System and method for automatically detecting the presence or operability of an electromagnetic tracking device or tag installed on an object or worn by a person within an automated industrial operating environment

Abstract

The present invention relates to the field of automated industrial intralogistics. In particular, the present invention relates to a system for automatically detecting the presence or operability of an electromagnetic localization device or tag installed on an object or worn by a person within an automated industrial operating environment. The present invention also relates to a method for automatically detecting the presence or operability of an electromagnetic localization device or tag installed on an object or worn by a person within an automated industrial operating environment.

Description

[0001] “SYSTEM AND METHOD FOR AUTOMATICALLY DETECTING THE PRESENCE OR OPERABILITY OF AN ELECTROMAGNETIC TRACKING DEVICE OR TAG INSTALLED ON AN OBJECT OR WORN BY A PERSON WITHIN AN AUTOMATED INDUSTRIAL OPERATING ENVIRONMENT”

[0002] TECHNICAL FIELD OF THE INVENTION

[0003] The present invention relates to the field of automated industrial intralogistics. In particular, the present invention relates to a system for automatically detecting the presence or operability of an electromagnetic localization device or tag installed on an object or worn by a person within an automated industrial operating environment.

[0004] The present invention also relates to a method for automatically detecting the presence or operability of an electromagnetic localization device or tag installed on an object or worn by a person within an automated industrial operating environment.

[0005] STATE OF THE PRIOR ART

[0006] Modern intralogistics faces complex challenges in ensuring safety in environments where operators, manual vehicles, and automated guided vehicles (AGVs or LGVs) coexist. Increasing automation has improved operational efficiency but has introduced new risks related to the coexistence of operators and machines, making it essential to develop technologies to prevent accidental collisions and safeguard the safety of people and property.

[0007] AGVs are typically equipped with integrated safety devices, such as proximity sensors based on LIDAR, radar, ultrasound, and / or computer vision technologies. These tools detect obstacles and enable corrective measures, such as reducing speed or stopping the vehicle. However, the reliability of these systems is affected by various factors, including environmental factors such as dust, reflections, or poor lighting, which can reduce their effectiveness.

[0008] To complement existing systems, devices based on electromagnetic waves, particularly Ultra Wideband (UWB), have become widespread, offering the abilityto precisely detect operators and manual vehicles in motion. These devices use transmitter-receivers (also called "anchors") mounted on the AGVs themselves, which communicate with tags worn by operators or installed on manual vehicles. UWB technology stands out for its ability to operate in complex and crowded environments, ensuring reliable detection even in the presence of physical obstacles.

[0009] Despite the advantages offered by UWB devices, their operational effectiveness is closely linked to a series of specific conditions that can pose significant limitations. Among the main challenges is the mandatory use of electromagnetic localization tags, since the system's effectiveness depends on whether the electromagnetic localization tags are actually worn by operators or mounted on manual vehicles: if this is not the case, the detection function is completely nullified.

[0010] Another problem is related to the lack of automatic control, since the absence of a system that automatically verifies the presence and proper functioning of electromagnetic localization tags increases the risk of human error.

[0011] Another issue is related to technical failures and maintenance. With regard to this last aspect, tags can become unusable due to failures or malfunctions, compromising the safety of the automated industrial operating environment. Reliance on preventative maintenance introduces further complexity into operational management.

[0012] Another issue concerns the battery life of electromagnetic localization tags: their limited autonomy can be a critical issue, particularly in intensive operating environments. Battery depletion without adequate monitoring impedes detection, leaving some operators or vehicles exposed, effectively compromising their safety.

[0013] Finally, it should be noted that interference from materials in the environment and sources of electromagnetic waves, such as communication systems, power electronics, inductive charging systems, or similar, despite UWB electromagnetic waves being designed to minimize interference, can reducelocalization accuracy or, in extreme cases, system reliability.

[0014] In summary, current intralogistics security solutions based on electromagnetic wave technology, such as UWB waves, while representing a significant technological advancement, have limitations that reduce their effectiveness in real-world settings.

[0015] To date, the only viable solution to avoid these problems is through manual control procedures to ensure the effective use and functionality of electromagnetic localization tags.

[0016] Documents US2024159355A1, US2017225336A1, and US12056561B1 describe respective solutions according to the state of the prior art.

