Pedestrian monitoring system for warehouses

Abstract

A controller (213) for monitoring pedestrians inside a warehouse, the controller receives a first RFID signaling (214) from a first RFID antenna (211) attached to a vehicle (210), and a second RFID antenna (212) attached to the vehicle (210), wherein the field of view of the first RFID antenna (211) is separated from the field of view of the second RFID antenna (212) in a first dimension, receives a second RFID signaling (215) from the second RFID antenna (212), identifies an RFID tag signal (216) from an RFID tag (218) associated with a pedestrian in the first RFID signaling (214), identifies an RFID tag signal (216) from an RFID tag (218) associated with a pedestrian in the second RFID signaling (215), and determines the location of the pedestrian relative to the vehicle (210) based on the RFID tag signals in both the first RFID signaling (241) and the second RFID signaling (215).

Description

Technical Field

[0001] The present disclosure relates to a pedestrian monitoring system for a warehouse. Specifically, it relates to such a system that can improve the safety of pedestrians in the warehouse.

Summary of the Invention

Means for Solving the Problems

[0002] According to a first aspect of the present disclosure, a controller for monitoring pedestrians in a warehouse is provided, and the controller receives a first RFID signaling from a first RFID antenna attached to a vehicle, receives a second RFID signaling from a second RFID antenna attached to the vehicle, wherein the field of view of the first RFID antenna is separated from the field of view of the second RFID antenna in a first dimension, identifies an RFID tag signal from an RFID tag associated with a pedestrian in the first RFID signaling, identifies an RFID tag signal from an RFID tag associated with a pedestrian in the second RFID signaling, and is configured to determine the location of the pedestrian relative to the vehicle based on the RFID tag signals in both the first RFID signaling and the second RFID signaling.

[0003] The controller may be further configured to provide an output signal based on the determined location of the pedestrian.

[0004] The controller may be further configured to compare the signal strength of the RFID tag signal in the first RFID signaling with the signal strength of the RFID tag signal in the second RFID signaling to determine the location of the pedestrian relative to the vehicle in the first dimension.

[0005] The controller may be further configured to identify a plurality of RFID tag signals from RFID tags in a first RFID signaling over a time period, identify a plurality of RFID tag signals from RFID tags in a second RFID signaling over the time period, determine the movement of a pedestrian relative to a vehicle based on the plurality of RFID tag signals in both the first RFID signaling and the second RFID signaling, and provide an output signal based on the determined movement of the pedestrian.

[0006] The controller may be configured to determine whether the pedestrian is moving towards the vehicle or away from the vehicle.

[0007] The controller may be further configured to provide an output signal based on the determined movement of the pedestrian and the determined location of the pedestrian.

[0008] The controller identifies a plurality of RFID tag signals from each of the plurality of RFID tags associated with the pedestrian in the first RFID signaling, identifies a plurality of RFID tag signals from each of the plurality of RFID tags associated with the pedestrian in the second RFID signaling, and may be further configured to determine the location of the pedestrian relative to the vehicle based on the plurality of RFID tag signals in both the first RFID signaling and the second RFID signaling.

[0009] The controller is further configured to determine the location of the pedestrian relative to the vehicle based on the plurality of RFID tag signals in both the first RFID signaling and the second RFID signaling only if at least a threshold number of RFID tag signals from each RFID tag are identified in both the first RFID signaling and the second RFID signaling.

[0010] Each of the plurality of RFID tag signals may include a clothing identifier associated with clothing that can be worn by a pedestrian.

[0011] The clothing may be items of personal protective equipment (PPE) such as high-visibility clothing, high-visibility vests / jackets, safety glasses, ear defenders, helmets / hard hats, steel-toe cap boots, etc.

[0012] Each of the plurality of RFID tag signals may further include a clothing position identifier indicating the position on the clothing where the respective RFID tag is worn.

[0013] The clothing position identifier may indicate whether the respective RFID tag is worn on the front or back of the clothing.

[0014] The controller is configured to identify, in each of a first RFID signaling and a second RFID signaling, a plurality of RFID tag signals having the same clothing identifier from the respective plurality of RFID tags, process the clothing position identifier in each of the identified plurality of RFID tag signals to determine the orientation of the pedestrian wearing the clothing with respect to the vehicle, and further configured to provide an output signal based on the determined orientation of the pedestrian.

[0015] The controller is configured to compare (i) the signal strength of an RFID tag signal associated with an RFID tag at a first position on the clothing in a first RFID signaling and a second RFID signaling with (ii) the signal strength of an RFID tag signal associated with an RFID tag at a second position on the clothing in the first RFID signaling and the second RFID signaling to determine the orientation of the pedestrian wearing the clothing with respect to the vehicle.

[0016] The controller may be further configured to identify RFID tag signals in each of the first RFID signaling and the second RFID signaling only when the RFID tag signal has a signal strength greater than a threshold value.

[0017] The controller may be further configured to identify RFID tag signals in each of the first RFID signaling and the second RFID signaling only when the RFID signaling includes at least a threshold number of RFID tag signals from the RFID tag over a predetermined time period.

[0018] The controller may be configured to identify RFID tag signals from the RFID tag in each of the first RFID signaling and the second RFID signaling only in the following cases: The RFID signaling includes at least a threshold number (e.g., the minimum number of reads / pings over a predetermined time period) of RFID tag signals from the RFID tag over a predetermined time period, and each of the threshold number of RFID tag signals from the RFID tag has a signal strength greater than the threshold value.

[0019] The controller may be configured to identify RFID tag signals from the RFID tag in each of the first RFID signaling and the second RFID signaling only in the following cases: The RFID signaling includes at least a threshold number (e.g., the minimum number of reads / pings over a predetermined time period) of RFID tag signals from the RFID tag over a predetermined time period, and the average signal strength of the threshold number of RFID tag signals from the RFID tag is greater than the threshold value.

[0020] The controller may be further configured to receive a vehicle speed signal representing the speed of the vehicle and provide an output signal based on the determined location of the pedestrian and the vehicle speed signal.

[0021] The controller receives a vehicle direction signal representing the traveling direction of the vehicle, and may be configured to provide an output signal based on the determined location of the pedestrian and the vehicle direction signal.

[0022] The controller receives a vehicle future location signal representing the future location of the vehicle, and may be configured to provide an output signal based on the determined location of the pedestrian and the vehicle future location signal.

[0023] The controller receives third RFID signaling from a third RFID antenna attached to the vehicle, wherein the field of view of the third RFID antenna is offset in a second dimension that is lateral to a first dimension from the field of view of at least one of the first RFID antenna and the second RFID antenna, identifies an RFID tag signal from an RFID tag associated with a pedestrian in the third RFID signaling, and may be configured to determine the location of the pedestrian relative to the vehicle based on the RFID tag signals in each of the first RFID signaling, the second RFID signaling, and the third RFID signaling.

[0024] The controller receives third RFID signaling from a third RFID antenna attached to the vehicle, wherein the field of view of the third RFID antenna is offset in a second dimension that is lateral to a first dimension from the field of view of at least one of the first RFID antenna and the second RFID antenna, A fourth RFID antenna attached to a vehicle, wherein a field of view of the fourth RFID antenna is offset in a second dimension from a field of view of at least one of the first RFID antenna and the second RFID antenna, receiving fourth RFID signaling from the fourth RFID antenna, identifying an RFID tag signal from an RFID tag associated with a pedestrian in the third RFID signaling, identifying an RFID tag signal from an RFID tag associated with a pedestrian in the fourth RFID signaling, may be further configured to determine a location of a pedestrian relative to the vehicle based on RFID tag signals in each of the first RFID signaling, the second RFID signaling, the third RFID signaling, and the fourth RFID signaling.

[0025] According to a further aspect of the present disclosure, a pedestrian monitoring system for a warehouse is provided, the system comprising a first RFID antenna attached to a vehicle, a second RFID antenna attached to the vehicle, wherein a field of view of the first RFID antenna is separated from a field of view of the second RFID antenna in a first dimension, the second RFID antenna, a controller, the controller receiving first RFID signaling from the first RFID antenna, receiving second RFID signaling from the second RFID antenna, identifying an RFID tag signal from an RFID tag associated with a pedestrian in the first RFID signaling, identifying an RFID tag signal from an RFID tag associated with a pedestrian in the second RFID signaling, configured to determine a location of a pedestrian relative to the vehicle based on RFID tag signals in both the first RFID signaling and the second RFID signaling.

[0026] The system may further include a third RFID antenna having a field of view offset in a second dimension that is transverse to the first dimension from the field of view of at least one of the first RFID antenna and the second RFID antenna.

[0027] The system is, a third RFID antenna having a field of view offset along a second dimension that is transverse to the first dimension from the field of view of at least one of the first RFID antenna and the second RFID antenna, and optionally, a fourth RFID antenna having a field of view offset along a second dimension that is transverse to the first dimension from the field of view of at least one of the first RFID antenna and the second RFID antenna.

[0028] The field of view of the third RFID may be offset from the field of view of at least one of the first RFID antenna and the second RFID antenna along the first direction in the second dimension. The field of view of the fourth RFID antenna may be offset from the field of view of at least one of the first RFID antenna and the second RFID antenna along the second direction in the second dimension. The first direction is different from the second direction.

