Method and an apparatus for the identification and localization of objects

• US 6,641,042 B1
• Filed: 08/22/2000
• Issued: 11/04/2003
• Est. Priority Date: 08/25/1999
• Status: Expired due to Term

• Current Assignee: Sick AG (Sick)
• Original Assignee: Sick AG (Sick)
• Inventors: Pierenkemper, Hans-Werner, Kilian, Reinhold, Reichenbach, Jürgen
• Primary Examiner(s): Le, Thien M.
• Assistant Examiner(s): Sanders, Allyson
• Application Number:
  US09/644,061
• Time in Patent Office: 1,169 Days
• Field of Search: 235/462.01, 235/461, 235/462.46, 235/472.02, 235/470
• US Class Current: 235/462.01
• CPC Class Codes: F16P 3/144 using light grids
• CPC Class Codes: F16P 3/147 using electro-magnetic technology, e.g. tags or radar
• CPC Class Codes: G06K 17/0022 arrangements or provisious for transferring data to distant stations, e.g. from a sensing device "transfer between computer elements G06F13/00 "; data-transmission H04L
• CPC Class Codes: G06K 7/0008 General problems related to the reading of electronic memory record carriers, independent of its reading method, e.g. power transfer
• CPC Class Codes: G06K 7/10435 the interrogation device being positioned close to a conveyor belt or the like on which moving record carriers are passing conveying in accordance with bodily destination marks, see B65G47/46, sorting of objects carrying identity markings, see B07C5/34
• CPC Class Codes: G06K 7/10861 sensing of data fields affixed to objects or articles, e.g. coded labels postal sorting B07C3/14, conveying articles B65G47/48

Abstract

A method is described for the identification and localization of objects, where at least one transponder provided on the respective object is excited to emit transponder data stored in the transponder which characterize the respective object and where the transponder data emitted are detected. The object is additionally scanned by at least one optical sensor. Furthermore, the object is identified and its location determined from a combination of optical data detected by the optical sensor and the transponder data identified. Furthermore, a corresponding apparatus for the performance of the method is described.

Claims

1. A method for identification and localization of objects, where at least one transponder provided on a respective object is excited to emit transponder data stored in the transponder which characterize the respective object and where the transponder data emitted are detected, the object being additionally scanned by at least one optical sensor and the object being identified and the object location being determined from a combination of optical data detected by the optical sensor and the transponder data identified.

2. A method in accordance with claim 1, wherein the localization is performed by analysis of the optical data.

3. A method in accordance with claim 1, wherein the identification of the object is performed by analysis of the transponder data.

4. A method in accordance with claim 1, including detecting a barcode arranged on the object and decoded by the optical sensor and identifying the object and determining the object location from the decoded barcode data together with the transponder data.

5. A method in accordance with claim 4, wherein at least a part of the data stored in the transponder corresponds to the data encoded in the barcode, wherein the transponder data detected are compared to the corresponding decoded barcode data, and including seeking an agreement between the recognized partial barcode data and the detected transponder data in the event of incompletely recognized barcode data, and, if such agreement is found, identifying the object with the transponder data and determining the object location from the location of the partially decoded barcode.

6. A method in accordance with claim 1, characterized in that at least a part of the data stored in the transponder corresponds to the data encoded in the barcode, in that the transponder data detected are compared to the correspondingly decoded barcode data, and in that the object is only deemed to be successfully identified in accordance with the data in the case of a corresponding agreement between the transponder data and the barcode data.

7. A method in accordance with claim 1, wherein an optical reflectance profile of the object is determined by the optical sensor, wherein the reflectance profile determined is examined for values representative of the optical forming of the transponder for the optical detection of the location of the transponder, and wherein, if the transponder is recognized, the localization of the object is performed by analysis of the recognized location of the transponder and the identification of the object by analysis of the transponder data detected.

8. A method in accordance with claim 7 wherein, for the recognition of the transponder, the reflectance profile is examined for unmistakable areas of given optical properties, and wherein, if one single corresponding area is recognized on the object, this area is identified as the transponder.

9. A method in accordance with claim 1, wherein an optical reflectance profile of the scanned object is determined by the optical sensor, wherein the reflectance profile determined is compared to a reflectance profile of the object bearing the transponder determined from the transponder data detected and stored in the transponder, and wherein, in the event of sufficient agreement between the reflectance profiles, the scanned object is identified by the transponder data detected.

10. A method in accordance with claim 7, wherein the optical three-dimensional reflectance profile of the object is determined.

11. A method in accordance with claim 1, wherein geometrical data of the object are determined by the optical sensor, wherein the geometrical data determined are compared to corresponding geometrical data of the object bearing the transponder determined from the transponder data detected and stored in the transponder, and wherein, in the event of sufficient agreement between the geometrical data, the scanned object is identified by the transponder data detected.

16. A method according to claim 8 wherein the areas of given optical properties comprise at least one of the color, brightness and shape of the object.

12. An apparatus for identification and/or localization of objects having an electromagnetic sensor unit, with which at least one transponder provided on a respective object can be excited to emit transponder data stored in the transponder which characterize the respective object and with which the transponder data emitted can be detected, at least one optical sensor for scanning the object, and an analysis unit for the identification of the object and/or for determining the location of the object from a combination of optical data which can be detected by the optical sensor and the emitted transponder data which can be detected.

13. An apparatus in accordance with claim 12, wherein the optical sensor is formed as a barcode detection unit.

14. An apparatus in accordance with claim 12, wherein the optical sensor is formed as a reflectance detection unit.

15. An apparatus in accordance with claim 12, wherein the optical sensor is formed as a geometrical data detection unit.

17. A method for identifying and determining the location of objects, each object carrying a transponder which carries transponder data that characterizes the object comprising exciting the transponder to emit the transponder data, detecting the emitted transponder data, optically scanning the object, and identifying the object and determining its the object location with optical data concerning the object detected by scanning the object and with detected transponder data.