[0017] Furthermore, the scientific publication by Ding Guanqi et al: "Development of a High 1-16 G01S13 / 86 Precision UWB / Vision-based AGV and Control System", 2020 5th International Conference on Control and Robotics Engineering (ICCRE), IEEE, April 24, 2020 (2020-04-24), pages 99-103, teaches another solution according to the state of the prior art.

[0018] Therefore, it is necessary and advantageous to design and implement a new system and method for automatically detecting the presence or operability of an electromagnetic localization device or tag installed on an object or worn by a person within an automated industrial operating environment, which overcomes the disadvantages of the prior art listed above.

[0019] OBJECTS OF THE INVENTION

[0020] The technical aim of the present invention is therefore to improve the state of the art in the field of automated industrial intralogistics.

[0021] An object of the present invention is to provide a system and a method that allow to automatically detect the presence and / or operability of an electromagnetic localization device or tag installed on an object or worn by a person within an automated industrial operating environment.

[0022] Another object of the present invention is to provide a system and a method that increase the level of safety for persons and objects operating within an automated industrial operating environment.A further object of the present invention is to provide a system and a method that increase the reliability and safety of the electromagnetic localization device or tag.

[0023] Yet another object of the present invention is to provide a method and a system that allow anomalies and / or incorrect operator behaviours to be reported and recorded for possible subsequent verifications.

[0024] This technical aim and these objects are achieved by a system according to claim 1 and by a method according to claim 16.

[0025] The dependent claims relate to preferred and advantageous embodiments of the invention.

[0026] BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Further features and advantages of the invention will become more apparent from the description of an embodiment of a system and of a method for automatically detecting the presence and / or operability of an electromagnetic localization device or tag installed on an object or worn by a person within an automated industrial operating environment, illustrated by way of non-limiting example in the accompanying drawings, in which:

[0028] - figure 1 is a perspective view of a system according to an embodiment of the present invention, with a person positioned along the AGV's path,

[0029] - figure 2 is another perspective view of the embodiment of figure 1, with an object positioned along the AGV's path,

[0030] - figure 3 is a view of a system according to another embodiment of the present invention, and

[0031] - figure 4 is a view of a system according to a further embodiment of the present invention.

[0032] In the accompanying drawings, identical parts or components are identified by the same reference numbers or letters.

[0033] EMBODIMENTS OF THE INVENTION

[0034] With reference to the attached figures, reference number 1 indicates as a whole a system for automatically detecting the presence or operability of anelectromagnetic localization device or tag LT installed on an object O or worn by a person P within an automated industrial operating environment OE according to a non-limiting embodiment of the present invention.

[0035] With reference to objects O, they could be or include, for example, forklifts, pallet trucks, or other manual load-moving equipment.

[0036] With regard to persons P, they could be or include, for example, operators operating within the automated industrial operating environment OE.

[0037] So far as the automated industrial operating environment OE is concerned, it can be or include, for example, a factory or an automated industrial warehouse.

[0038] The system 1 for automatically detecting the presence or operability of an electromagnetic location device or tag LT installed on an object O or worn by a person P within an automated industrial operating environment OE according to the present invention comprises:

[0039] - at least one automatic guided vehicle or AGV 2 equipped with both of the following sensors 3, 4 or at least one first AGV equipped with one 3 or 4 of the following sensors 3, 4 and at least one second AGV equipped with the other 4 or 3 of the following sensors 3, 4:

[0040] i) at least one first electromagnetic detection sensor 3 configured to detect the presence of an object O or a person P along the path or in the vicinity of at least one AGV 2, for example within at least about 3 m or 4 m of its location, as function of electromagnetic signal information exchanged with and / or received from an electromagnetic localization device or tag LT installed on the object O or worn by the person P,

[0041] ii) at least one first optical and / or spatial perception sensor 4 configured to detect the presence of an object O or a person P along the path or in the vicinity of at least one AGV 2, for example within at least about 3 m or 4 m of its position, based on detected optical and / or geometric perception information,

[0042] - at least one first control and processing unit in communication with the first sensors 3, 4.

[0043] In particular, when at least one object O and / or at least one person P isdetected along the path or in the vicinity of at least one AGV 2, for example within about 3 m or 4 m of its position, by at least one of the first sensors 3, 4, the first control and processing unit is configured to:

[0044] a) acquire and process first information from the at least one first electromagnetic detection sensor 3 regarding the presence or absence of an object O or a person P along the path or in the vicinity of the at least one AGV 2, b) acquire and process second information from the at least one first optical and / or spatial perception sensor 4 regarding the presence or absence of an object O or a person P along the path or in the vicinity of the at least one AGV 2, and c) if the first information determines the absence of an object O or a person P whereas the second information determines the presence of an object O or a person P, report the absence or inoperability of the electromagnetic localization device or tag LT of the detected object O or person P.