[0029] The field of view of the third RFID antenna may be offset from the field of view of at least one of the first RFID antenna and the second RFID antenna along the first direction in the second dimension. The field of view of the fourth RFID antenna may be offset from the field of view of at least one of the first RFID antenna and the second RFID antenna along the second first direction in the second dimension. For example, the four antennas may be disposed at each corner of the vehicle.

[0030] The system may further include a speed sensor configured to provide a vehicle speed signal representing the speed of the vehicle.

[0031] The system is, Further provided may be a safety vest for use within a warehouse, the vest comprising: a plurality of RFID tags located on a front portion of the safety vest for providing an RFID tag signal to a first RFID antenna; and a plurality of RFID tags located on a back portion of the safety vest for providing an RFID tag signal to the first RFID antenna.

[0032] According to a further aspect of the present disclosure, there is provided a method of monitoring a pedestrian within a warehouse, the method comprising: receiving a first RFID signaling from a first RFID antenna attached to a vehicle; receiving a second RFID signaling from a second RFID antenna attached to the vehicle, the field of view of the first RFID antenna being separated from the field of view of the second RFID antenna by a first dimension; identifying an RFID tag signal from an RFID tag associated with a pedestrian in the first RFID signaling; identifying an RFID tag signal from an RFID tag associated with a pedestrian in the second RFID signaling; and determining a location of the pedestrian relative to the vehicle based on the RFID tag signals in both the first RFID signaling and the second RFID signaling.

[0033] According to a further aspect of the present disclosure, there is provided a controller for monitoring a pedestrian within a warehouse, the controller being configured to: receive a first RFID signaling from a first RFID antenna associated with a pedestrian access point within the warehouse; identify that a pedestrian is passing through, has passed through, or is attempting to pass through the pedestrian access point, and in response, Process the first RFID signaling to identify any RFID tag signal from one or more respective RFID tags, associated with a pedestrian identified as passing through a pedestrian access point and associated with an item of PPE that can be worn by the pedestrian, and including a PPE identifier, Determine whether any identified RFID tag signal represents a complete set of PPE items for a pedestrian, Is configured to generate an alert output signal if an incomplete set of PPE items is determined.

[0034] The controller, Process the signal strength of any identified RFID tag signal over time to determine the movement of the associated RFID tag relative to the first RFID antenna, May be further configured to process the determined movement of any RFID tag to identify any RFID tag signal associated with a pedestrian identified as passing through a pedestrian access point.

[0035] The controller may be further configured to compare the items of PPE associated with the identified RFID tag signal with a list of required PPE items.

[0036] The controller may be configured to generate a PPE complete output signal if a complete set of PPE items is determined.

[0037] The alert output signal may include details of one or more items of PPE that have not been detected.

[0038] The first RFID antenna may have a field of view associated with a first entry / exit side of a pedestrian access point within a warehouse. The controller, Receives second RFID signaling from a second RFID antenna having a field of view associated with a second entry / exit side of the pedestrian access point, Process the first RFID signaling and the second RFID signaling to identify any RFID tag signal from one or more respective RFID tags in the first RFID signaling and the second RFID signaling, the RFID tag signal being associated with a pedestrian identified as passing through a pedestrian access point and associated with an item of PPE that can be worn by the pedestrian and including a PPE identifier. The system can be further configured to determine whether any identified RFID tag signal in the first RFID signaling and the second RFID signaling represents a complete set of PPE items for a pedestrian.

[0039] According to a further aspect of the present disclosure, a pedestrian monitoring system for a warehouse is provided, the system comprising: a first RFID antenna associated with a pedestrian access point within the warehouse; and a controller, the controller being configured to: receive the first RFID signaling from the first RFID antenna; identify that a pedestrian is passing through, has passed through, or is attempting to pass through the pedestrian access point, and in response thereto: process the first RFID signaling to identify any RFID tag signal from one or more respective RFID tags, the RFID tag signal being associated with a pedestrian identified as passing through a pedestrian access point and associated with an item of PPE that can be worn by the pedestrian and including a PPE identifier; determine whether any identified RFID tag signal represents a complete set of PPE items for a pedestrian; generate an alert output signal when an incomplete set of PPE items is determined.

[0040] The system may further comprise: a safety vest for wearing within the warehouse, the vest being A plurality of RFID tags for providing an RFID tag signal to a first RFID antenna, located in the front portion of the safety vest, A plurality of RFID tags for providing an RFID tag signal to a first RFID antenna, located in the back portion of the safety vest, and comprising.

[0041] According to a further aspect of the present disclosure, a method for monitoring pedestrians in a warehouse is provided, the method comprising Receiving a first RFID signaling from a first RFID antenna associated with a pedestrian access point in the warehouse; Identifying that a pedestrian is passing through, has passed through, or is attempting to pass through a pedestrian access point, and in response Processing the first RFID signaling to identify any RFID tag signal from one or more respective RFID tags, the RFID tag signal being associated with a pedestrian identified as passing through the pedestrian access point and associated with an item of PPE that can be worn by the pedestrian and including a PPE identifier associated with the item of PPE; Determining whether any identified RFID tag signal represents a complete set of PPE items for the pedestrian; Generating an alert output signal if an incomplete set of PPE items is determined.

[0042] According to a further aspect of the present disclosure, a safety vest for wearing in a warehouse is provided, the vest comprising A plurality of RFID tags located in the front portion of the vest; A plurality of RFID tags located in the back portion of the vest, and Each of the RFID tags having an associated spacer between the RFID tag and a person when the safety vest is worn by a person.

[0043] The spacer can be at least 12 mm thick and optionally at least 16 mm thick.

[0044] Each of the RFID tags can include an identifier that is provided as part of an RFID tag signal when each of the RFID tags is excited by an RFID antenna.

[0045] The identifier is a product type identifier indicating the type of safety vest with which the RFID tag is associated, a vest identifier that is a unique identifier of the vest with which the RFID tag is associated, and may include one or more of a unique tag identifier that is a unique identifier of each RFID tag on any given safety vest.

[0046] A computer program may be provided that, when executed on a computer, causes the computer to configure any device including a controller, system, or device disclosed herein, or to perform any method disclosed herein. The computer program may be a software implementation, and the computer may be considered any suitable hardware including, by way of non-limiting example, implementation in a digital signal processor, a microcontroller, and read-only memory (ROM), erasable programmable read-only memory (EPROM), or electronically erasable programmable read-only memory (EEPROM). The software may be an assembly program.

[0047] The computer program may be provided on a computer-readable medium that may be a physical computer-readable medium such as a disk or memory device, or may be embodied as a transient signal. Such a transient signal may be a network download including an Internet download. One or more non-transitory computer-readable storage media storing computer-executable instructions that, when executed by a computing system, cause the computing system to perform any method disclosed herein may be provided.

[0048] Hereinafter, one or more embodiments will be described by way of example only with reference to the accompanying drawings.

Brief Description of the Drawings

[0049]

Fig. 1

Fig. 2a

Fig. 2b

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7a

Fig. 7b

Fig. 7c

Fig. 8

Fig. 9

Modes for Carrying Out the Invention

[0050] Vehicle collisions can injure people, including drivers and pedestrians, and damage structures and the vehicles themselves. In a warehouse environment, vehicles may need to move in a closed space in close proximity to valuable goods and personnel. For example, in a warehouse, a forklift truck (FLT) may pass between aisles of racking or shelving containing valuable inventory. The FLT may have to make sharp turns and maneuvers to load and unload inventory from the racking. Even a skilled driver can accidentally collide with a pedestrian, causing a potential safety hazard. Therefore, it may be a requirement that pedestrians wear suitable personal protective equipment (PPE) when they are in at least certain areas of the warehouse.

[0051] FIG. 1 schematically shows a partial plan view of the interior of a warehouse, a suitable environment in which the pedestrian monitoring system described herein may be used. FIG. 1 shows six banks 101 of racking having aisles 102 between each bank 101. As shown in FIG. 1, a forklift truck (FLT) 108 can be driven along the aisle to access inventory stored in different banks 101 of the racking. Each bank 101 of the racking has a plurality of racking legs 103. The racking legs 103 are vertical supports used to support shelving or pallets. The banks 101 of the racking can also include (generally horizontal) beams and / or (generally diagonally extending relative to the ground) braces.

[0052] Figure 1 also shows that a part of the warehouse is designated as a pedestrian walkway 104. The pedestrian walkway 104 is separated from the end passage of the racking by a barrier 105. In this example, the barrier 105 includes a plurality of spaced-apart struts 106, and a rail 107 is shown joining most of the adjacent struts 106. A pedestrian access point 109 is shown as a gap within the barrier, through which pedestrians can walk to move between the pedestrian walkway 104 and the part of the warehouse where the FLT 108 operates. In some situations, the PPE requirements for pedestrians within the pedestrian walkway 104 may be different from those for pedestrians in the part of the warehouse where the FLT 108 operates. Further examples of pedestrian access points to the warehouse may include entrances and revolving doors, which may be external to provide access to the warehouse from outside the building or internal to provide access between different parts of the warehouse.

[0053] Figures 2a and 2b show an exemplary embodiment of a pedestrian monitoring system for a warehouse. In this example, the pedestrian monitoring system is associated with a forklift truck (FLT) 210, although it will be understood that it may also be associated with other types of vehicles that move around the warehouse.

