A search system, a position detection method, and a storage medium

Abstract

The application provides a goods searching system, a positioning detection method and a storage medium. The system comprises a sliding rail device, a scanning device and at least three positioning base stations. The sliding rail device comprises a track and a moving table slidingly arranged on the track, and the moving table is used for carrying the scanning device and driving the scanning device to move along the track. The scanning device comprises a processor, a memory, a first communication module and at least two radio frequency identification card readers. The first communication module is used for establishing a wireless communication connection with the at least three positioning base stations, and the at least two radio frequency identification card readers are used for reading a first electronic tag arranged on an article. The processor is used for determining second position information representing the first electronic tag in a map model according to radio frequency signals read by the at least two radio frequency identification card readers from the first electronic tag. In this way, the scanning device can automatically move and scan in the storage space, which is beneficial to improving the scanning efficiency and the goods searching efficiency of the goods.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and more specifically, to a cargo-finding system, a positioning and detection method, and a storage medium. Background Technology

[0002] In industries such as processing plants and logistics transportation, various goods are often stored in warehouses as transit points. When goods need to be retrieved from the warehouse, situations may arise such as taking the wrong item or not being able to find it. Among these issues, difficulty in locating the goods is one of the most common reasons affecting retrieval efficiency.

[0003] Although RFID (Radio Frequency Identification) technology exists for locating goods, it still cannot accurately pinpoint the goods, resulting in low efficiency. For example, currently, workers typically use handheld RFID readers to search for goods tagged with RFID tags. When an RFID tag is within the reader's range, the reader emits an audible alert, prompting the worker to search again. When the warehouse is large and contains a large quantity of goods, workers often have to walk to each pile of goods to search, further contributing to low efficiency. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a product locating system, a location detection method, and a storage medium that can improve the problem of low product locating efficiency.

[0005] To achieve the above technical objectives, the technical solution adopted in this application is as follows:

[0006] In a first aspect, embodiments of this application provide a cargo locating system, the system comprising: a sliding rail device, a scanning device, and at least three positioning base stations, wherein the at least three positioning base stations are spaced apart within the storage space;

[0007] The slide rail device includes a track installed in the storage space and a movable platform slidably installed on the track. The movable platform is used to carry the scanning device and drive the scanning device to move along the track.

[0008] The scanning device includes a first processor, a memory, a first communication module, and at least two radio frequency identification (RFID) readers. The first communication module is used to establish a wireless communication connection with the at least three positioning base stations. The at least two RFID readers are used to read electronic tags set on goods, and the at least two RFID readers are spaced apart.

[0009] The memory stores a map model of the warehouse space;

[0010] When the scanning device operates within the storage space and moves via the mobile station, the first processor is used to determine the first location information of the scanning device in the map model based on the positioning signals transmitted by the first communication module and the at least three positioning base stations.

[0011] The first processor is further configured to determine the relative position information of the electronic tag and the scanning device based on the radio frequency signals read from the electronic tag by the at least two radio frequency identification readers;

[0012] The first processor is further configured to convert the relative position information into second position information representing the electronic tag in the map model based on the first position information.

[0013] In conjunction with the first aspect, in some optional embodiments, the electronic tag includes a first electronic tag and a second electronic tag, wherein at least one box in the storage space is provided with the first electronic tag, and at least one stack of boxes in the storage space is provided with the second electronic tag, and the stack of boxes includes a plurality of stacked and / or piled boxes.

[0014] In conjunction with the first aspect, in some optional embodiments, the system further includes a user terminal communicatively connected to the scanning device, the user terminal being used to receive and display from the scanning device and / or the electronic tag location distribution information in the map model.

[0015] In conjunction with the first aspect, in some optional embodiments, the user terminal includes a second processor and a second communication module for communicating with the at least three positioning base stations. The second processor is used to determine third location information of the user terminal in the map model based on positioning signals transmitted by the second communication module and the at least three positioning base stations. The second processor is also used to generate a navigation path from the user terminal to the target electronic tag in the map model displayed on the user terminal, based on the third location information and the location information of the target electronic tag, according to the target electronic tag selected by the user from a plurality of electronic tags.

[0016] In conjunction with the first aspect, in some optional embodiments, the system includes three positioning base stations, the scanning device includes three radio frequency identification (RFID) readers, the first location information is the three-dimensional spatial coordinates of the scanning device in the map model, and the second location information is the three-dimensional spatial coordinates of the electronic tag in the map model.