[0045] In essence, as can be understood, if the at least one first optical and / or spatial perception sensor 4 has detected a person P or an object O whereas the at least one first electromagnetic detection sensor 3 has not detected such person P or such object O, it means that the electromagnetic localization device or tag LT of such person P or object O is not operational, for example due to a fault, a malfunction or simply because it has run out of battery or, in any case, is not present since it has not been worn by the person P or installed on the object O.

[0046] It should be noted that system 1 is able to automatically detect the presence or operability of an electromagnetic localization device or tag LT even for multiple persons P and / or objects O positioned on the path of the AGV 2 or entering its surroundings, since as soon as at least one of the first sensors 3, 4 detects a person P or an object O, the first control and processing unit is configured to perform the above-described control for each detected person P or object O. Thanks to this, it is also possible to detect any inconsistencies between the number of localization devices or tags LT detected by the at least one first electromagnetic detection sensor 3 and the number of persons P and / or objects O detected by the at least one first optical and / or spatial perception sensor 4.According to the non-limiting embodiment of the present invention illustrated in the figures, the AGV 2 is equipped with both sensors 3, 4, i.e., the at least one first electromagnetic detection sensor 3 and the at least one first optical and / or spatial perception sensor 4. However, according to another non-limiting embodiment of the present invention not illustrated in the figures, the system 1 could comprise at least a first AGV equipped with the at least one first electromagnetic detection sensor 3, and at least a second AGV equipped with the at least one first optical and / or spatial perception sensor 4, or vice versa: according to this example, when at least one of the sensors 3, 4 detects at least one object O and / or at least one person P along the path or in the vicinity of the first AGV or of the second AGV or in any case of any AGV, the first control and processing unit, which may be centralized and therefore external to the first and second AGV, is configured to:

[0047] a) acquire and process first information from the at least one first detection sensor electromagnetic 3 regarding the presence or absence of an object O or a person P along the path or in the vicinity of the first AGV or of the second AGV or of any AGV,

[0048] b) acquire and process second information from at least one first optical and / or spatial perception sensor 4 regarding the presence or absence of an object O or a person P along the path or in the vicinity of the first AGV or of the second AGV or of any AGV, and

[0049] c) if the first information determines the absence of an object O or a person P whereas the second information determines the presence of an object O or a person P, report the absence or inoperability of the electromagnetic localization device or tag LT of the detected object O or person P.

[0050] In other words, according to this example, two distinct AGVs can each be equipped with a respective type of sensor 3, 4 and can collaborate by communicating the first and second information respectively to the first control and processing unit so that the latter determines whether or not the electromagnetic localization device or tag LT of the detected object O or person Pis absent or inoperative.

[0051] So far as the AGV 2 is concerned, it can be of any type, typically including movement means, for example wheels or tracks, and corresponding actuation means, for example an electric motor, a frame equipped with loads movement and picking means, for example forks or grippers, and of course a central management unit or control unit.

[0052] The first control and processing unit may be included in the AGV 2 and may or may not coincide with the central management unit or control unit of the latter or, limited to some functions, it may be external to the AGV 2 and centralized to serve multiple AGV 2s present in the automated industrial operating environment OE. In the cases just mentioned, except for the case in which the first control and processing unit coincides with the central management unit or control unit of at least one AGV 2, this first control and processing unit is in communication with the central management unit or control unit of at least one AGV 2 present in the automated industrial operating environment OE.

[0053] Furthermore, it should be noted that, advantageously, the at least one first control and processing unit is capable of simultaneously acquiring the first information from the at least one first electromagnetic detection sensor 3 and the second information from the at least one first optical and / or spatial perception sensor 4.

[0054] With regard to the at least one first electromagnetic detection sensor 3, it is advantageously selected from the group comprising: UWB sensors, RFID sensors, Wi-Fi sensors, Bluetooth sensors, or radio sensors.

[0055] Preferably, the at least one first electromagnetic detection sensor 3 is a UWB sensor, since it allows precise localization of persons P, such as for example operators, or objects O, such as for example a manual transport means, within the automated industrial operating environment OE.

