of the electronic tag to which the second maximum second signal strength belongs read by the second antenna; compare Sd1 and Sd2, if Sd1 ≧ Sd2, then Sd = Sd2 and Pd = Pd2; if Sd1 < Sd2, then Sd = Sd1 and Pd = Pd1; and calculate Pe = P11 + ((Pd × Sd) / 2Sm), with Pe as one of the first component and the second component of the two-dimensional coordinate or a one-dimensional coordinate.

[0071] On the other hand, the present invention also provides a computer program product, when the computer is loaded and executed, the computer can perform the positioning method as described above. For example, the computer program product may include a plurality of program instructions, and the program instructions may be implemented using existing programming languages, such as C, Java or Swift, but not limited thereto, so as to be used to perform the positioning method as described above.

[0072] On the other hand, the present invention also provides a computer-readable recording medium, such as a CD, a flash drive or a hard disk, etc. The computer-readable recording medium stores a program (such as the above-mentioned computer program). When the computer loads and executes the program, the computer can complete the positioning method as described above.

[0073] As mentioned above, the transport system, its positioning device, positioning method, computer program product and computer readable recording medium of the above embodiment of the present invention utilize the two antenna parts of the above fixed frequency sampling module and the electronic tag to receive data, and the fixed frequency sampling module directly estimates the positioning coordinates using the data received by the two antenna parts. For example, two-dimensional coordinates can be distributedly calculated using two fixed frequency sampling modules to avoid excessive concentration of calculations that affects the system operation performance; in addition, the positioning coordinates can be further transmitted to a remote interface for display or storage, etc. Compared with the conventional technology of using the remote host to calculate the position value, the problem of excessive concentration of the calculation burden on the remote host and affecting the system operation performance can be improved.

[0074] In addition, the handling system, its positioning device, positioning method, computer program product and computer-readable recording medium of the above-mentioned embodiments of the present invention mainly use dual antennas to collect signals from electronic tags, which can avoid the situation where a single antenna causes insufficient information and limited positioning identification. It can also use a fixed frequency method to read the wireless radio frequency identification signal of the electronic tag, which can avoid the problem of inconsistent signal strength and positioning error caused by conventional frequency hopping reading. The above-mentioned coordinate estimation process can further improve the positioning accuracy, so that the target object to be located can be located more accurately.

[0075] Although the present invention has been disclosed in terms of preferred embodiments, this is not intended to limit the present invention. Anyone skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

[0076]

Explanation of symbols

[0077] A1 First Carrier

[0078] A2 Second carrier

[0079] D Positioning unit

[0080] E1 circuit components

[0081] E11 processor

[0082] E12 RF Transceiver

[0083] E2 communication interface

[0084] E3 Antenna Assembly

[0085] F Soft rolled strip

[0086] G Electronic Label

[0087] G1 Electronic Label

[0088] G2 Electronic Label

[0089] G3 Electronic Label

[0090] G4 Electronic Label

[0091] G5 Electronic Label

[0092] H Multi-curve track

[0093] J0 Configuration Steps

[0094] J1 Operation steps

[0095] J2 Estimation Steps

[0096] K Track

[0097] K1 First Track

[0098] K2 Second Track

[0099] M1 Human Machine Interface

[0100] N Network

[0101] P1 volume information

[0102] P2 volume information

[0103] P3 volume information

[0104] P4 Volume Information

[0105] P5 Volume Information

[0106] P11 Position value

[0107] P12 Position value

[0108] P21 Position value

[0109] P22 Position value

[0110] Pd spacing

[0111] R Fixed frequency sampling module

[0112] R1 The first fixed frequency sampling module

[0113] R2 The second fixed frequency sampling module

[0114] Smax Maximum signal strength

[0115] Smin minimum signal strength

[0116] Sm Difference

[0117] S11 signal

[0118] S12 signal

[0119] Sd1 signal difference

[0120] S21 signal

[0121] S22 signal

[0122] Sd2 signal difference

[0123] T1 Antenna Unit

[0124] T2 Antenna Unit

[0125] Td Spacing

[0126] V Spreader

[0127] X Direction

[0128] Y direction.