[0017] Secondly, embodiments of this application also provide a positioning detection method applied to the aforementioned cargo-finding system, the method comprising:

[0018] When the movable stage in the slide rail device receives a start control command, it controls the movable stage and the scanning device located on the movable stage to move along the track;

[0019] The scanning device determines the first relative position information between the scanning device and the at least three positioning base stations during its movement based on the positioning signals transmitted between the first communication module in the scanning device and the at least three positioning base stations.

[0020] The scanning device determines the first position information of the scanning device in the map model based on the preset position information of the at least three positioning base stations in the map model of the warehouse space and the first relative position information;

[0021] The scanning device determines the second relative position information between the electronic tag and the scanning device based on the radio frequency signals read from the electronic tag by at least two radio frequency identification readers in the scanning device.

[0022] The scanning device converts the second relative position information into second position information representing the electronic tag in the map model based on the first position information.

[0023] In conjunction with the second aspect, in some optional embodiments, the method further includes:

[0024] The scanning device marks the location of the electronic tag in the map model according to the second location information, and displays it through a user terminal that is communicatively connected to the scanning device;

[0025] The scanning device marks its location in the map model based on the first location information, and displays it through the user terminal.

[0026] In conjunction with the second aspect, in some optional embodiments, the method further includes:

[0027] The user terminal determines its third location information in the map model based on the positioning signals transmitted between the user terminal and the at least three positioning base stations.

[0028] The user terminal generates a navigation path from the user terminal to the target electronic tag in the map model based on the third location information and the second location information of the target electronic tag in the map model, wherein the target electronic tag is any electronic tag in the warehouse space.

[0029] In conjunction with the second aspect, in some optional embodiments, the method further includes:

[0030] During the movement of the scanning device along the track, the scanning device records the second location information of all identified electronic tags in the map model.

[0031] Thirdly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the above-described method.

[0032] The invention employing the above technical solution has the following advantages:

[0033] In the technical solution provided in this application, a sliding rail device is deployed in the storage space. A scanning device, carried by a mobile platform on the sliding rail device, moves along the rail, thereby facilitating rapid scanning of all goods within the storage space. Furthermore, a first communication module on the scanning device wirelessly communicates with at least three positioning base stations within the storage space to determine the scanning device's first location information in a map model of the storage space. Then, using at least two RFID readers on the scanning device to read radio frequency signals from electronic tags, the relative location information between the electronic tags and the scanning device is determined, and this relative location information is converted into second location information representing the electronic tag or items with electronic tags on them in the map model. Thus, by utilizing the cooperation between the scanning device and the positioning base stations, accurate positioning of electronic tags in the storage space can be achieved, thereby helping workers quickly locate goods and improving search efficiency. Attached Figure Description

[0034] This application can be further illustrated by the non-limiting embodiments given in the accompanying drawings. It should be understood that the following drawings only illustrate some embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without any inventive effort.

[0035] Figure 1 This is a schematic diagram illustrating a scenario of a sliding rail device, scanning device, positioning base station, and electronic tag within a warehouse space, as provided in an embodiment of this application.

[0036] Figure 2 for Figure 1 A magnified view of part I in the middle.

[0037] Figure 3 This is a schematic diagram illustrating the communication connection between the scanning device and the positioning base station provided in an embodiment of this application.

[0038] Figure 4 This is a flowchart illustrating the positioning and detection method provided in an embodiment of this application.

[0039] Icons: 10-Slide rail device; 12-Moving platform; 13-Rail; 20-Scanning device; 21-First processing module; 22-Storage module; 23-First communication module; 24-RFID reader; 25-RFID reader; 31-Location base station; 32-Location base station; 33-Location base station; 41-First electronic tag; 42-Second electronic tag. Detailed Implementation

[0040] The present application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that similar or identical parts are referred to by the same reference numerals in the drawings or description. Implementations not shown or described in the drawings are forms known to those skilled in the art. In the description of this application, terms such as "first" and "second" are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] Please refer to the reference. Figure 1 , Figure 2 and Figure 3 This application provides a cargo locating system. The cargo locating system may include a sliding rail device 10, a scanning device, and at least three positioning base stations. The at least three positioning base stations are spaced apart within the storage space, and within the signal coverage area of ​​any one positioning base station, no three positioning base stations are in a straight line. For example, in… Figure 1 In this system, the goods-finding system may include positioning base stations 31, 32, and 33. Storage space refers to warehouse-like space used to store goods or merchandise, such as a warehouse or storage facility.