[0056] Optionally, the at least one first electromagnetic detection sensor 3 comprises a plurality of electromagnetic detection sensors 3, for example, a plurality of UWB sensors, i.e., UWB transmitter-receiver devices also called"anchors," installed and distributed on the AGV frame 2 so as to easily acquire electromagnetic signal information from any direction.

[0057] With reference to the electromagnetic localization device or tag LT, the latter is a device that must be worn for safety purposes by a person P, such as for example an operator, and / or installed on an object O, such as for example a manual transport means, which is used in the automated industrial operating environment OE.

[0058] The electromagnetic location device or tag LT may be, for example, a UWB (Ultrawideband) device or tag, an RFID device or tag, a Bluetooth device or tag, a Wi-Fi device or tag, or a radio device or tag.

[0059] The electromagnetic location device or tag LT is based on the same technology as the at least one first electromagnetic detection sensor 3, i.e., if, for example, the at least one first electromagnetic detection sensor 3 is a UWB sensor, the electromagnetic location device or tag LT worn by persons P or mounted on objects O present in the automated industrial operating environment OE will also be a UWB device or tag. In this way, the at least one first electromagnetic detection sensor 3 is capable of sending and / or receiving electromagnetic signal information to / from the electromagnetic location device or tag LT installed on object O or worn by person P for the real-time localization of that object O or person P.

[0060] It should be noted that the localization device or tag LT is preferably worn by a person P or installed on an object O in a position that allows its external visibility, thus avoiding possible interference for the first electromagnetic detection sensor 3. For example, in the case of a person P, it could be worn on an arm or chest, while in the case of an object O, such as a manual transport means, it could be installed on the frame in a visible position.

[0061] With reference to the at least one first optical and / or spatial perception sensor 4, it is advantageously selected from the group comprising: cameras, lidar sensors, sonar sensors, or radar sensors.

[0062] Preferably, the at least one first optical and / or spatial perception sensor 4 isa camera, for example, an RGB or infrared stereoscopic camera. Advantageously, the at least one first optical and / or spatial perception sensor 4 comprises a software component that implements one or more recognition algorithms, for example based on neural networks pre-trained on RGB images, for defining the three-dimensional position of the person P and / or the object O.

[0063] Optionally, the at least one first optical and / or spatial perception sensor 4 comprises a plurality of optical and / or spatial perception sensors 4, for example, a plurality of cameras, installed, for example distributed, on the AGV 2 or, more specifically, on the frame of the AGV 2, so as to cover the 360° field of view of the AGV 2 itself.

[0064] The resolution and acquisition speed of the at least one first optical and / or spatial perception sensor 4 may vary depending on the requirements.

[0065] Preferably, therefore, the at least one AGV 2 is equipped with a plurality of first electromagnetic detection sensors 3 and a plurality of first optical and / or spatial perception sensors 4.

[0066] From a functional point of view, reporting the absence or inoperability of the electromagnetic localization device or tag LT of the detected object O or person P advantageously involves slowing or stopping the at least one AGV 2 and / or activating a visual and / or audible alarm.

[0067] If desired, in addition to at least one AGV 2, other AGVs present in the automated industrial operating environment OE could also be slowed or stopped.

[0068] Thus, for example, in the event that the inoperability or absence of the electromagnetic localization device or tag LT of the object O or of the person P is detected, it is possible to activate sirens and / or lights or headlights of the AGV 2 and / or a recorded warning that alerts the person P to the condition of inoperability or absence of the electromagnetic localization device or tag LT, for example by means of loudspeakers installed on the AGV 2 itself or in the automated industrial operating environment OE.

[0069] Preferably, in the event that the inoperability or absence of theelectromagnetic localization device or tag LT of the object O or of the person P is detected, it is possible, in addition to informing the AGV 2 of the presence of a person P or of an object O and slowing down or stopping, wholly or partially, the AGV 2 itself, also to slow down or stop, wholly or partially, the plant or factory served by the automated industrial operating environment OE, for example on the basis of the estimated risk level for each area.

[0070] Optionally, the signaling of the absence or inoperability of the electromagnetic localization device or tag LT also comprises recording the position at which such event occurred and / or the acquisition of images for subsequent verifications.

[0071] In the event that both the first information and the second information determine the presence of an object O or of a person P, i.e., the first information are coherent with the second information, the first control and processing unit may be configured to cause the at least one AGV 2 to slow down or stop and / or to activate a visual and / or audible alarm. In other words, in such a case the AGV 2 behaves according to what is defined in the operating program, for example by slowing down or stopping, and optionally activating suitable visual and / or audible warnings to alert the person P to the presence of the AGV 2, for example by means of light signals emitted by the electromagnetic localization device or tag LT or by means of loudspeakers installed on the AGV 2 and / or in the automated industrial operating environment OE.