[0054] The system includes a first RFID scanner 211 and a second RFID scanner 212 attached to the FLT 210. Such RFID scanners may also be referred to as RFID antennas or RFID readers, which are well known in the art. For example, the first RFID scanner 211 and the second RFID scanner 212 can be implemented as separate RFID antennas sharing a single RFID module / chip, such that the single RFID module / chip can multiplex between signals provided by the plurality of RFID antennas.

[0055] The field of view of the first RFID scanner 211 is separated from the field of view of the second RFID scanner 212 in a first dimension. In this example, the first dimension is the longitudinal dimension of the FLT210 such that the system can detect whether a pedestrian is in front of or behind the FLT210, as will be discussed below. In another example, the first dimension is the lateral dimension of the FLT210 such that the system can detect whether a pedestrian is to the left or right of the FLT210. As a further example, as will be discussed below, the system may include more than two RFID scanners such that the system can determine the location of a pedestrian relative to the FLT210 in two dimensions.

[0056] The fields of view of the RFID scanners can be separated or offset from each other by mounting the RFID scanners at different physical locations, such as different portions of the FLT210, as shown in FIGS. 2a-2c. The RFID scanners can be substantially omnidirectional such that their fields of view overlap but are still considered separated. Alternatively, the RFID scanners can be directional such that their fields of view are separated due to the directionality of the RFID scanners. In that case, the RFID scanners / antennas do not need to be physically offset from each other to achieve the separation of their fields of view.

[0057] The system also includes a controller 213, which may also be referred to as an RFID module or an RFID chip. In this example, the controller 213 is shown local to the FLT210, but in other examples, some or all of the functions of the controller can be implemented by a device / component that is remote from the FLT210.

[0058] The controller 213 receives the first RFID signaling 214 from the first RFID scanner 211 (as labeled in FIG. 2a) and the second RFID signaling 215 from the second RFID scanner 212 (as labeled in FIG. 2b). It should be understood that the controller 213 receives the first RFID signaling 214 and the second RFID signaling 215 simultaneously, and they are shown separately only in FIGS. 2a and 2b for the purpose of more clearly showing the functions of the pedestrian monitoring system.

[0059] The controller 213 can identify the RFID tag signal 216 from the RFID tag 218 associated with the pedestrian in the first RFID signaling 214. In this example, four RFID tags 218 associated with the pedestrian are shown. The four RFID tags 218 are associated with the clothing 220 (in this example, a highly visible safety vest) that can be worn by the pedestrian. Each of the four RFID tags 218 can be excited by the first RFID scanner 211 so that they each provide the RFID tag signal 216 received by the first RFID scanner 211. Accordingly, each of the four RFID tag signals 216 is present within the first RFID signaling 214.

[0060] In this example, the RFID tag 218 is passive, which is advantageous because it does not need to be provided in the clothing 220 so that the battery does not need to be regularly charged or replaced.

[0061] The controller 213 can also identify the RFID tag signal 217 from the RFID tag 218 associated with the pedestrian in the second RFID signaling 215 in the same manner as described above with reference to the identification of the RFID tag signal 216 in the first RFID signaling 214. As shown, the controller 213 identifies the RFID tag signals 216, 217 from the same RFID tag 218 in both the first RFID signaling 214 and the second RFID signaling 215.

[0062] Next, the controller 213 can determine the location of the pedestrian relative to the FLT 210 based on the RFID tag signals in both the first RFID signaling 214 and the second RFID signaling 215. The location of the pedestrian can be determined in several ways, including by determining the signal strength of the RFID tag signal 216 in the first RFID signaling 214 and the signal strength of the RFID tag signal 217 in the second RFID signaling 215, as will be discussed below.

[0063] Advantageously, by thus using the RFID signaling from the two RFID scanners 211, 212 to determine the location of the pedestrian, it becomes possible for the controller to more accurately determine the location of the pedestrian, particularly in the first dimension. As shown above and as will be further described below, the first dimension can be the longitudinal dimension of the FLT 210 such that it is possible to determine whether the pedestrian is in front of or behind the FLT 210, in which case different subsequent actions can be taken to improve the safety of the pedestrian. Similarly, if the first dimension is the lateral dimension of the FLT 210, it is possible to determine whether the pedestrian is to the right or left of the FLT 210, and this information can again be used to take different subsequent actions to improve the safety of the pedestrian.

[0064] In some examples, the controller 213 can provide an output signal based on the determined location of the pedestrian. For example, the output signal can cause an alert to be generated so that the operator of the FLT210 recognizes the presence of the pedestrian. Additionally or alternatively, the output signal can cause an alert to be generated for the pedestrian so that the pedestrian recognizes the presence of the FLT210. In any case, providing such an alert can reduce the risk that the FLT210 collides with the pedestrian. Such an alert can be one or more of an audible alert, a visual alert, and a tactile alert. Alternatively or additionally, the output signal can operate an actuator associated with the FLT210 to reduce the risk of collision, for example, reduce the speed of the FLT210 or steer the FLT210 away from the pedestrian. As a further example, the output signal can cause a record of the detected location of the pedestrian to be stored in a log in computer memory. Such a log can be used to better understand the interaction between the pedestrian and the FLT210 so that the warehouse can be designed to reduce risk and / or training can be provided to improve the safety of the warehouse.

[0065] One way the controller 213 can determine the location of the pedestrian is by processing the signal strength / power of the received RFID tag signals 216, 217. An example of how signal strength can be represented is the Received Signal Strength Indicator (RSSI) for the received RFID tag signals 216, 217. The controller 213 can compare the signal strength of the RFID tag signal 216 in the first RFID signaling 214 with the signal strength of the RFID tag signal 217 in the second RFID signaling 215 to determine the location of the pedestrian relative to the vehicle in a first dimension. By comparing the signal strengths in this way, the controller 213 can determine whether the associated RFID tag 218 is close to the first RFID scanner 211 or the second RFID scanner 212, and thus determine the relative location of the associated pedestrian in a first dimension (along which the first RFID scanner 211 and the second RFID scanner 212 are offset). For example, if the first RFID scanner 211 and the second RFID scanner 212 are offset along the longitudinal dimension of the FLT 210 (as shown in FIGS. 2a and 2b) and the signal strength of the RFID tag signal 216 in the first RFID signaling 214 is greater than the signal strength of the RFID tag signal 217 in the second RFID signaling 215, the controller 213 can determine that the pedestrian is closer to the front of the FLT 210 than to the rear of the FLT 210.

[0066] In some examples, the first RFID scanner 211 and the second RFID scanner 212 may be directional RFID scanners 211, 212 having a field of view biased in a particular direction. For example, in the examples of FIGS. 2a and 2b, the first RFID scanner 211 may include a directional RFID scanner having an outward field of view from the front of the FLT210, and the second RFID scanner 212 may include a directional RFID scanner having an outward field of view from the rear of the FLT210. In other words, the field of view of each RFID scanner 211, 212 is directed away from the other RFID scanner. In this way, the difference in signal strength between the RFID tag signal 216 in the first RFID signaling 214 and the RFID tag signal 217 in the second RFID signaling 215 can be increased to improve sensitivity and accuracy.

[0067] In one example, different output signals can be provided for different determined locations of the pedestrian. For example, a high alert output signal can be provided to a determined first location, such as a location where the risk of collision is considered to be relatively high. Examples of such a first location are a pedestrian in front of the FLT210, or a pedestrian on any particular side of the FLT210 considered to be at high risk. A low alert output signal (or no output signal) can be provided to a determined second location. Examples of such a second location are a pedestrian behind the FLT210, or a pedestrian on any particular side of the FLT210 considered to be at low risk.

[0068] The controller 213 in FIGS. 2a and 2b can be used to track the location of a pedestrian associated with the RFID tag 218 over time, and thus is used to determine the movement of the pedestrian relative to the FLT210. To do this, the controller 213 can identify a plurality of RFID tag signals 216 from the RFID tag 218 in the first RFID signaling 214 over a time period, and can identify a plurality of RFID tag signals 217 from the RFID tag 218 in the second RFID signaling 215 over a time period. The controller 213 can then determine the movement of the pedestrian relative to the FLT210 based on the plurality of RFID tag signals 216, 217 in both the first RFID signaling 214 and the second RFID signaling 215.

[0069] More specifically, the controller 213 processes the signal strengths of the RFID tag signals 216, 217 in both the first RFID signaling 214 and the second RFID signaling 215 over time to determine whether the tag 218 (and thus the associated pedestrian) is approaching or moving away from each of the first RFID scanner 211 and the second RFID scanner 212. In this way, the controller 213 can determine whether the pedestrian is moving towards or away from the FLT210 along the first dimension (i.e., the dimension along which the two RFID scanners 211, 212 are offset). If the first RFID scanner 211 and the second RFID scanner 212 are spaced apart along the longitudinal length of the FLT, the controller 213 can determine whether the pedestrian is moving towards or away from the front or rear of the FLT210.

[0070] Advantageously, the controller 213 can then provide an output signal based on the determined movement of the pedestrian. For example, the controller 213 can provide a high alert output signal if the pedestrian is moving towards the FLT 210. The controller 213 can provide a low alert output signal (or no output signal) if the pedestrian is moving away from the FLT 210. As a further example, the controller 213 can provide an output signal based on both the determined movement of the pedestrian and the determined location of the pedestrian. In this way, for example, a particularly dangerous scenario of a pedestrian moving towards the front of the FLT 210 can be detected, and the controller 213 can provide an appropriate output signal accordingly.