[0042] The slide rail device 10 includes a moving platform 12 and a track 13. The track 13 is disposed within the storage space. The moving platform 12 is slidably disposed on the track 13, and the moving platform 12 is used to carry the scanning device 20 and drive the scanning device 20 to move along the track 13. The moving platform 12 is equipped with a motor and wheels that are driven and connected to the motor. The wheels can travel along the track 13 and are limited on the track 13 by limiting blocks on the moving platform 12 to prevent the wheels from leaving the track 13. Understandably, the motor drives the wheels to rotate by rotating, thereby allowing the moving platform 12 to move along the track 13. In addition, the limiting block limits the wheels in a conventional manner, which will not be described in detail here.

[0043] In this embodiment, the number of tracks 13 or the route of tracks 13 set within the storage space can be flexibly determined according to actual conditions, as long as it ensures that the effective scanning range of the scanning device 20 can cover the entire storage space when it moves along the tracks 13. For example, if the length of the storage space exceeds the effective scanning range of the scanning device 20, such as if the effective scanning range of the scanning device 20 is 10 meters and the length of the storage space is 100 meters, then a track 13 with a length of 90 to 100 meters can be deployed along the length of the storage space. If the width of the storage space also exceeds the effective scanning range of the scanning device 20, then the track 13 can be set in a "U" shape, or a back-and-forth curved route, or multiple parallel tracks 13 can be set, each track 13 equipped with a moving platform 12 and a scanning device 20, so that the effective scanning range of the scanning device 20 during its movement can cover the entire plane of the storage space.

[0044] The scanning device may include a first processing module 21, a first storage module 22, a first communication module 23, and at least two RFID readers. The first communication module 23 is used to establish a wireless communication connection with the at least three positioning base stations. The at least two RFID readers are used to read electronic tags attached to goods, and the at least two RFID readers are spaced apart. The spacing between the RFID readers can be any value between 10cm and 100cm. Furthermore, the number of RFID readers can be two, three, or other numbers. For example, in... Figure 3 In this context, the scanning device may include an RFID reader 24 and an RFID reader 25.

[0045] To improve the positioning accuracy of electronic tags and save hardware costs, the number of RFID readers can be three, and the three RFID readers are spaced apart in the scanning device in a way that is not on the same straight line.

[0046] The electronic tags can be RFID tags, NFC tags, etc. Radio frequency identification (RFID) readers are paired with the electronic tags and can read the information pre-stored in the tags. For example, when an electronic tag is placed on a container, the administrator can enter the container's identifier, as well as information such as the type and name of the goods or materials contained within the container, into the electronic tag.

[0047] For example, in the tobacco manufacturing industry, raw materials such as tobacco leaves / shredded tobacco are usually packed in boxes. Information such as the type and origin of the tobacco can be entered into electronic tags as preset information and the electronic tags are set on the surface of the box to bind to the box.

[0048] Radio frequency identification (RFID) readers are readers used to read RFID tags or NFC tags.

[0049] Generally, the effective transmission distance between RFID tags and readers is much greater than that between NFC tags and readers. For example, the effective transmission distance between an NFC tag and a reader is typically within 3 meters. The effective transmission distance between an RFID tag and a reader can reach tens or even hundreds of meters. For instance, RFID with a radio frequency signal frequency of 915MHz can achieve a communication distance of up to 25 meters. RFID with a radio frequency signal frequency of 2.4GHz can achieve a communication distance of up to 200 meters. Therefore, when the electronic tag is an NFC tag, the administrator usually needs to be much closer to the NFC tag.

[0050] In this embodiment, an RFID with a frequency of 915MHz can be selected as the electronic tag, and a card reader capable of reading such RFID tags can be used as a radio frequency identification card reader.

[0051] In the cargo locating system, the number of positioning base stations can be flexibly set according to the signal coverage range of the positioning base stations and the size of the warehouse space. Among them, the number of positioning base stations is at least 3, so as to locate the position of the scanning device through the UWB (Ultra Wideband) positioning algorithm.

[0052] For example, three positioning base stations can enable the scanning device to be positioned in a two-dimensional plane. Four positioning base stations can improve the positioning accuracy of the scanning device and enable it to be positioned in three-dimensional space.