[0072] Conversely, if the first information indicates the presence of an object O or of a person P whereas the second information indicates the absence of an object O or of a person P, the first control and processing unit is preferably configured to signal an anomaly. In other words, if the at least one first electromagnetic detection sensor 3 has detected the presence of an object O or of a person P while the at least one first optical and / or spatial perception sensor 4 has detected the absence of an object O or of a person P, this may indicate that the object O or the person P is in proximity to the AGV 2 but is not detectable by the at least one first optical and / or spatial perception sensor 4.If desired, reporting the anomaly may include slowing down or stopping the at least one AGV 2 and / or activating a visual and / or audible alarm. In this regard, optionally, in addition to at least one AGV 2, other AGVs present in the automated industrial operating environment OE may also be slowed down or stopped.

[0073] Optionally, the signaling of the anomaly also comprises recording the position at which the anomaly occurred and / or the acquisition of images for subsequent verifications.

[0074] Thus, for example, in the event of detection of such an anomaly, it is possible to activate sirens and / or lights or headlights of the AGV 2 and / or a recorded warning that alerts the person P to the anomalous situation, for example by means of loudspeakers installed on the AGV 2 itself or in the automated industrial operating environment OE.

[0075] As can be understood, the system 1 is therefore capable of verifying whether a person P or an object O within an automated industrial operating environment OE is wearing or is provided with a functioning electromagnetic localization device or tag LT and, if not, of simultaneously signaling its absence or inoperability. Such system 1 therefore makes it possible to manage also all cases in which the electromagnetic localization device or tag LT becomes discharged or undergoes a fault or malfunction during the activity of a person P or during the use of an object O in the automated industrial operating environment OE.

[0076] Preferably, the system 1 defines at least one verification zone VZ, at which a verification station VS is provided, said verification station comprising:

[0077] - at least one second electromagnetic detection sensor 5 configured to detect the presence of an object O or of a person P in the verification zone VZ as a function of electromagnetic signal information exchanged with and / or received from an electromagnetic localization device or tag LT installed on an object O or worn by a person P, and

[0078] - at least one second optical and / or spatial perception sensor 6 configured to detect the presence of an object O or of a person P in the verification zone VZ as afunction of detected optical and / or geometrical perception information, and - at least one second control and processing unit in communication with said second sensors 5, 6.

[0079] In particular, when at least one object O and / or at least one person P is detected in the verification zone VZ by means of at least one of the second sensors 5, 6, the second control and processing unit is configured to:

[0080] a) acquire and process third information from the at least one second electromagnetic detection sensor 5 about the presence or absence of an object O or of a person P in the verification zone VZ,

[0081] b) acquire and process fourth information from the at least one second optical and / or spatial perception sensor 6 about to presence or absence of an object O or of a person P in the verification zone VZ, and

[0082] c) if the third information determines the absence of an object O or of a person P whereas the fourth information determines the presence of an object O or of a person P, report the absence or inoperability of the electromagnetic localization device or tag LT of the detected object O or person P.

[0083] It should be noted that the verification station VS is capable of automatically detecting the presence and / or operability of an electromagnetic localization device or tag LT also for multiple persons P and / or objects O located in the verification zone VZ, since, as soon as at least one of the second sensors 5, 6 detects a person P or an object O, the second control and processing unit is configured to perform the above-described check for each detected person P or object O. Thanks to this, it is also possible to detect any inconsistencies between the number of localization devices or tags LT detected by the at least one second electromagnetic detection sensor 5 and the number of persons P and / or objects O detected by the at least one second optical and / or spatial perception sensor 6.

[0084] Advantageously, reporting the absence or inoperability of the electromagnetic localization device or tag LT of the detected object O or person P includes activating a visual and / or audible alarm.

[0085] Thus, for example, in the event that the inoperability or absence of theelectromagnetic localization device or tag LT of the object O or of the person P in the verification zone VZ is detected, it is possible to activate sirens and / or lights or headlights and / or a recorded warning that alerts the person P to the condition of inoperability or absence of the electromagnetic localization device or tag LT, for example by means of loudspeakers installed in the verification zone VZ or, in any case, in the automated industrial operating environment OE.

