US 12,093,046 B2
Method for locating a mobile target in an automated warehouse
Marco Martalò, Viano (IT); Gianluigi Ferrari, Viano (IT); Gianmichele Verdano, Viano (IT); Simone Perri, Viano (IT); Francesco Monica, Viano (IT); and Francesco De Mola, Viano (IT)
Assigned to E80 GROUP S.P.A., Viano (IT)
Appl. No. 17/598,722
Filed by E80 Group S.p.A., Viano (IT)
PCT Filed Jan. 10, 2020, PCT No. PCT/IB2020/050184
§ 371(c)(1), (2) Date Sep. 27, 2021,
PCT Pub. No. WO2020/201837, PCT Pub. Date Oct. 8, 2020.
Claims priority of application No. 102019000004801 (IT), filed on Mar. 29, 2019.
Prior Publication US 2022/0147048 A1, May 12, 2022
Int. Cl. G05D 1/00 (2024.01); G01S 3/02 (2006.01); G01S 3/46 (2006.01); G01S 3/50 (2006.01)
CPC G05D 1/0212 (2013.01) [G01S 3/023 (2013.01); G01S 3/46 (2013.01); G01S 3/50 (2013.01); G05D 1/0088 (2013.01); G05D 1/0276 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method for localization of a mobile target in a warehouse comprising the following steps:
providing in said warehouse a mobile target provided with at least one signal emitter,
emitting a signal by said at least one signal or signals emitter,
providing in said warehouse an automatic guided vehicle provided with a plurality of anchors for receiving signals, said anchors being provided with respective antennas designed to detect the signal emitted by said signal emitter, at least one antenna being provided for each anchor,
receiving said at least one signal emitted by the mobile target by said anchors,
classifying, by each of said anchors, the signal/s emitted by said mobile target and received by said anchors,
providing a first rough estimation of a position of the mobile target so as to establish or select an area or quadrant of warehouse around the automatic guided vehicle in which it is located, after defining a suitable number and conformation of such areas,
conducting a second accurate estimate of the position of said mobile target by means of one or more sub-units or subsets of anchors (obtained starting from the signals received through a TDoA method).