[0053] In this embodiment, the positioning base station can be, but is not limited to, a Bluetooth positioning base station, a WIFI positioning base station, etc. The first communication module 23 can be a Bluetooth module that communicates wirelessly with the Bluetooth positioning base station, or it can be a WIFI module that communicates with the WIFI positioning base station.

[0054] In the scanning device, the first storage module 22 pre-stores a map model of the warehouse space. Understandably, if three-dimensional spatial positioning of electronic tags or goods is required, the map model is a three-dimensional map of the warehouse space. If only two-dimensional planar positioning of electronic tags or goods is required, the map model can be a two-dimensional map of the warehouse space. To reduce the workload of creating the map model, it is not necessary to create the dimensions of all objects in the warehouse space in the map model. For example, the map model can be created only for the outline dimensions of the warehouse space, as well as the aisles, blind spots, and areas for placing items, thereby reducing the workload of map model creation.

[0055] In this embodiment, the location of each positioning base station is marked in the map model. That is, the actual location of the positioning base station in the warehouse space is mapped one-to-one in the map model.

[0056] In the scanning device, the first storage module 22 stores a computer program. When the computer program is executed by the first processing module 21, the scanning device is able to perform the corresponding steps in the following positioning and detection method.

[0057] For example, when the scanning device operates within the warehouse space and moves via the mobile station 12, the first processing module 21 is used to determine the first location information of the scanning device in the map model based on the positioning signals transmitted by the first communication module 23 and the at least three positioning base stations; and to determine the relative location information between the electronic tag and the scanning device based on the radio frequency signals read from the electronic tag by the at least two radio frequency identification readers; and to convert the relative location information into second location information representing the electronic tag in the map model based on the first location information. The second location information of the electronic tag in the map model is the coordinates of the container or goods with the electronic tag attached on the map.

[0058] In this embodiment, the electronic tags may include a first electronic tag 41 and a second electronic tag 42, both carrying unique identification information for identification purposes. At least one container in the storage space is equipped with the first electronic tag 41, and at least one stack of containers in the storage space is equipped with the second electronic tag 42. The stack includes multiple containers stacked and / or piled together. The second electronic tag 42 may carry identification information for the stack, enabling scanning equipment to differentiate between different stacks. Furthermore, only one type or a few specified types of goods may be placed in the same stack, and the type information of the goods placed in the stack is recorded in the second electronic tag 42 of that stack.

[0059] In this embodiment, the electronic tag affixed to the container is the first electronic tag 41. The electronic tag used for affixing to a stack of containers, or for affixing to a container stacking area, is the second electronic tag 42. For example, in... Figure 1 In the middle, both area A and area B are equipped with a second electronic tag 42.

[0060] If the warehouse is large and contains multiple stacks of containers, the second electronic tag 42 on each stack facilitates the scanning device's ability to distinguish and identify different stacks. For example, if the type of goods a user is looking for does not belong to the type recorded on the second electronic tag 42 of the current stack, there is no need to scan the current stack; the user can proceed directly to the next stack for goods identification. This allows for quick determination of whether the desired goods are present in the current stack.

[0061] Optionally, the product locator system may also include a user terminal. The user terminal may be, but is not limited to, a smartphone or other handheld terminal. The user terminal is used to wirelessly connect with the scanning device 20, and to receive and display the location distribution information of the scanning device 20 and / or the electronic tags in the map model. This allows workers to quickly locate the box corresponding to the desired electronic tag using the user terminal.

[0062] The user terminal may include a second processing module, a second storage module, and a second communication module. The second processing module and the second communication module are used to communicate with the at least three positioning base stations. The second processing module is used to determine a third location information of the user terminal in the map model based on positioning signals transmitted by the second communication module and the at least three positioning base stations. The second processing module is also used to generate a navigation path from the user terminal to the target electronic tag in the map model displayed on the user terminal, based on the third location information and the location information of the target electronic tag, according to a target electronic tag selected by the user from multiple electronic tags.

[0063] Optionally, the first processing module 21 is further configured to mark the location of the scanning device in the map model according to the first location information, and display it through the display screen.

[0064] Optionally, the system includes three positioning base stations, the scanning device includes three radio frequency identification (RFID) readers, the first location information is the three-dimensional spatial coordinates of the scanning device in the map model, and the second location information is the three-dimensional spatial coordinates of the electronic tag in the map model.