[0071] As shown in FIGS. 2a and 2b, a plurality of RFID tags 218 can be associated with the same pedestrian. In the example of FIGS. 2a and 2b, the plurality of RFID tags 218 are associated with a single piece of clothing worn by the pedestrian. In such an example, the controller can identify a plurality of RFID tag signals 216 from each of the plurality of RFID tags 218 associated with the pedestrian in the first RFID signaling 214, and can identify a plurality of RFID tag signals 217 from each of the plurality of RFID tags 218 associated with the pedestrian in the second RFID signaling 215. The controller 213 can then determine the location of the pedestrian relative to the FLT 210 based on the plurality of RFID tag signals 216, 217 in both the first RFID signaling 214 and the second RFID signaling 215 (from the plurality of RFID tags 218). Advantageously, using the plurality of RFID tag signals 216, 217 from the plurality of RFID tags 218 can improve the accuracy / reliability of the determined location of the pedestrian.

[0072] The reliability of the determined location of the pedestrian can be further improved by the controller 213 determining the location of the pedestrian relative to the FLT 210 based on a plurality of RFID tag signals 216, 217 in both the first RFID signaling 214 and the second RFID signaling 215 only when at least a threshold number of RFID tag signals 216, 217 from each respective RFID tag 218 are identified in both the first RFID signaling 214 and the second RFID signaling 215. In this way, the location is determined only when a minimum number of RFID tags 218 are identified. This reduces the likelihood that the controller 213 will determine the location of the pedestrian based on only a few spurious RFID tag signals 216, 217 being received by the RFID scanners 211, 212 or based on RFID tag signals 216, 217 being received by only one of the RFID scanners 211, 212.

[0073] In this example, each of the plurality of RFID tag signals 216 includes a clothing identifier associated with clothing that can be worn by a pedestrian. In FIGS. 2a and 2b, the RFID tag 218 is associated with a highly visible safety vest as an example of clothing. More generally, the clothing can be any item of personal protective equipment (PPE) such as highly visible clothing, highly visible jackets, safety glasses, ear defenders, helmets / hard hats, steel-toe cap boots. The clothing identifier can be unique to an individual piece of clothing (e.g., a unique clothing identifier can be used for each highly visible safety vest, a unique clothing identifier can be used for each pair of safety glasses, etc.).

[0074] Next, the controller 213 identifies a plurality of RFID tag signals 216, 217 from a plurality of RFID tags 218 in each of the first RFID signaling 214 and the second RFID signaling 215 having the same clothing identifier, and can identify a single location of the pedestrian for all of the RFID tag signals 216, 217 having the same clothing identifier and thus disposed on the same piece of clothing.

[0075] In some examples, the controller 213 may have access to a database that associates a plurality of clothing identifiers for different items of PPE with a single pedestrian. For example, each pedestrian may have a specific item of PPE that only they use. By querying such a database using the clothing identifier recognized in the received RFID tag signals 216, 217, the controller 213 can identify a single location of the pedestrian for all of the RFID tag signals 216, 217 having a clothing identifier associated with the single pedestrian.

[0076] Further, in this example, each of the plurality of RFID tag signals 216 includes a clothing position identifier indicating the position on the clothing where the respective RFID tag 218 is worn. For example, the clothing position identifier can indicate whether the respective RFID tag 218 is worn on the front or back of the clothing. The clothing position identifier can be in addition to, or instead of, the clothing identifier. In such an example, the controller 213 can identify a plurality of RFID tag signals 216, 217 from respective ones of the plurality of RFID tags 218 in each of the first RFID signaling 214 and the second RFID signaling 215 having the same clothing identifier, and process the clothing position identifier in each of the identified plurality of RFID tag signals 216, 217 to determine the orientation of the pedestrian wearing the clothing with respect to the vehicle.

[0077] For example, when the signal strengths of RFID tag signals 216 and 217 from the RFID tag 218 on the front of the clothing are higher than the signal strengths of the RFID tag signals 216 and 217 from the RFID tag 218 on the back of the clothing, the controller 213 can determine that the pedestrian is facing the FLT 210. More generally, the controller 213 can determine the orientation of the pedestrian wearing the clothing with respect to the FLT 210 by comparing (i) the signal strengths of the RFID tag signals 216 and 217 associated with the RFID tag 218 at the first position on the clothing in the first RFID signaling 214 and the second RFID signaling 215, and (ii) the signal strengths of the RFID tag signals 216 and 217 associated with the RFID tag 218 at the second position on the clothing in the first RFID signaling 214 and the second RFID signaling 215.

[0078] As another example, when only the RFID tag signals 216 and 217 from the RFID tag 218 on the front of the clothing are identified by the controller 213, or when more of the RFID tag signals 216 and 217 from the RFID tag 218 on the front of the clothing are identified than the RFID tag signals 216 and 217 from the RFID tag 218 on the back of the clothing, the controller 213 can determine that the pedestrian is facing the FLT 210.

[0079] Advantageously, the controller 213 can provide an output signal based on the determined orientation of the pedestrian. For example, the controller 213 can provide a high alert output signal for a first orientation of the pedestrian, such as when the pedestrian has their back to the vehicle (where an audio alert may be particularly beneficial in such an orientation), and the controller 213 can provide a low alert output signal for a second orientation of the pedestrian, such as when the pedestrian is facing the vehicle (where a visual alert may be particularly beneficial in such an orientation).

[0080] In some examples, the controller 213 can perform additional processing before successfully identifying the RFID tag signals 216, 217 from the RFID tag 218 as being suitable for use in determining the location of the associated pedestrian (or any other characteristic of the associated pedestrian disclosed herein).

[0081] In one example, the controller 213 identifies the RFID tag signals 216, 217 in each of the first RFID signaling 214 and the second RFID signaling 215 only if the RFID tag signals 216, 217 have a signal strength greater than a threshold. In this way, weak RFID tag signals 216, 217 can be ignored by the controller 213 when determining the location of the pedestrian, perhaps because they are too far away to guarantee a location determination.

[0082] In another example, the controller 213 can identify the RFID tag signals 216, 217 in each of the first RFID signaling 214 and the second RFID signaling 215 only if each of the first RFID signaling 214 and the second RFID signaling 215 includes at least a threshold number of RFID tag signals 216, 217 from the RFID tag 218 over a predetermined time period. In this way, the controller 213 needs to recognize a minimum number of reads / pings from the RFID tag 218 over a predetermined time period before being used to determine the location of the pedestrian. This process can help reduce incorrect calculations of the location of the pedestrian based on RFID tag signals 216, 217 received incidentally that may be considered unlikely to actually be relevant to a pedestrian in the vicinity of the FLT210.

[0083] In yet another example, the controller 213 can identify the RFID tag signals 216, 217 from the RFID tag in each of the first RFID signaling 214 and the second RFID signaling 215 only if: (i) each of the first RFID signaling 214 and the second RFID signaling 215 includes at least a threshold number of RFID tag signals 216, 217 from the RFID tag 218 over a predetermined time period (as discussed above), and (ii) each of the threshold number of RFID tag signals 216, 217 from the RFID tag 218 has a signal strength greater than a threshold (also as discussed above). This can further improve the reliability of the pedestrian location determination for the corresponding reasons discussed above.

[0084] In still a further example, the controller 213 can identify the RFID tag signals 216, 217 from the RFID tag 218 in each of the first RFID signaling 214 and the second RFID signaling 215 only if: (i) each of the first RFID signaling 214 and the second RFID signaling 215 includes at least a threshold number of RFID tag signals 216, 217 from the RFID tag 218 over a predetermined time period (as discussed above), and (ii) the average signal strength of the threshold number of RFID tag signals 216, 217 from the RFID tag 218 is greater than a threshold. This represents yet another way to improve the reliability of the location determination.

[0085] In some examples, the controller 213 may still record RFID tag signals that do not meet one or more of the above threshold requirements. Such signals may be associated with an accidental single read of a pedestrian not in proximity to the vehicle 210. By recording these signals, the controller 213 may be able to infer that a pedestrian is roughly in the vicinity, and it may be possible to perform a headcount logging of the number of people within a specific area of the warehouse at a particular point in time.

[0086] In some examples, the controller 213 may also receive a signal representing a characteristic of the vehicle / FLT 210. As discussed below, by using such a signal, it may be possible to generate an output signal that is better adjusted to be the actual collision risk between a pedestrian and the FLT 210 for a particular situation.

[0087] As an example, the controller 213 receives a vehicle speed signal representing the speed of the FLT 210. A speed sensor associated with the FLT 210 can provide the vehicle speed signal. The controller 213 can then provide an output signal based on (i) the determined location of the pedestrian (as discussed above) and the vehicle speed signal. For example, the controller 213 can provide a high alert output signal if the vehicle speed signal is greater than a threshold and the determined location of the pedestrian is less than a threshold distance from the vehicle. The controller 213 can provide a lower alert output signal if the vehicle speed signal is less than the threshold, based on the likelihood of a reduced collision when the FLT 210 is moving more slowly.

