Label of integrated optical receiving circuit, method and system for precise positioning of optical signals

Abstract

The present invention discloses a tag integrated with an optical receiving circuit, an accurate positioning method and system using optical signals. The tag includes: an optical receiver connected to a first amplifier circuit. The optical receiver is an on-chip integrated photodiode having a PN junction formed by a P-type substrate and N+. When the optical receiver receives an optical signal, it provides a current to the first amplifier circuit under the action of a reverse bias electric field. The first amplifier circuit is connected to a comparator and outputs a first voltage value when no provided current is received, and outputs a second voltage value when the provided current is received. A second amplifier circuit is connected to the comparator and is used to output a voltage value less than the first voltage. The comparator compares the voltage values input by the two amplifier circuits and generates a flip signal when the voltage value of the first amplifier circuit is less than the voltage value of the second amplifier circuit, and sends the flip signal to the digital baseband. The digital baseband sends the stored data to the receiving end according to the flip signal. The data is used to assist the receiving end in positioning the location of the tag.

Description

Technical Field

[0001] The present invention belongs to the technical field of sensing, and particularly relates to a tag integrated with an optical receiving circuit, a method and a system for accurately positioning by using an optical signal. Background Art

[0002] With the continuous development of the Internet of Things, the application of wireless sensor network (WSN) technology has become more and more extensive. At present, WSN is widely used in urban management, data transmission, environmental detection, status detection, target recognition, etc. In these practical applications, the location information of nodes is crucial. Data without location information has no practical value. Therefore, the positioning technology of Internet of Things nodes or tags is one of the important supports for wireless sensor networks.

[0003] With the continuous development of WSN, the positioning technology based on WSN has become more and more mature. In the node positioning technology of WSN, nodes are mainly divided into two types. One is an anchor node with a fixed position and known own position information, and the other is a randomly distributed node that does not know its own position information and needs to be positioned. At present, many node positioning methods still require hardware assistance at the node, or have high requirements for the chip function, area, and power consumption of the node to assist in completing the positioning of the node itself. These still unsolved problems greatly limit the application of some positioning methods based on radio frequency waves, resulting in many nodes that cannot meet the requirements of hardware, area, power consumption, cost, etc. being unable to use these methods to complete the positioning of the node itself. Especially for low-power passive RFID tag chips, due to the high requirements of the tag chips for power consumption and area, it is very difficult to use these methods to complete the positioning of the tag position. That is to say, there is currently no node with low cost, high integration, and capable of assisting other devices to complete its own positioning. Summary of the Invention

[0004] In order to solve the above problems existing in the related technologies, the present invention provides a tag integrated with an optical receiving circuit, a method and a system for accurately positioning by using an optical signal. The technical problems to be solved by the present invention are realized through the following technical solutions:

[0005] The present invention provides a tag integrated with an optical receiving circuit, the tag comprising:

[0006] an optical receiver, a first amplifier circuit, a second amplifier circuit, a comparator, and a digital baseband;

[0007] The optical receiver is connected to the first amplifier circuit. The optical receiver is an on-chip integrated photodiode. The photodiode has a PN junction formed by a P-type substrate and N+. When the first amplifier circuit provides a bias voltage, the P terminal is grounded and the N terminal is connected to a positive voltage, and the optical receiver operates in a reverse bias state. The optical receiver is configured to provide a current to the first amplifier circuit under the action of a reverse bias electric field when receiving an optical signal.

[0008] The output terminal of the first amplifier circuit is connected to one input terminal of the comparator. The first amplifier circuit is configured to output a first voltage value when not receiving the current provided by the optical receiver, and output a second voltage value when receiving the current provided by the optical receiver. The second voltage value is less than the first voltage value.

[0009] The output terminal of the second amplifier circuit is connected to the other input terminal of the comparator. The second amplifier circuit is configured to output a third voltage value. The first voltage value is greater than the third voltage value, and the difference between the first voltage value and the third voltage value is a preset voltage.

[0010] The comparator is configured to compare the voltage value input by the first amplifier circuit with the voltage value input by the second amplifier circuit, and determine that the optical receiver receives a preset optical signal and generates a flip signal when the voltage value input by the first amplifier circuit is less than the voltage value input by the second amplifier circuit, and send the flip signal to the digital baseband.

[0011] The digital baseband is connected to the output terminal of the comparator, configured to store data, and configured to send the data stored by itself to the corresponding receiving end when receiving the flip signal. The sent data is used to assist the receiving end in positioning the position of the tag.

[0012] The present invention further provides a method for precise positioning using an optical signal, including:

[0013] The transmitting end sequentially emits a first optical signal at different first preset angles at a first position, and after each emission of the first optical signal, sends the first position and each first emission angle to the corresponding receiving end.

[0014] Each of at least one tag generates a flip signal when receiving the first optical signal, and controls its own digital baseband to send the data stored by itself to the receiving end through the flip signal. The first emission angles of the first optical signals received by tags at different positions are different. The data includes the identifier of the tag, and the identifiers of different tags are different.

[0015] When the receiving end receives the data, it associates and records the data, the first position and the first emission angle received at the moment closest to the receiving moment of the data;

[0016] After the transmitting end emits the first optical signal at different preset angles, it moves a preset distance along the preset direction to reach the second position, and emits the second optical signal at different second preset angles in sequence at the second position. After each emission of the second optical signal, the second position and each second emission angle are sent to the corresponding receiving end;

[0017] When the tag receives the second optical signal, it generates a flip signal, and controls its own digital baseband to send the data to the receiving end through the flip signal;

[0018] When the receiving end receives the data, it associates and records the data, the second position and the second emission angle received at the moment closest to the receiving moment of the data;

[0019] The receiving end calculates the linear distance of the tag relative to the first position through trigonometric functions according to the first emission angle and the second emission angle associated with the identifier of the tag, and the preset distance, so as to obtain the relative position information of the tag.