[0065] Optionally, the first processing module 21 is further configured to generate a navigation path from the scanning device to the target electronic tag in the map model based on the first location information of the scanning device and the target electronic tag, according to the target electronic tag selected by the user from multiple electronic tags.

[0066] It should be noted that, for the sake of convenience and brevity, the specific working processes of the slide rail device 10, scanning equipment, and cargo-finding system described above can be referred to the corresponding processes of each step in the positioning and detection method below, and will not be repeated here.

[0067] Second Embodiment

[0068] Please refer to Figure 4 This application also provides a positioning detection method, which can be applied to the aforementioned cargo-finding system, wherein the various devices in the cargo-finding system cooperate with each other to implement the steps of the method. The positioning detection method may include the following steps:

[0069] Step 110: When the movable stage in the slide rail device receives the start control command, it controls the movable stage and the scanning device located on the movable stage to move along the track.

[0070] Step 120: The scanning device determines the first relative position information between the scanning device and the at least three positioning base stations during its movement based on the positioning signals transmitted between the first communication module in the scanning device and the at least three positioning base stations.

[0071] Step 130: The scanning device determines the first position information of the scanning device in the map model based on the preset position information of the at least three positioning base stations in the map model of the warehouse space and the first relative position information;

[0072] Step 140: The scanning device determines the second relative position information between the electronic tag and the scanning device based on the radio frequency signals read from the electronic tag by at least two radio frequency identification readers in the scanning device;

[0073] Step 150: The scanning device converts the second relative position information into second position information representing the electronic tag in the map model based on the first position information.

[0074] The steps of the positioning and detection method will be explained in detail below:

[0075] In step 110, the control command can be generated by the worker operating the start switch of the motor on the mobile platform. Alternatively, the mobile platform is equipped with a communication module and is connected to a user terminal. The worker can send control commands to the mobile platform through the user terminal; the specific method of generating the control commands is not limited here.

[0076] Upon receiving a start control command, the mobile station can move along the track. The movement pattern can be flexibly determined according to the actual situation. For example, the mobile station can move completely along the track once each time it receives a control command. Alternatively, the mobile station can move along the track from the starting point to the ending point and finally return to the starting point to complete one round trip.

[0077] In step 120, the scanning device can calculate the first relative position information between itself and the at least three positioning base stations in real time while moving along the track. The first relative position information can be understood as the relative distance between the scanning device and the three positioning base stations. Furthermore, the position of the first communication module in the storage space is the same as the position of the scanning device in the storage space.

[0078] For example, if there are three positioning base stations, the first processing module can calculate the distance between the first communication module and the three positioning base stations based on the RSSI (Signal Strength Indicator) of the positioning signals transmitted between the three positioning base stations and the first communication module, utilizing the attenuation of the signal strength. For instance, each positioning base station may emit a positioning signal with the same, fixed signal strength, which attenuates with distance. When the positioning signal is received by the first communication module, it receives three positioning signals with different strengths. The first processing module can then calculate the distance between the first communication module and the three positioning base stations based on these three positioning signals and their strengths.

[0079] Alternatively, the first processing module can determine the distance between the first communication module and the three positioning base stations based on the Time Difference of Arrival (TDOA) method, according to the time difference in signal transmission between the first communication module and the three positioning base stations. In this method, the first communication module is time-synchronized with the three positioning base stations. The three positioning base stations can transmit positioning signals simultaneously, and these signals may carry a timestamp indicating the transmission time. The first processing module can then calculate the distance between the first communication module and the three positioning base stations based on the time when the first communication module receives the positioning signals.

[0080] In step 130, if the number of positioning base stations is 3, boundary conditions need to be set to accurately locate the scanning device. Understandably, the position coordinates of the first communication module in the storage space are the same as the position coordinates of the scanning device in the storage space.

[0081] After obtaining the distances between the first communication module and the three positioning base stations, the first processing module can, according to, as follows: Figure 1 The map model of the warehouse space shown is used to calculate the three-dimensional coordinates of the first communication module in the warehouse space. The method for calculating the three-dimensional coordinates of the first communication module is a conventional method.