[0088] As another example, the controller receives a vehicle direction signal representing the direction of travel of the FLT 210. The controller 213 can then provide an output signal based on the determined location of the pedestrian (as discussed above) and the vehicle direction signal. For example, the vehicle direction signal can include components corresponding to a first dimension (i.e., along which the first RFID scanner 211 and the second RFID scanner 212 are offset). Thus, the controller 213 can determine whether the direction of travel of the FLT 210 along the first dimension is towards the determined location of the pedestrian. In this way, the controller 213 can provide a high alert output signal if the vehicle direction signal corresponds to (i.e., is towards or is likely to cross) the determined location of the pedestrian.

[0089] As a further example, the FLT may be autonomously controlled or driven along a predetermined path. In any case, the vehicle may have a path within the warehouse that it will follow pre-programmed. In such an example, the controller 213 can receive a vehicle future location signal (i.e., due to the pre-programmed path) representing the future location of the FLT. The controller 213 can then provide an output signal based on the determined location of the pedestrian (as discussed above) and the vehicle future location signal. In the same way as described above, the controller 213 can provide a high alert output signal if the vehicle future location signal corresponds to (i.e., is likely to cross) the determined location of the pedestrian.

[0090] Figure 3 shows another exemplary embodiment of a pedestrian monitoring system for a warehouse. In the example of Figure 3, in the same way as Figures 2a and 2b, the pedestrian monitoring system is associated with a forklift truck (FLT) 310.

[0091] The system of this example includes a first RFID scanner 311, a second RFID scanner 312, a third RFID scanner 321, and a fourth RFID scanner 322, each attached to the FLT 310. Each of the RFID scanners provides its respective RFID signaling to a controller 313. The controller 313 of this example is located remotely from the FLT 310 on a server 326. The four RFID scanners 311, 312, 321, 322 on the FLT 310 communicate electronically with the server 326 via any network 325 known in the art including the Internet.

[0092] The first RFID scanner 311 is spaced from the second RFID scanner 312 in a first dimension, which in this example is the longitudinal dimension 323 of the FLT310. The third RFID scanner 321 is offset from at least one of the first RFID scanner 311 and the second RFID scanner 312 in a second dimension that is transverse to the first dimension. In this example, the second dimension is the transverse dimension 324 of the FLT310. The fourth RFID scanner 322 is also offset from at least one of the first RFID scanner 311 and the second RFID scanner 312 in the second / transverse dimension 324. By providing four RFID scanners 311, 312, 321, 322 in this way, it may be possible to provide RFID tag signaling that enables them to determine the location of a pedestrian (not shown) relative to the FLT310 in two orthogonal dimensions, namely the longitudinal dimension 323 and the transverse dimension 324, by the controller 313.

[0093] The controller 313 can identify RFID tag signals from RFID tags (not shown) associated with a pedestrian in the third RFID signaling received from the third RFID scanner 321. The controller 313 can also identify RFID tag signals from RFID tags associated with a pedestrian in the fourth RFID signaling received from the fourth RFID scanner 322. In a similar manner as described above with reference to FIGS. 2a and 2b, the controller 313 can then determine the location of the pedestrian relative to the FLT310 based on the RFID tag signals in each of the first RFID signaling, the second RFID signaling, the third RFID signaling, and the fourth RFID signaling.

[0094] In this example, each of the four RFID scanners 311, 312, 321, 322 is disposed midway along a different side of the FLT310. In other examples, it will be understood that the four RFID scanners 311, 312, 321, 322 can be disposed at any position on the FLT310 such that the location of a pedestrian with respect to the FLT310 in the longitudinal dimension 323 and the transverse dimension 324 can be resolved. For example, the four RFID scanners 311, 312, 321, 322 can be disposed at or near the corners of the FLT310.

[0095] In other examples, it will also be understood that three RFID scanners 311, 312, 321, 322 can be provided on the FLT in such a way that the controller 313 can determine the location of a pedestrian with respect to the FLT310 in two orthogonal dimensions by providing RFID tag signaling. That is, the controller 313 can determine the location of a pedestrian with respect to the FLT310 based on the RFID tag signals in each of the first RFID signaling, the second RFID signaling, and the third RFID signaling.

[0096] It will be further understood that any characteristic of a pedestrian, or of an output signal or other signal, described with reference to FIGS. 2a and 2b as being calculated based on the first RFID signaling and the second RFID signal can also be calculated for the system of FIG. 3 based on (and optionally also based on a fourth RFID signaling) the first RFID signaling, the second RFID signaling, and the third RFID signaling.

[0097] FIG. 4 shows a system for monitoring pedestrians in a warehouse that is used to detect pedestrians not wearing a complete set of personal protective equipment (PPE) (e.g., for a specific area of a warehouse). As an example, a specific area of the warehouse may require pedestrians to wear a helmet 430, a high-visibility safety vest 431, and steel-toe cap boots 432. As will be discussed below, RFID tags can be adapted to each of these types of PPE so that an incomplete set of PPE can be determined and an associated alert output signal can be generated.

[0098] The system is associated with a pedestrian access point 438, which in this example is an opening between two posts 436, 439. A barrier 437 is provided on the other side of the posts 436, 439 such that pedestrians are forced to pass between the two posts 436, 439 in order to pass through the pedestrian access point 438. It will be understood that other types of pedestrian access points 438, such as entrances (as shown in FIG. 6), gates, etc., may be provided in the system described herein. The pedestrian access point 438 may represent a boundary between different areas of the warehouse. For example, a boundary between an area where pedestrians must wear PPE and an area where PPE is not required. Alternatively, the pedestrian access point 438 may represent a boundary between the inside and the outside of the warehouse.

[0099] The system includes a first RFID scanner 433 (the only RFID scanner in this example), a pedestrian detector 434, and a controller 435.

[0100] The first RFID scanner 433 is associated with the pedestrian access point 438 in the warehouse such that the first RFID scanner 433 can perform a scan of the RFID tag when the RFID tag passes through the pedestrian access point 438, or immediately before or after the RFID tag passes through the pedestrian access point 438. In this example, the first RFID scanner 433 is provided as part of one of the struts 436. However, in other examples, the first RFID scanner 433 can be mounted at any position such that it can detect the RFID tag 442 when the RFID tag 442 passes through the pedestrian access point 438. The first RFID scanner 433 provides the first RFID signaling 440 in the same manner as described above with reference to FIGS. 2a and 2b. When the first RFID scanner 433 detects any RFID tag 442, the first RFID signaling 440 includes the RFID tag signal 441 received from the detected RFID tag 442.

[0101] The pedestrian detector 434 can detect that a pedestrian is passing through, has passed through, or is attempting to pass through the pedestrian access point 438. The pedestrian detector 434 can be implemented in several different ways, such as, for example, a camera that records an image that can be processed to detect a pedestrian, a motion detector, a passive infrared (PIR) sensor, or one or more RFID scanners (such as those to be discussed in more detail below). Regardless of how it is implemented, the pedestrian detector 434 can provide pedestrian detection signaling 443 to the controller 435, and the pedestrian detection signaling 443 can either indicate whether a pedestrian has been detected or can be processed by the controller 435 to determine whether a pedestrian has been detected.

[0102] Turning now to the controller 435, the controller 435 receives a first RFID signaling 440 from the first RFID scanner 433. The controller 435 also receives a pedestrian detection signaling 443 so as to be able to detect that a pedestrian is passing through, has passed through, or is about to pass through the pedestrian access point 438.

[0103] In response to detecting a pedestrian, the controller 435 processes the first RFID signaling 440 to identify any RFID tag signals 441 from the respective RFID tags 442 associated with the pedestrian identified as passing through the pedestrian access point. More specifically, the controller 435 identifies any such RFID tag signals 441 that include a PPE identifier. Such a PPE identifier is associated with an item of PPE that can be worn by the pedestrian. The PPE identifier can be unique to a particular type of PPE (e.g., the same PPE identifier can be used for all high-visibility safety vests, the same PPE identifier can be used for all safety glasses, etc.). Alternatively, the PPE identifier can be unique to an individual item of PPE (e.g., a unique PPE identifier can be used for each high-visibility safety vest, a unique PPE identifier can be used for each safety glass, etc.).

[0104] Next, the controller 435 can determine whether any identified RFID tag signal 441 represents a complete set of PPE items for a pedestrian. For example, the controller 435 may have access to a computer memory storing a list of PPE identifiers, where the PPE identifiers are associated with the items of PPE required in the area of the warehouse located on at least one side of the pedestrian access point 438. The controller 435 then compares the items of PPE associated with the identified RFID tag signal 441 (as defined by the associated PPE identifier) to the list in the computer memory to determine whether any item of PPE is missing from the identified RFID tag signal 441. (Even if PPE is only required on one side of the pedestrian access point 438, the system of FIG. 4 can ensure that both pedestrians exiting and entering the area of the warehouse where PPE is required have a complete set of PPE.)

[0105] Next, if an incomplete set of PPE items is determined, the controller 435 can generate an alert output signal. Such an alert output signal can provide an audio alert, a visual alert, and / or a tactile alert so that the pedestrian is notified that they do not have a complete set of PPE. In some examples, the alert output signal can also include details of one or more items of PPE that were not detected so that this too can be notified to the pedestrian. As a further example, the alert output signal can cause a record of the detection of the incomplete set of PPE to be stored in a log in the computer memory.