[0086] Advantageously, the at least one verification zone is defined at a respective entrance E for persons P and / or objects O into the automated industrial operating environment OE. In this way, it is possible to verify the initial presence and operability of the electromagnetic localization device or tag LT before a person P or an object O enters the automated industrial operating environment OE and, if necessary, to promptly signal the absence or inoperability of such electromagnetic localization device or tag LT.

[0087] According to the non-limiting embodiment of the present invention illustrated in figures 3 and 4, the verification station VS comprises a frame 7 on which the at least one second electromagnetic detection sensor 5 and the at least one second optical and / or spatial perception sensor 6 are mounted.

[0088] A second control and processing unit may be provided locally at each second sensor 5, 6 or may be a single centralized unit configured to serve all the second sensors 5, 6 present in the automated industrial operating environment OE. In the cases just mentioned, the second control and processing unit is in communication with the second sensors 5, 6 in order to process and manage the received information. In general, the second control and processing unit may, functionally and technologically, be similar to the first control and processing unit or may even coincide therewith.

[0089] As regards the at least one second electromagnetic detection sensor 5, it is advantageously selected from the group comprising: UWB sensors, RFID sensors, Wi-Fi sensors, Bluetooth sensors or radio sensors.

[0090] Preferably, the at least one second electromagnetic detection sensor 5 is a UWB sensor, since it allows precise localization of persons P, such as for exampleoperators, or objects O, such as for example a manual transport means, within the verification zone VZ.

[0091] Optionally, the at least one second electromagnetic detection sensor 5 comprises a plurality of electromagnetic detection sensors 5, for example a plurality of UWB sensors, installed and distributed on the frame 7 comprised in the verification station VS.

[0092] As regards the at least one second optical and / or spatial perception sensor 6, it is advantageously selected from the group comprising: cameras, lidar sensors, sonar sensors, or radar sensors.

[0093] Preferably, the at least one second optical and / or spatial perception sensor 6 is a camera, for example an RGB stereoscopic camera or an infrared camera.

[0094] Advantageously, the at least one second optical and / or spatial perception sensor 6 comprises a software component implementing one or more recognition algorithms, for example based on neural networks pre-trained on RGB images, for determining the three-dimensional position of the person P and / or of the object O.

[0095] Optionally, the at least one second optical and / or spatial perception sensor 6 is positioned above the person P or object O located in the verification zone VZ, for example on a crossbeam or on an upper portion of the frame 7.

[0096] The resolution and acquisition speed of the at least one second optical and / or spatial perception sensor 6 may vary according to requirements.

[0097] As can be understood, according to the non-limiting embodiment of the present invention shown in figures 3 and 4, when a person P enters the automated industrial operating environment OE or an object O is introduced therein, such person P or object O stops or passes through the verification station VZ so as to allow verification of the presence and / or operability of the electromagnetic localization device or tag LT. This therefore constitutes a first safety check, which preferably takes place when a person P or an object O enters the automated industrial operating environment. Following the entry of the person P or object O into the automated industrial operating environment OE, the at least one AGV 2 is capable of continuously verifying whether the electromagnetic localization deviceor tag LT is functioning.

[0098] Subject-matter of the present invention is also a method for automatically detecting the presence and / or operability of an electromagnetic localization device or tag LT installed on an object O or worn by a person P within an automated industrial operating environment OE by means of a system according to the present invention or according to non-limiting embodiments thereof.

[0099] In particular, when the presence of an object O or of a person P is detected along the path or in the vicinity of at least one AGV 2 by means of at least one of the first sensors 3, 4, the method according to the present invention comprises a step of acquiring and processing, by means of the first control and processing unit, first information from the at least one first electromagnetic detection sensor 3 about the presence or absence of an object O or of a person P along the path or in the vicinity of the at least one AGV 2, for example within at least about 3 m or 4 m from its position.

[0100] A further step is provided of acquiring and processing, by means of the first control and processing unit, second information from the at least one first optical and / or spatial perception sensor 4 about the presence or absence of an object O or of a person P along the path or in the vicinity of the at least one AGV 2, for example within at least about 3 m or 4 m from its position, and, if the first information indicates the absence of an object O or of a person P whereas the second information indicates the presence of an object O or of a person P, a step of reporting the absence or inoperability of the electromagnetic localization device or tag LT of the detected object O or person P is provided.