Claims

1. A positioning device, comprising: A plurality of electronic tags, configured to be arranged at equal intervals along a line segment; and A fixed-frequency sampling module, configured to be movable around the line segment. The fixed-frequency sampling module has two antenna parts and a positioning part. The positioning part is electrically connected to the two antenna parts. The two antenna parts are coupled to the plurality of electronic tags and read radio frequency identification signals from the plurality of electronic tags at a fixed frequency. The positioning part estimates a coordinate on the line segment based on a plurality of identifiers and a plurality of intensity distribution curves from the radio frequency identification signals; Wherein an antenna spacing between the two antenna parts is as shown in the following formula: d2 = (n + 0.5) × d1, Where d1 is a tag spacing between two adjacent electronic tags, d2 is the antenna spacing, n is an integer, n ≧ 0. The two antennas include a first antenna and a second antenna. The process of coordinate estimation includes: Calculating Sm = (Smax – Smin), where Smax and Smin are respectively a maximum signal intensity and a minimum signal intensity among a plurality of radio frequency identification signals read by the first antenna and the second antenna; Calculating Pd1 = (P11 – P12) and Sd1 = (S11 – S12). If Sd1 > Sm, then let Sd1 = Sm. If S12 is not read, then P12 = P11 and Sd1 = Sm. Where S11 and S12 are respectively a maximum first signal intensity and a second-largest first signal intensity after sorting all the radio frequency identification signals read by the first antenna. P11 is a position value converted from the identifier of the electronic tag to which the maximum first signal intensity read by the first antenna belongs. P12 is a position value converted from the identifier of the electronic tag to which the second-largest first signal intensity read by the first antenna belongs; Calculating Pd2 = (P21 – P22) and Sd2 = (S21 – S22). If Sd2 > Sm, then let Sd2 = Sm. If S22 is not read, then P22 = P21 and Sd2 = Sm. Where S21 and S22 are respectively a maximum second signal intensity and a second-largest second signal intensity after sorting all the radio frequency identification signals read by the second antenna. P21 is a position value converted from the identifier of the electronic tag to which the maximum second signal intensity read by the second antenna belongs. P22 is a position value converted from the identifier of the electronic tag to which the second-largest second signal intensity read by the second antenna belongs; Comparing Sd1 and Sd2. If Sd1 ≧ Sd2, then Sd = Sd2 and Pd = Pd2; if Sd1 < Sd2, then Sd = Sd1 and Pd = Pd1; And Calculating Pe = P11 + ((Pd × Sd) / 2Sm), and taking Pe as the coordinate.

2. The positioning device according to claim 1, wherein the fixed-frequency sampling module is coupled to a human-machine interface.

3. The positioning device according to claim 1, wherein the plurality of electronic tags are arranged at equal intervals on a flexible roll-shaped strip.

4. A handling system comprising at least one positioning device as claimed in any one of claims 1 to 3. 5 . The transport system as claimed in claim 4 , comprising a first positioning device configured as the positioning device, wherein the fixed-frequency sampling module of the first positioning device is disposed on a first carrier, and the first carrier is movable along a first track.

6. The transport system as claimed in claim 5, wherein the first track is a multi-bend track.

7. The transport system as claimed in claim 5, wherein the first track is a linear track.

8. The transport system as described in claim 7 further comprises a second positioning device configured as the positioning device, and a straight line segment used to configure the plurality of electronic tags in the second positioning device is perpendicular to a straight line segment used to configure the plurality of electronic tags in the first positioning device. 9 . The transport system as claimed in claim 8 , wherein the fixed-frequency sampling module of the second positioning device is disposed on the first carrier. 10 . The transport system as claimed in claim 8 , wherein the fixed-frequency sampling module of the second positioning device is disposed on a second carrier, and the second carrier can move along a second track on the first carrier.

11. A positioning method, comprising: Controlling a fixed frequency sampling module to move around a line segment where a plurality of electronic labels are set; Controlling the two antenna parts of the fixed-frequency sampling module to read the radio frequency identification signal from at least one of the plurality of electronic tags at a fixed frequency, and estimating a coordinate on the line segment according to the plurality of identifiers and the plurality of intensity distribution curves from the radio frequency identification signal; The antenna spacing between the two antenna parts is as follows: d2=(n+0.5×)d1, Wherein d1 is a tag spacing between two adjacent electronic tags, d2 is the antenna spacing, n is an integer, n≧0, wherein the two antennas include a first antenna and a second antenna, and the coordinate estimation process includes: Calculate Sm = (Smax - Smin), where Smax and Smin are respectively a maximum signal strength and a minimum signal strength of a plurality of RFID signals read by the first antenna and the second antenna; Calculate Pd1 = (P11 – P12) and Sd1 = (S11 – S12). If Sd1 > Sm, set Sd1 = Sm. If S12 is not read, set P12 = P11 and Sd1 = Sm, where S11 and S12 are respectively a maximum first signal strength and a second largest first signal strength of all RFID signals read by the first antenna after sorting. P11 is a position value converted from the identifier of the electronic tag to which the maximum first signal strength belongs when read by the first antenna, and P12 is a position value converted from the identifier of the electronic tag to which the second largest first signal strength belongs when read by the first antenna; Calculate Pd2 = (P21 – P22) and Sd2 = (S21 – S22). If Sd2 > Sm, then set Sd2 = Sm. If S22 has not been read, then P22 = P21 and Sd2 = Sm, where S21 and S22 are respectively the maximum second signal strength and the second largest second signal strength after sorting all the radio frequency identification signals read by the second antenna, P21 is the position value converted from the identifier of the electronic label to which the maximum second signal strength read by the second antenna belongs, and P22 is the position value converted from the identifier of the electronic label to which the second largest second signal strength read by the second antenna belongs; Compare Sd1 and Sd2. If Sd1 ≧ Sd2, then Sd = Sd2 and Pd = Pd2; if Sd1 < Sd2, then Sd = Sd1 and Pd = Pd1; and Calculate Pe = P11 + ((Pd × Sd) / 2Sm), and use Pe as the coordinate.

12. A computer program product, when the computer loads and executes this computer program, the computer can execute the positioning method as described in claim 11.

13. A computer-readable recording medium, which stores a program inside. When the computer loads and executes this program, the computer can complete the positioning method as described in claim 11.

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