[0106] In some examples, the controller 435 can generate a PPE complete output signal when a complete set of PPE items is determined. This can be useful to provide a pedestrian with a sense of security that the pedestrian has all the items of PPE that are required. Further, in some applications, a PPE complete output signal may be required to allow a pedestrian to pass through the pedestrian access point 438. For example, the PPE complete output signal may unlock a gate or turnstile disposed within the pedestrian access point 438 such that a pedestrian can pass through the gate or turnstile only when the PPE complete output signal is generated.

[0107] In one example, the controller 435 can process a first RFID signaling 440 to make an association between any identified RFID tag signal 441 and a pedestrian identified as passing through the pedestrian access point 438. For example, the controller 435 can process the signal strength of any identified RFID tag signal 441 over time to determine the movement of the RFID tag 442 relative to the first RFID scanner 433. Thus, the controller can process the determined movement of the RFID tag 442 (based on the first RFID signaling 440) to identify those RFID tag signals 441 associated with the pedestrian identified as passing through the pedestrian access point 438.

[0108] For example, the determined movement of the RFID tag 442 can indicate whether the RFID tag 442 is approaching or moving away from the first RFID scanner 433. The controller 435 can associate the RFID tag 442 with the pedestrian if the RFID tag 442 is determined to be approaching the first RFID scanner 433 within a predetermined time period before the controller 435 detects the pedestrian and / or if the RFID tag 442 is determined to be moving away from the first RFID scanner 433 within a predetermined time period after the controller 435 detects the pedestrian.

[0109] Figure 5 shows another example of a system for monitoring pedestrians within a warehouse as a pedestrian passes through pedestrian access point 538, similar to the system of FIG. 4. Features of FIG. 5 that also exist in FIG. 4 are given corresponding reference numbers in the 500s and need not necessarily be described again here.

[0110] The system includes a first RFID scanner 533, a second RFID scanner 544, a pedestrian detector 534, and a controller 535. The first RFID scanner 533 is mounted on the first entrance / exit side of the pedestrian access point 538. The second RFID scanner 544 is mounted on the second entrance / exit side of the pedestrian access point and is within the warehouse. In this way, the first RFID scanner 533 and the second RFID scanner 544 are spaced apart along a dimension corresponding to the direction in which a pedestrian can pass through the pedestrian access point 538.

[0111] The first RFID scanner 533 provides a first RFID signaling 540 to the controller 535. The second RFID scanner 544 provides a second RFID signaling 546 to the controller 535. The first RFID scanner 533 and the second RFID scanner 544 can each provide their respective first RFID signaling 540 and second RFID signaling 546 to the controller 535 wirelessly or via a wired connection.

[0112] Next, the controller 535 processes the first RFID signaling 540 and the second RFID signaling 546 to identify any RFID tag signal 541 from any of the respective RFID tags 542 in the first RFID signaling 540 and the second RFID signaling 546 that is associated with a pedestrian identified as passing through the pedestrian access point 538 and that is associated with an item of PPE that can be worn by the pedestrian and that includes a PPE identifier. This is similar to the process described with reference to FIG. 4, except that the controller 535 processes a second RFID signaling 546 that is not available to the controller of FIG. 4. Next, the controller 535 can determine whether any identified RFID tag signal 541 in the first RFID signaling 540 and the second RFID signaling 546 represents a complete set of PPE items for the pedestrian in the same manner as described above.

[0113] The advantage of the system of FIG. 5 is that the controller 535 can determine on which side of the pedestrian access point 538 the RFID tag 542 is. Thus, by tracking the movement of the RFID tag 542 over time (as described above with reference to FIGS. 2a and 2b), the controller 535 can more accurately and reliably associate any detected RFID tag 542 with a pedestrian detected as passing through the pedestrian access point 538. For example, the controller 535 can detect that the RFID tag 542 is moving towards the pedestrian access point 538 on one side of the pedestrian access point 538 and then away from the pedestrian access point 538 on the other side of the pedestrian access point 538, and only then can the controller 535 associate the RFID tag 542 with the pedestrian. As another example, if PPE is only required on one side of the pedestrian access point 538, then the controller 535 can process the first RFID signaling 540 and the second RFID signaling 546 to determine in which direction the pedestrian is moving as they pass through the pedestrian access point 538. The controller 535 can then associate the RFID tag signal with the pedestrian identified as passing through the pedestrian access point only if the RFID tag signal corresponds to a predetermined direction of travel through the pedestrian access point 538. In this way, the controller 535 can check for a complete set of PPE only when the pedestrian enters the area where PPE is required, rather than when they leave it.

[0114] As a further example, the controller 535 may perform only the step of determining whether any identified RFID tag signal in the first RFID signaling 540 and the second RFID signaling 546 represents a complete set of PPE items for the pedestrian if the controller 535 determines that the pedestrian is passing through the pedestrian access point 538 in a predetermined direction of travel. In this way, the controller 535 can identify the RFID tag signal 541 from the RFID tag 542 passing through the pedestrian access point 538 in both directions, but only perform a check of the complete set of PPE for tags passing in one direction.

[0115] As shown above with reference to FIG. 4, the pedestrian detector 534 can be implemented as one or more RFID scanners. For example, the first RFID scanner 533 and / or the second RFID scanner 544 can provide the functionality of the pedestrian detector 534 by providing RFID signaling 540, 546 to the controller 535, and the controller 535 can process the received RFID signaling 540, 546 to detect the presence of RFID tags 542 known to be associated with a pedestrian. Optionally, this can include one or more of the following (each of which is described in detail above): detecting RFID tags having a signal strength above a threshold, detecting RFID tags whose signal strength increases over time such that the RFID tag is identified as moving towards the pedestrian access point 538, detecting RFID tags whose signal strength increases and then decreases over time such that the RFID tag is identified as moving towards and then away from the pedestrian access point 538, and when two RFID scanners 533, 544 are present, detecting RFID tags whose signal strength increases over time when the RFID tag is on the first side of the pedestrian access point 538 (i.e., the RFID tag is moving towards the pedestrian access point 538 from the first side), and then whose signal strength decreases over time when the RFID tag is on the other side of the pedestrian access point 538 (i.e., the RFID tag is moving away from the pedestrian access point 538 from the second / other first side). Further, as discussed herein, when two RFID scanners 533, 544 are present, the system can use the relative signal strength to determine on which side of the pedestrian access point 538 the RFID tag is located.

[0116] In some examples, one or both of the RFID scanners 533, 544 can provide the functionality of the pedestrian detector 534 only for a predetermined set of RFID tags, e.g., only for RFID tags known to be associated with a pedestrian's ID badge. Such RFID tags can be identified by recognizing the associated badge identifier in the received RFID tag signal 541. This has the advantage that the RFID scanners 533, 544 can be used as the pedestrian detector 534 even when the pedestrian is not wearing any item of PPE. There is also the advantage that no additional components are required to detect pedestrians passing through the pedestrian access point 538.

[0117] Figure 6 shows a further example of a system for monitoring pedestrians in a warehouse as they pass through a pedestrian access point 638, similar to the systems of FIGS. 4 and 5. Features of FIG. 6 that also exist in FIG. 4 or FIG. 5 are given corresponding reference numbers in the 600s and need not necessarily be described again here.

[0118] In this example, the pedestrian access point is the entrance / exit 638. The first RFID scanner 633 is attached to the first side of the entrance / exit 638 and has a field of view and range graphically represented in FIG. 6 using reference 645. The field of view of the first RFID scanner 633 is directed towards the first side of the entrance / exit 638. The second RFID scanner 644 is attached to the second, other side of the entrance / exit 638 and has a field of view and range graphically represented in FIG. 6 using reference 646. The field of view of the second RFID scanner 644 is directed towards the second / other side of the entrance / exit 638.

[0119] Figure 6 shows a pedestrian 649 approaching the entrance 638 from the first side. The pedestrian 649 is wearing a highly visible safety vest 631 that includes at least one RFID tag 642. The RFID tag 642 is within the field of view 645 of the first RFID scanner 633 and thus provides an RFID tag signal to the first RFID scanner 633 in the same manner as described above. The pedestrian 649 is carrying a box 647, and the box 647 includes its own RFID tag 648. However, the RFID tag 648 included as part of the box 647 is not associated with an item of PPE, and its RFID tag signal does not include a PPE identifier. Thus, when determining whether the pedestrian 649 is wearing a complete set of PPE, the controller (not shown) of the system in Figure 6 does not consider the RFID tag signal returned from the RFID tag 648 of the box 647.

[0120] Figures 7a and 7b illustrate an exemplary embodiment of a safety vest 750 (in this example, a highly visible safety vest) for use in an industrial setting such as a warehouse. Figure 7a shows a front view of the vest 750 where the front portion of the vest 750 is visible. Figure 7b shows a rear view of the vest 750 where the rear portion of the vest 750 is visible.

[0121] As shown in Figure 7a, a plurality of RFID tags 742a are positioned on the front portion of the vest 750. In this example, there are 10 RFID tags 742a on the front portion, but it will be understood that in other examples there could be more or fewer RFID tags 742a. At least some of the RFID tags 742a can be arranged on the sides of the vest 750 such that when the vest 750 is being worn, these RFID tags 742a are visible to an RFID scanner positioned on the side of the person wearing the vest 750.

[0122] As shown in FIG. 7b, a plurality of RFID tags 742b are positioned on the back portion of the vest 750. In this example, there are six RFID tags 742b on the back portion, although it will be understood that in other examples there could be more or fewer RFID tags 742b. At least some of the RFID tags 742b can be arranged on the side surface of the vest 750 such that when the vest 750 is worn, these RFID tags 742b are visible to an RFID scanner positioned on the side of the person wearing the vest 750.