[0082] For example, please refer to again Figure 1In the map model, the coordinates of positioning base stations 31, 32, and 33 are predetermined and known, and can be represented as (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3). The coordinates of the first communication module can be set to (x0, y0, z0). The first processing module can construct three functional equations based on the geometric relationship between the coordinates of the positioning base stations and the coordinates of the first communication module, and solve the equations to obtain the three-dimensional coordinates of the first communication module in the storage space. Generally, there are two solutions to the equations, that is, the two obtained coordinates are symmetric about the plane containing the three positioning base stations. In this case, the boundary conditions can be set to use the coordinates falling within the storage space as the three-dimensional coordinates of the first communication module, while the coordinates not within the storage space are not considered.

[0083] When there are 4 positioning base stations, and the 4 positioning base stations are not coplanar, there is no need to set boundary conditions. The first processing module can directly use the UWB positioning algorithm to realize the three-dimensional spatial positioning of the scanning device in the warehouse space, and can directly obtain the three-dimensional coordinates of the scanning device in the map model.

[0084] In step 140, when the number of RFID readers is two, step 140 may include:

[0085] Step 141: When there are two RFID readers, the scanning device determines a first distance and a second distance from the two RFID readers to the electronic tag based on the signal strength of the RFID signals read from the electronic tag by the two RFID readers, and determines the first distance and the second distance as the second relative position information; wherein, step 150: the scanning device converts the second relative position information into second position information representing the electronic tag in the map model based on the first position information, including:

[0086] Step 151: The scanning device obtains two candidate positions of the electronic tag relative to the two RFID readers based on the first position information, the first distance, and the second distance, and uses the candidate position located within the preset area as the second position information of the electronic tag and the scanning device.

[0087] In step 141, the first processing module calculates the distance between the RFID reader and the electronic tag in the same way as it calculates the distance between the scanning device and the positioning base station, which will not be described again here.

[0088] In step 151, the preset area is the area in the storage space used for placing goods, which can be used as an electronic fence and can be flexibly set according to actual conditions. For example... Figure 1 The bolded box area is the preset area, and there can be one or more preset areas. For example, in Figure 1 In this diagram, both region A and region B are preset regions. The two candidate locations are typically symmetrical about the straight line between the two RFID readers.

[0089] Please refer to this again. Figure 1 If the preset areas are all on one side of the storage space, during the process of moving the scanning device, if the line segment connecting the two RFID readers in the scanning device is parallel to the y-axis or parallel to the z-axis (or nearly parallel), then only one of the two candidate positions obtained through step 151 falls within the preset area. The candidate position falling within the preset area is the calculated second relative position information between the electronic tag and the scanning device.

[0090] If both candidate locations are within the preset area, the first processing module can first convert the two candidate locations into position coordinates in the map model. The conversion method for position coordinates can be found in step 150. Then, the first storage module stores and records the position coordinates. Next, as the scanning device moves, the position coordinates of the candidate locations of the electronic tag in the map model are calculated multiple times. Understandably, the coordinates of the two candidate locations can be referred to as the first relative coordinate and the second relative coordinate, respectively. As the scanning device moves, one of the two calculated coordinates will remain constant, while the other coordinate will continuously change. The relative coordinate that remains constant is the position coordinate of the electronic tag in the map model, which is the second position information.

[0091] When the number of RFID readers is three or more, step 140 may include:

[0092] Based on the signal strength of the radio frequency signals read from the electronic tag by at least three RFID readers, the distance from each RFID reader to the electronic tag is determined as the second relative position information between the electronic tag and the scanning device. At this point, in step 150, the electronic tag's position coordinates in the map model can be directly calculated using a UWB positioning algorithm based on the distance from each RFID reader to the electronic tag and the boundary conditions of the warehouse space, and this coordinate is used as the second position information.

[0093] Understandably, in step 150, after obtaining the position coordinates of the scanning device in the map model, these position coordinates can be used as the geometric center of the scanning device, for example, as the geometric center point of all RFID readers on the scanning device. Then, based on the orientation of the scanning device (the method for determining this orientation is conventional and will not be elaborated here) and the inherent size parameters of all RFID readers on the scanning device, the three-dimensional coordinates of each RFID reader in the map model can be obtained. Then, based on the distance from each RFID reader to the electronic tag, the position coordinates of the electronic tag in the map model are calculated using the UWB positioning algorithm.

[0094] As an optional implementation, the method may further include:

[0095] The scanning device marks the location of the electronic tag in the map model according to the second location information, and displays it through a user terminal that is communicatively connected to the scanning device;

[0096] The scanning device marks its location in the map model based on the first location information, and displays it through the user terminal.