[0101] The reporting of the absence or inoperability of the electromagnetic localization device or tag LT may comprise a step of slowing down or stopping the AGV 2 and / or a step of activating a visual and / or audible alarm, for example a siren and / or lights or headlights of the AGV 2 and / or a recorded warning that alerts the person P to the condition of inoperability or absence of the electromagnetic localization device or tag LT, for example by means of loudspeakers installed on the AGV 2 itself or in the automated industrial operatingenvironment OE.

[0102] In the case in which the system 1 provides at least one verification zone VZ with the verification station VS, the corresponding second sensors 5, 6 described above, and the at least one second control and processing unit, the method may initially comprise a step of acquiring and processing, by means of the second control and processing unit, third information from the at least one second electromagnetic detection sensor 5 about the presence or absence of an object O or of a person P in the verification zone VZ.

[0103] A further step is provided of acquiring and processing, by means of the second control and processing unit, fourth information from the at least one second optical and / or spatial perception sensor 6 about the presence or absence of an object O or of a person P in the verification zone VZ and, if the third information indicates the absence of an object O or of a person P whereas the fourth information indicates the presence of an object O or of a person P, a step is therefore provided of reporting the absence or inoperability of the electromagnetic localization device or tag LT of the detected object O or person P.

[0104] The reporting of the absence or inoperability of the electromagnetic localization device or tag LT may comprise a step of activating sirens and / or lights or headlights and / or a recorded warning that alerts the person P to the condition of inoperability or absence of the electromagnetic localization device or tag LT, for example by means of loudspeakers installed in the verification zone VZ or, in any case, in the automated industrial operating environment OE.

[0105] The system 1 and the method according to the present invention make it possible to automatically detect the presence and / or operability of an electromagnetic localization device or tag LT installed on an object O or worn by a person P within an automated industrial operating environment OE. This eliminates the risk of human error generated by typical manual verifications performed on electromagnetic localization devices or tags LT.

[0106] The system and the method according to the present invention therefore make it possible to increase the level of safety for persons P and objects Ooperating within the automated industrial operating environment OE.

[0107] Moreover, the system 1 and the method according to the present invention increase the reliability and safety of the electromagnetic localization devices or tags LT mounted on the objects O or worn by the persons P present in the automated industrial operating environment OE.

[0108] Finally, the system 1 and the method also allow for the reporting and recording of anomalies and / or incorrect behaviours of people P for any subsequent verifications.

[0109] It has thus been shown how the invention fully achieves the intended objects.

[0110] Modifications and variations of the invention are possible within the scope of protection defined by the claims.

Claims

CLAIMS1. System (1) for automatically detecting the presence or operability of an electromagnetic localization device or tag (LT) installed on an object (O) or worn by a person (P) within an automated industrial operating environment (OE), comprising:- at least one automatic guided vehicle or AGV (2) equipped with both of the following sensors (3, 4) or at least one first AGV equipped with one (3 or 4) of the following sensors (3, 4) and at least one second AGV equipped with the other (4 or 3) of the following sensors (3, 4):i) at least one first electromagnetic detection sensor (3) configured to detect the presence of an object (O) or a person (P) along the path or in the vicinity of at least one AGV (2) as a function of electromagnetic signal information exchanged with and / or received from an electromagnetic localization device or tag (LT) installed on the object (O) or worn by the person (P),ii) at least one first optical and / or spatial perception sensor (4) configured to detect the presence of an object (O) or a person (P) along the path or in the vicinity of at least one AGV (2) as a function of detected optical and / or geometric perception information,- at least one first control and processing unit in communication with said first sensors (3, 4),wherein, when at least one object (O) and / or at least one person (P) is detected along the path or in the vicinity of at least one AGV (2) by means of at least one of said first sensors (3, 4), said first control and processing unit is configured to:a) acquire and process first information from said at least one first electromagnetic detection sensor (3) about the presence or absence of an object (O) or a person (P) along the path or in the vicinity of said at least one AGV (2), b) acquire and process second information from said at least one first optical and / or spatial perception sensor (4) about the presence or absence of an object (O) or a person (P) along the path or in the vicinity of said at least one AGV (2), andc) if the first information determines the absence of an object (O) or a person (P) whereas the second information determines the presence of an object (O) or a person (P), report the absence or inoperability of the electromagnetic localization device or tag (LT) of the detected object (O) or person (P).

2. System according to the preceding claim, wherein said at least one first electromagnetic detection sensor (3) is selected from the group comprising: UWB sensors, RFID sensors, Wi-Fi sensors, Bluetooth sensors or radio sensors.