[0123] By providing a plurality of RFID tags 742a, 742b on the front and back of the vest 750, it may be possible for the vest 750 (and more importantly, ultimately the person wearing the vest 750) to be detected by an RFID scanner for various different orientations of the vest 750 with respect to the RFID scanner. For example, the RFID scanner can detect the vest 750 when the person wearing the vest 750 is standing, crouching, or walking in a left or right direction. Also, by providing a plurality of RFID tags 742a, 742b on a single vest 750, it may be possible to detect the vest 750 more reliably, as discussed above with reference to FIGS. 2a and 2b.

[0124] Each of the RFID tags 742a, 742b in this example has an associated spacer between the inside of the RFID tag, i.e., between the RFID tag and the person, when the safety vest is worn by a person, as described with reference to FIG. 7c.

[0125] Figure 7c shows an exemplary embodiment of an RFID tag 742 and an associated spacer 751 that can be provided on a safety vest 750 (or any other garment disclosed herein). The spacer 751 is positioned between the RFID tag 742 and the human body when the vest 750 is being worn. The use of such a spacer 751 can increase the range at which the RFID tag 742 can be detected by an RFID scanner of a given transmit power. This is because the fluids within the human body absorb the RF energy emitted from the RFID scanner, and thus, by separating the RFID 742 from the human body, the negative effects of the RF energy absorbed by the human body can be reduced.

[0126] The spacer 751 can be at least 12 mm thick and, in some applications, can be at least 16 mm thick. These thicknesses have been found to provide a good improvement in the detectability of the RFID tag 742 without making the vest 750 too bulky to handle.

[0127] The spacer 751 can include a foam material. The foam has a high dielectric constant and absorbs less RF energy than the human body. The foam is also advantageously lightweight.

[0128] Each of the RFID tags 742a, 742b includes an identifier that is provided as part of an RFID tag signal when excited by an RFID scanner. Such an identifier can also be referred to as an Electronic Product Code (EPC). In this example, the identifier of each RFID tag 742 is unique and has the following format. AAAA-BBBB-CCCC-DDDD Here, AAAA is a product type identifier indicating the type of safety vest to which the RFID tag 742 is associated. BBBB is a product provider identifier indicating the provider of the safety vest 750, or more generally, the pedestrian monitoring system to which the vest 750 is associated. CCCC is a best identifier that is the unique identifier of the best 750 with which the RFID tag 742 is associated. For example, the best identifier can be implemented as a serial number. In one example, the best identifier can be unique for a given product type identifier but can be reused for different product type identifiers. In this way, each combination of a product type identifier and a best identifier is unique. Such a best identifier is an example of the clothing identifier discussed above. DDDD is a unique tag identifier that is the unique identifier of each RFID tag 742 on any given safety best. The unique tag identifier can be considered a best location identifier that indicates the location on the best 750 on which each RFID tag 542 is worn. For example, the association between the unique tag identifier and the location of the associated RFID tag on the best can be stored in computer memory so that the controller can look up the location of the RFID 742 on the best 750 based on the received unique tag identifier.

[0129] In the example of the pedestrian monitoring system of FIGS. 2 to 6 disclosed above, the pedestrian monitoring system may preferentially scan RFID tags associated with pedestrians, such as clothing RFID tags 742 or badge RFID tags, at a higher repetition rate than the scan rate for other RFID tags (such as RFID tags for fixed infrastructure or inventory). For example, the repetition rate for pedestrian RFID tags can be 2 times, 3 times, 5 times, 10 times, or more than the repetition rate for other RFID tags. The pedestrian monitoring system may output a signal that excites only a specific type of tag and / or a signal having a specific identifier associated with the pedestrian RFID tag. Such RFID tags can have a microcontroller and memory, etc., and can be powered using the electromagnetic energy of the input RF wave from the reader. The RFID tag can have sufficient processing power so that it can determine whether to respond to an incoming request based on its identifier. Alternatively, or additionally, the controller can process RFID signals having identifiers associated with pedestrian RFID tags at a first processing speed and can process RFID signaling having any identifier at a second processing speed lower than the first processing speed. In this way, pedestrian tags can be scanned and / or detected more frequently, which can provide faster detection of pedestrians, which is particularly advantageous for vehicle scanning embodiments.

[0130] In the example of the pedestrian monitoring system of FIGS. 2-6 disclosed above, the controller can identify a specific pedestrian based on an RFID tag associated with an ID badge worn by the pedestrian. Specifically, the RFID signaling from the RFID tag in the badge may include an associated badge identifier. In some examples, the controller can associate the identifier of the RFID tag 742 of the PPE clothing with a specific badge identifier when the corresponding RFID signaling is received together. The controller can record the association of the identifier(s) of the PPE clothing(s) to the ID badge (and pedestrian) in a central server accessible by other controllers of the pedestrian monitoring system (on other FLT / vehicles or access points). In some examples, the pedestrian monitoring system may register the PPE clothing identifier(s) to the bade identifier after a threshold number of associations (e.g., 1 or 2 or 3) are recorded. In this way, the controller of the system may detect the presence of a specific pedestrian by detecting only a single clothing identifier. Later, if the controller detects different badge identifiers (of different pedestrians) having the same clothing identifier(s), the controller may unregister the previous pedestrian's badge identifier and / or register the new pedestrian's badge identifier to the clothing identifier(s).

[0131] The examples disclosed herein can also include algorithms that associate safety vests or other PPE with specific people. For example, all pedestrians may need to wear an ID badge that has a single RFID tag (including the associated badge identifier as discussed above). Since the ID badge has only a single RFID tag, it is very likely that an RFID scanner (such as those associated with the forklift trucks in FIGS. 2a - 2c) will miss the RFID tag signal from the RFID tag associated with the ID badge. This can be especially the case when the RFID scanner simultaneously excites one or more best RFID tags and receives multiple RFID tag signals from those RFID tags. However, depending on the number of each RFID tag, if it is possible to detect an RFID tag signal from the single RFID tag of the ID badge, the likelihood that the RFID scanner will miss the RFID tag signal from the best RFID tag (or other PPE RFID tag) is low. Therefore, if an RFID tag signal from the ID badge RFID tag is detected but an RFID tag signal from the best RFID tag (or other PPE RFID tag) is not detected, the controller can identify this as an instance of a pedestrian not wearing a complete set of personal protective equipment (PPE) and can take any of the corrective measures described herein.

[0132] FIG. 8 illustrates an exemplary embodiment of a method for monitoring pedestrians within a warehouse. The method includes, at step 860, receiving first RFID signaling from a first RFID antenna attached to a vehicle. At step 861, the method includes receiving second RFID signaling from a second RFID antenna attached to the vehicle. As discussed above, the field of view of the first RFID antenna is separated from the field of view of the second RFID antenna by a first dimension. At step 862, the method includes identifying an RFID tag signal from an RFID tag associated with a pedestrian in the first RFID signaling. At step 863, the method includes identifying an RFID tag signal from an RFID tag associated with a pedestrian in the second RFID signaling. Then, at step 864, the method includes determining the location of the pedestrian relative to the vehicle based on the RFID tag signals in both the first RFID signaling and the second RFID signaling.

[0133] FIG. 9 illustrates an exemplary embodiment of a method for monitoring pedestrians within a warehouse. The method includes, at step 971, receiving first RFID signaling from a first RFID antenna associated with a pedestrian access point within the warehouse. At step 972, the method includes identifying that a pedestrian is passing through, has passed through, or is attempting to pass through the pedestrian access point, and in response, at step 973, processing the first RFID signaling to identify any RFID tag signal from any of the one or more respective RFID tags that is associated with a pedestrian identified as passing through the pedestrian access point and that is associated with an item of PPE that can be worn by the pedestrian, determining, at step 973, whether any identified RFID tag signal represents a complete set of PPE items for the pedestrian, and including, at step 974, generating an alert output signal if an incomplete set of PPE items is determined.

Claims

1. A controller for monitoring pedestrians in a warehouse, the controller being configured to: receive first RFID signaling from a first RFID antenna attached to a vehicle; receive second RFID signaling from a second RFID antenna attached to the vehicle, wherein a field of view of the first RFID antenna is separated from a field of view of the second RFID antenna in a first dimension; identify RFID tag signals from RFID tags associated with pedestrians in the first RFID signaling; identify RFID tag signals from the RFID tags associated with the pedestrians in the second RFID signaling; determine a location of the pedestrian relative to the vehicle based on the RFID tag signals in both the first RFID signaling and the second RFID signaling.

2. The controller according to claim 1, further configured to provide an output signal based on the determined location of the pedestrian.

3. The controller according to claim 1 or 2, further configured to compare a signal strength of the RFID tag signals in the first RFID signaling with a signal strength of the RFID tag signals in the second RFID signaling to determine the location of the pedestrian relative to the vehicle in the first dimension.

4. identify a plurality of RFID tag signals from the RFID tags in the first RFID signaling over a time period; identify a plurality of RFID tag signals from the RFID tags in the second RFID signaling over the time period; determine movement of the pedestrian relative to the vehicle based on the plurality of RFID tag signals in both the first RFID signaling and the second RFID signaling; The controller according to any one of claims 1 to 3, further configured to provide an output signal based on the determined movement of the pedestrian.