[0097] In this embodiment, the first processing module can highlight the location of the electronic tag in the map model based on its three-dimensional (or two-dimensional) spatial coordinates. Then, the scanning device sends the marked map model to the user terminal, allowing the user to quickly view the location of the electronic tag. Additionally, the scanning device can mark its location using arrows based on its own three-dimensional (or two-dimensional) spatial coordinates. The direction of the arrows indicates the orientation of the scanning device, thus helping the user quickly understand the location and orientation of the scanning device on the map.

[0098] As an optional implementation, the method may further include:

[0099] The user terminal determines its third location information in the map model based on the positioning signals transmitted between the user terminal and the at least three positioning base stations.

[0100] The user terminal generates a navigation path from the user terminal to the target electronic tag in the map model based on the third location information and the second location information of the target electronic tag in the map model, wherein the target electronic tag is any electronic tag in the warehouse space.

[0101] In this embodiment, the method by which the user terminal determines its own location information on the map model within the storage space is similar to that of the scanning terminal, and will not be described in detail here.

[0102] As an optional implementation, the method may further include:

[0103] During the movement of the scanning device along the track, the scanning device records the second location information of all identified electronic tags in the map model.

[0104] Understandably, during the movement of the scanning device along the track, the scanning equipment can scan all electronic tags in the storage space to obtain the location of each electronic tag and the information it carries, and send the scanned information to the user terminal.

[0105] When a user is searching for goods in a warehouse using a handheld terminal, they can select one of the target electronic tags based on their needs. For example, the target electronic tag might carry information indicating the type of goods the user needs, and the container where the target electronic tag is located is the target container for retrieval. Then, based on the coordinates of both the user terminal and the target electronic tag in the map model, the user terminal can generate a navigation path from the user terminal to the target electronic tag. This helps guide the user to quickly find the container where the target electronic tag is located. The navigation path can be the shortest path from the user terminal to the target electronic tag.

[0106] Understandably, scanning devices can read the cargo information carried by the electronic tag using any RFID reader. For example, when the cargo itself carries an electronic tag, preset information such as the cargo's name, type, and delivery address can be written into the electronic tag when it is attached to the cargo. Thus, if the electronic tag is within the effective reading range of the RFID reader, the RFID reader can read the aforementioned preset information from the electronic tag.

[0107] Based on the above design, when a large number of boxes are stacked in the warehouse, and each box is equipped with an electronic tag, a scanning device can locate the three-dimensional coordinates of each box within the storage space. Therefore, even when multiple boxes are stacked, accurate positioning of the boxes in three-dimensional space can still be achieved. Furthermore, the use of a sliding rail device allows the scanning device to automatically move and scan within the storage space, improving the efficiency of goods scanning.

[0108] In this embodiment, the processing module (such as the first processing module and the second processing module) can be an integrated circuit chip with signal processing capabilities. The aforementioned first processing module can be a general-purpose processor. For example, the processor can be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0109] The storage module (such as the first storage module and the second storage module) can be, but is not limited to, random access memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, etc. In this embodiment, the first storage module can be used to store map models, positioning signals, etc. Of course, the storage module can also be used to store programs, which the processing module executes after receiving execution instructions.

[0110] Understandable Figure 3 The scanning device shown is only a schematic diagram; the scanning device may also include components such as... Figure 1 More components are shown. Figure 3 The components shown can be implemented using hardware, software, or a combination thereof.

[0111] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to perform the positioning detection method as described in the above embodiments.

[0112] Based on the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by hardware or by using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This software product can be stored in a non-volatile storage medium (such as CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, server, or network device, etc.) to execute the methods described in the various implementation scenarios of this application.

[0113] In summary, this application provides a goods-finding system, a positioning detection method, and a storage medium. In this solution, a sliding rail device is deployed in the warehouse space. A scanning device, carried by a mobile platform on the sliding rail device, moves along the rail, facilitating rapid scanning of all goods within the warehouse space. Furthermore, a first communication module on the scanning device wirelessly communicates with at least three positioning base stations within the warehouse space to determine the scanning device's first location information in a map model of the warehouse space. Then, using at least two RFID readers on the scanning device to read radio frequency signals from electronic tags, the relative position information between the electronic tags and the scanning device is determined, and this relative position information is converted into second location information representing the electronic tag or an item with an electronic tag in the map model. Thus, by utilizing the cooperation between the scanning device and the positioning base stations, accurate positioning of electronic tags in the warehouse space can be achieved, enabling workers to quickly find goods and improving goods-finding efficiency.