3. System according to the preceding claim, wherein said at least one first electromagnetic detection sensor (3) is a UWB sensor.

4. System according to any one of the preceding claims, wherein said at least one first optical and / or spatial perception sensor (4) is selected from the group comprising: cameras, lidar sensors, sonar sensors or radar sensors.

5. System according to the preceding claim, wherein said at least one first optical and / or spatial perception sensor (4) is a camera.

6. System according to any one of the preceding claims, wherein said at least one AGV (2) is equipped with a plurality of first electromagnetic detection sensors (3) and a plurality of first optical and / or spatial perception sensors (4).

7. System according to the preceding claim, wherein said plurality of first optical and / or spatial perception sensors (4) are installed on said AGV (2) so as to cover the 360° field of view of said AGV (2).

8. System according to any one of the preceding claims, wherein if said first information determines the presence of an object (O) or a person (P) while said second information determines the absence of an object (O) or a person (P), said first control and processing unit is configured to report an anomaly.

9. System according to the preceding claim, wherein the reporting of the anomaly comprises slowing down or stopping said at least one AGV (2) and / or activating a visual and / or audible alarm.

10. System according to claim 8 or 9, wherein the reporting of the anomaly also includes the recording of the position where the anomaly occurred and / or the acquisition of images for subsequent verifications.

11. System according to any one of the preceding claims, wherein the reporting of the absence or inoperability of the electromagnetic localization device or tag (LT) of the detected object (O) or person (P) comprises slowing down or stopping said AGV (2) and / or activating a visual and / or audible alarm.

12. System according to the preceding claim, wherein the reporting of the absence or inoperability of the localization device or tag (LT) also includes the recording of the position in which such event occurred and / or the acquisition of images for subsequent verifications.

13. System according to any one of the preceding claims, delimiting at least one verification zone (VZ) at which a verification station (VS) is included that comprises:- at least one second electromagnetic detection sensor (5) configured to detect the presence of an object (O) or a person (P) in said verification zone (VZ) as a function of electromagnetic signal information exchanged with and / or received from an electromagnetic localization device or tag (LT) installed on the object (O) or worn by the person (P) in said verification zone (VZ), and- at least one second optical and / or spatial perception sensor (6) configured to detect the presence of an object (O) or a person (P) in said verification zone (VZ) as a function of detected optical and / or geometric perception information, - at least one second control and processing unit in communication with said second sensors (5, 6),wherein, when at least one object (O) and / or a person (P) is detected in said verification zone (VZ) by at least one of said second sensors (5, 6), said second control and processing unit is configured to:a) acquire and process third information from said at least one second electromagnetic detection sensor (5) about the presence or absence of an object (O) or a person (P) in said verification zone (VZ),b) acquire and process fourth information from said at least one second optical and / or spatial perception sensor (6) about the presence or absence of an object (O) or a person (P) in said verification zone (VZ), andc) if said third information determines the absence of an object (O) or a person (P) whereas said fourth information determines the presence of an object (O) or a person (P), report the absence or inoperability of the electromagnetic localization device or tag (LT) of the detected object (O) or person (P).

14. System according to the preceding claim, wherein said at least one verification zone is delimited at a respective entry (E) for persons (P) and / or for objects (O) in the automated industrial operating environment (OE).

15. System according to claim 13 or 14, wherein said verification station (VS) comprises a frame (7) on which said at least one second electromagnetic detection sensor (5) and said at least one second optical and / or spatial perception sensor (6) are mounted.

16. Method for automatically detecting the presence or operability of an electromagnetic localization device or tag (LT) installed on an object (O) or worn by a person (P) within an automated industrial operating environment (OE) with a system according to any one of the preceding claims, comprising, when the presence of an object (O) or a person (P) is detected along the path or in the vicinity of at least one AGV (2) by at least one of the first sensors (3, 4), the steps of:- acquiring and processing, by means of the first control and processing unit, first information from said at least one first electromagnetic detection sensor (3) about the presence or absence of an object (O) or a person (P) along the path or in the vicinity of said at least one AGV (2),- acquiring and processing, by means of the first control and processing unit, second information from said at least one first optical and / or spatial perception sensor (4) about the presence or absence of an object (O) or a person (P) along the path or in the vicinity of said at least one AGV (2), and- if the first information determines the absence of an object (O) or a person (P) whereas the second information determines the presence of an object (O) or a person (P), report the absence or inoperability of the electromagnetic localization device or tag (LT) of the detected object (O) or person (P).

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