5. The controller according to claim 4, further configured to provide an output signal based on the determined movement of the pedestrian and the determined location of the pedestrian.

6. Identifying a plurality of RFID tag signals from each of the plurality of RFID tags associated with the pedestrian in the first RFID signaling, Identifying a plurality of RFID tag signals from each of the plurality of RFID tags associated with the pedestrian in the second RFID signaling, The controller according to any one of claims 1 to 5, further configured to determine the location of the pedestrian relative to the vehicle based on the plurality of RFID tag signals in both the first RFID signaling and the second RFID signaling.

7. The controller according to claim 6, further configured to determine the location of the pedestrian relative to the vehicle based on the plurality of RFID tag signals in both the first RFID signaling and the second RFID signaling only when at least a threshold number of RFID tag signals from each of the RFID tags are identified in both the first RFID signaling and the second RFID signaling.

8. Each of the plurality of RFID tag signals, The controller according to claim 6 or 7, comprising a clothing identifier associated with clothing that can be worn by the pedestrian.

9. Each of the plurality of RFID tag signals, The controller according to claim 8, further comprising a clothing position identifier indicating a position on the clothing where each of the RFID tags is attached.

10. Identifying a plurality of RFID tag signals having the same clothing identifier from each of the plurality of RFID tags in each of the first RFID signaling and the second RFID signaling, Processing the clothing position identifier in each of the identified plurality of RFID tag signals to determine the orientation of the pedestrian wearing the clothing relative to the vehicle, The controller according to claim 9, further configured to provide an output signal based on the determined orientation of the pedestrian.

11. The controller according to any one of claims 1 to 10, further configured to identify the RFID tag signals in each of the first RFID signaling and the second RFID signaling only when the RFID tag signals have a signal strength greater than a threshold.

12. The controller according to any one of claims 1 to 11, further configured to identify the RFID tag signals in each of the first RFID signaling and the second RFID signaling only when the RFID signaling includes at least a threshold number of RFID tag signals from the RFID tag over a predetermined time period.

13. Receiving a vehicle speed signal representing the speed of the vehicle, The controller according to any one of claims 1 to 12, further configured to provide an output signal based on the determined location of the pedestrian and the vehicle speed signal.

14. Receiving third RFID signaling from a third RFID antenna attached to the vehicle, wherein a field of view of the third RFID antenna is offset in a second dimension that is transverse to the first dimension from the field of view of at least one of the first RFID antenna and the second RFID antenna, Receiving fourth RFID signaling from a fourth RFID antenna attached to the vehicle, wherein a field of view of the fourth RFID antenna is offset in the second dimension from the field of view of at least one of the first RFID antenna and the second RFID antenna, Identifying RFID tag signals from the RFID tags associated with the pedestrian in the third RFID signaling, Identifying RFID tag signals from the RFID tags associated with the pedestrian in the fourth RFID signaling, The controller according to any one of claims 1 to 13, further configured to determine a location of the pedestrian relative to the vehicle based on the RFID tag signals in each of the first RFID signaling, the second RFID signaling, the third RFID signaling, and the fourth RFID signaling.

15. A pedestrian monitoring system for a warehouse, the system comprising a first RFID antenna attached to a vehicle, a second RFID antenna attached to the vehicle, wherein a field of view of the first RFID antenna is spaced apart in a first dimension from a field of view of the second RFID antenna A controller, and the controller is configured to receive first RFID signaling from the first RFID antenna, receive second RFID signaling from the second RFID antenna, identify an RFID tag signal from an RFID tag associated with a pedestrian in the first RFID signaling, identify an RFID tag signal from the RFID tag associated with the pedestrian in the second RFID signaling, determine the location of the pedestrian relative to the vehicle based on the RFID tag signals in both the first RFID signaling and the second RFID signaling. A pedestrian monitoring system configured as such. **Claim 16** Further comprising a safety vest for wearing inside the warehouse, the vest having a plurality of RFID tags on the front portion of the safety vest for providing the RFID tag signal to the first RFID antenna, a plurality of RFID tags on the back portion of the safety vest for providing the RFID tag signal to the first RFID antenna. The system according to claim 15. **Claim 17** A method for monitoring pedestrians inside a warehouse, the method comprising receiving first RFID signaling from a first RFID antenna attached to a vehicle, receiving second RFID signaling from a second RFID antenna attached to the vehicle, wherein the field of view of the first RFID antenna is separated from the field of view of the second RFID antenna in a first dimension, identifying an RFID tag signal from an RFID tag associated with a pedestrian in the first RFID signaling, identifying an RFID tag signal from the RFID tag associated with the pedestrian in the second RFID signaling, determining the location of the pedestrian relative to the vehicle based on the RFID tag signals in both the first RFID signaling and the second RFID signaling. A method comprising. **Claim 18** A controller for monitoring pedestrians inside a warehouse, the controller being configured to receive first RFID signaling from a first RFID antenna associated with a pedestrian access point inside the warehouse, Identify that a pedestrian is passing through, has passed through, or is about to pass through the pedestrian access point, and in response thereto, Process the first RFID signaling to identify any RFID tag signal from one or more respective RFID tags, the RFID tag signal being associated with the pedestrian identified as passing through the pedestrian access point and associated with an item of PPE that can be worn by the pedestrian, the RFID tag signal including a PPE identifier. Determine whether any identified RFID tag signal represents a complete set of PPE items for the pedestrian. A controller configured to generate an alert output signal when an incomplete set of PPE items is determined.

19. Process the signal strength of any identified RFID tag signal over time to determine the movement of the associated RFID tag relative to the first RFID antenna. The controller according to claim 18, further configured to process the determined movement of any RFID tag to identify any RFID tag signal associated with the pedestrian identified as passing through the pedestrian access point.

20. The controller according to claim 18 or 19, further configured to compare the item of PPE associated with the identified RFID tag signal with a list of required PPE items.

21. The controller according to any one of claims 18 to 20, wherein the alert output signal includes details of one or more items of the PPE that have not been detected.

22. The first RFID antenna has a field of view associated with a first entrance / exit side of the pedestrian access point within the warehouse. The controller Receives second RFID signaling from a second RFID antenna having a field of view associated with a second entrance / exit side of the pedestrian access point. Processing the first RFID signaling and the second RFID signaling to identify any RFID tag signal from one or more respective RFID tags in the first RFID signaling and the second RFID signaling, the RFID tag signal being associated with a pedestrian identified as passing through the pedestrian access point and associated with an item of PPE that can be worn by the pedestrian and including a PPE identifier, The controller according to any one of claims 18 to 21, further configured to determine whether any identified RFID tag signal in the first RFID signaling and the second RFID signaling represents a complete set of the PPE items for the pedestrian. **Claim 23** A pedestrian monitoring system for a warehouse, the system comprising: A first RFID antenna associated with a pedestrian access point in the warehouse; A controller, wherein the controller: Receives first RFID signaling from the first RFID antenna; Identifies that a pedestrian is passing through, has passed through, or is about to pass through the pedestrian access point, and in response: Processes the first RFID signaling to identify any RFID tag signal from one or more respective RFID tags, the RFID tag signal being associated with a pedestrian identified as passing through the pedestrian access point and associated with an item of PPE that can be worn by the pedestrian and including a PPE identifier; Determines whether any identified RFID tag signal represents a complete set of PPE items for the pedestrian; A pedestrian monitoring system configured to generate an alert output signal when an incomplete set of PPE items is determined. **Claim 24** Further comprising a safety vest for wearing in the warehouse, the vest comprising: A plurality of RFID tags on the front portion of the safety vest for providing the RFID tag signal to the first RFID antenna; A plurality of RFID tags on the back portion of the safety vest for providing the RFID tag signal to the first RFID antenna, the system according to claim 23. **Claim 25** A method of monitoring pedestrians in a warehouse, the method comprising: Receiving first RFID signaling from a first RFID antenna associated with a pedestrian access point within a warehouse; Identifying that a pedestrian is passing through, has passed through, or is attempting to pass through the pedestrian access point, and in response thereto, Processing the first RFID signaling to identify any RFID tag signals from one or more respective RFID tags, the RFID tag signals being associated with the pedestrian identified as passing through the pedestrian access point and being associated with an item of PPE that can be worn by the pedestrian and including a PPE identifier; Determining whether any identified RFID tag signal represents a complete set of PPE items for the pedestrian; Generating an alert output signal if an incomplete set of PPE items is determined, a method.

26. A safety vest for wearing within a warehouse, Comprising a plurality of RFID tags on a front portion of the vest; And a plurality of RFID tags on a back portion of the vest, Each of the RFID tags having an associated spacer therebetween and the person when the safety vest is worn by a person, a safety vest.

27. The safety vest according to claim 26, wherein the spacer has a thickness of at least 12 mm and optionally at least 16 mm.

28. Each of the RFID tags includes an identifier that provides, as part of an RFID tag signal, when each of the RFID tags is excited by an RFID antenna; The identifier is A product type identifier indicating the type of safety vest with which the RFID tag is associated; A vest identifier that is a unique identifier of the vest with which the RFID tag is associated; The safety vest according to claim 26 or 27, including one or more of a unique tag identifier that is a unique identifier of each RFID tag on any given safety vest.

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