[0114] In the embodiments provided in this application, it should be understood that the disclosed apparatus, systems, and methods can also be implemented in other ways. The apparatus, systems, and methods embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which includes one or more executable instructions for implementing a specified logical function. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0115] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A product search system, characterized in that, The system includes: a sliding rail device, a scanning device, and at least three positioning base stations, wherein the at least three positioning base stations are spaced apart within the storage space; The slide rail device includes a track set in the storage space and a movable platform slidably set on the track. The movable platform is used to carry the scanning device and drive the scanning device to move along the track, so that the effective scanning range of the scanning device during the movement can cover the entire plane of the storage space. The scanning device includes a first processor, a memory, a first communication module, and at least two radio frequency identification (RFID) readers. The first communication module is used to establish a wireless communication connection with the at least three positioning base stations. The at least two RFID readers are used to read electronic tags set on goods, and the at least two RFID readers are spaced apart. The memory stores a map model of the warehouse space; When the scanning device operates within the storage space and moves via the mobile station, the first processor is used to determine the first location information of the scanning device in the map model based on the positioning signals transmitted by the first communication module and the at least three positioning base stations. The first processor is further configured to determine the relative position information of the electronic tag and the scanning device based on the radio frequency signals read from the electronic tag by the at least two radio frequency identification readers; The first processor is further configured to convert the relative position information into second position information representing the electronic tag in the map model based on the first position information.

2. The system of claim 1, wherein, The electronic tag includes a first electronic tag and a second electronic tag, wherein at least one box in the storage space is equipped with the first electronic tag, and at least one stack of boxes in the storage space is equipped with the second electronic tag, and the stack of boxes includes multiple stacked and / or piled boxes.

3. The system of claim 1, wherein, The system also includes a user terminal that is communicatively connected to the scanning device. The user terminal is used to receive and display the location distribution information of the scanning device and / or the electronic tag in the map model.

4. The system of claim 3, wherein, The user terminal includes a second processor and a second communication module for communicating with the at least three positioning base stations. The second processor is used to determine the third location information of the user terminal in the map model based on the positioning signals transmitted by the second communication module and the at least three positioning base stations. The second processor is also used to generate a navigation path from the user terminal to the target electronic tag in the map model displayed on the user terminal, based on the third location information and the location information of the target electronic tag, according to the target electronic tag selected by the user from a plurality of electronic tags.

5. The system of claim 1, wherein, The system includes three positioning base stations, and the scanning device includes three radio frequency identification (RFID) readers. The first location information is the three-dimensional spatial coordinates of the scanning device in the map model; the second location information is the three-dimensional spatial coordinates of the electronic tag in the map model.

6. A positioning detection method characterized by, The method, applied to the search system as described in any one of claims 1-5, comprises: When the movable stage in the slide rail device receives a start control command, it controls the movable stage and the scanning device located on the movable stage to move along the track; The scanning device determines the first relative position information between the scanning device and the at least three positioning base stations during its movement based on the positioning signals transmitted between the first communication module in the scanning device and the at least three positioning base stations. The scanning device determines the first position information of the scanning device in the map model based on the preset position information of the at least three positioning base stations in the map model of the warehouse space and the first relative position information; The scanning device determines the second relative position information between the electronic tag and the scanning device based on the radio frequency signals read from the electronic tag by at least two radio frequency identification readers in the scanning device. The scanning device converts the second relative position information into second position information representing the electronic tag in the map model based on the first position information.

7. The method of claim 6, wherein, The method further includes: The scanning device marks the location of the electronic tag in the map model according to the second location information, and displays it through a user terminal that is communicatively connected to the scanning device; The scanning device marks its location in the map model based on the first location information, and displays the location through the user terminal.

8. The method according to claim 6, characterized in that, The method further includes: The user terminal determines its third location information in the map model based on the positioning signals transmitted between the user terminal and the at least three positioning base stations. The user terminal generates a navigation path from the user terminal to the target electronic tag in the map model based on the third location information and the second location information of the target electronic tag in the map model, wherein the target electronic tag is any electronic tag in the warehouse space.

9. The method according to claim 6, characterized in that, The method further includes: During the movement of the scanning device along the track, the scanning device records the second location information of all identified electronic tags in the map model.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 6-9.

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