[0020] The present invention also provides a method for precise positioning using optical signals. The method includes:

[0021] Each transmitting end among a plurality of transmitting ends arranged at intervals in sequence along the preset direction emits an optical signal to the preset position; wherein, the emission positions corresponding to different transmitting ends are different;

[0022] During the movement of each of at least one tag along the predetermined direction, when receiving the optical signal emitted by a transmitting end, it generates a flip signal, and controls its own digital baseband to send the information stored in itself to the corresponding receiving end through the flip signal; the information includes: preset information and the identifier of the tag; the information includes: preset information and the identifier of the tag; the preset information and the identifier stored in the digital basebands of different tags are all different;

[0023] The receiving end determines the first current position of the tag according to the received information, and determines the processing method corresponding to the information at the first current position according to the information record table stored in itself;

[0024] When the processing method is to move the tag, the receiving end moves the tag by controlling the execution device; the information record table contains the moving positions corresponding to each type of preset information;

[0025] When the processing method is not to move the tag, the receiving end does not process the tag;

[0026] When the receiving end does not process the tag, the tag continues to move along the predetermined direction, generates a flip signal when receiving an optical signal transmitted by another transmitting end, and controls its own digital baseband to send the information to the receiving end through the flip signal;

[0027] The receiving end determines the second current position of the tag according to the received information, and determines the processing method corresponding to the information at the second current position according to the information record table;

[0028] When the processing method is to move the tag, the receiving end controls the execution device to move the tag.

[0029] The present invention also provides a system for precise positioning using optical signals, including:

[0030] A transmitting end, configured to sequentially transmit first optical signals at different first preset angles at a first position, and after each transmission of the first optical signal, send the first position and each first transmission angle to the corresponding receiving end;

[0031] Each tag in at least one tag is configured to generate a flip signal when receiving the first optical signal, and control its own digital baseband to send the data stored in itself to the receiving end through the flip signal; the first transmission angles of the first optical signals received by tags at different positions are different; the data includes the identifier of the tag; the identifiers of different tags are different;

[0032] The receiving end, when receiving the data, is configured to associate and record the data, and the first position and the first transmission angle received at the moment closest to the receiving moment of the data;

[0033] The transmitting end is further configured to, after transmitting the first optical signals at different preset angles, move a preset distance along a preset direction to reach a second position, and sequentially transmit second optical signals at different second preset angles at the second position, and after each transmission of the second optical signal, send the second position and each second transmission angle to the corresponding receiving end;

[0034] The tag is further configured to generate a flip signal when receiving the second optical signal, and control its own digital baseband to send the data to the receiving end through the flip signal;

[0035] The receiving end is further configured to, when receiving the data, associate and record the data with the second position and the second emission angle received at the moment closest to the receiving moment of the data; and calculate the linear distance of the tag relative to the first position through trigonometric functions according to the first emission angle and the second emission angle associated with the identifier of the tag and the preset distance, so as to obtain the relative position information of the tag.

[0036] The present invention further provides a system for precise positioning using optical signals, which is characterized by comprising:

[0037] At least one tag, a receiving end, and a plurality of transmitting ends sequentially arranged at intervals along a preset direction;

[0038] Each transmitting end is configured to transmit an optical signal to a preset position; wherein, the positions corresponding to different transmitting ends are different;

[0039] Each tag is configured to generate a flip signal when receiving an optical signal transmitted by a transmitting end during the process of moving along a predetermined direction, and control its own digital baseband to send the information stored therein to the corresponding receiving end through the flip signal; the information includes: preset information and the identifier of the tag; the preset information and the identifier stored in the digital basebands of different tags are all different;

[0040] The receiving end is configured to determine the first current position of the tag according to the received information, and determine the processing method corresponding to the information at the first current position according to the information record table stored therein; when the processing method is to move the tag, move the tag by controlling an execution device; the information record table contains the moving positions corresponding to each type of preset information; when the processing method is not to move the tag, no processing is performed on the tag;

[0041] The tag is further configured to, when the receiving end does not process itself, continue to move along the predetermined direction, and generate a flip signal when receiving an optical signal transmitted by another transmitting end, and control its own digital baseband to send the information to the receiving end through the flip signal;

[0042] The receiving end is further configured to determine the second current position of the tag according to the received information, and determine the processing method corresponding to the information at the second current position according to the information record table; when the processing method is to move the tag, move the tag by controlling the execution device.

[0043] The present invention has the following beneficial technical effects:

[0044] The on-chip integrated optical sensor senses light illumination and converts it into an electrical signal. When receiving a light signal of a specific intensity, the electrical signal converted from the light signal of the specific intensity is processed by an amplifier circuit and a comparator, which can activate the chip (digital baseband) of the tag, enabling the chip of the tag to upload data to the corresponding receiving end, thereby cooperating with the receiving end to complete the positioning of the tag's own position. In this way, the integration degree of the tag is greatly improved, the requirements for hardware and power consumption during the tag's self-positioning are reduced, and thus the cost is lowered; at the same time, false triggering caused by other optical signals existing in nature is also reduced.

[0045] By using optical signals for the positioning of the tag, compared with the traditional radio frequency wave positioning method where the tag needs to accurately identify the size of the received signal, the signal propagation time, etc., the positioning method provided by the present invention does not require the tag to perform overly complex processing on the signal; in this way, the hardware and power consumption required by the wireless sensor node (tag) are greatly reduced. At the same time, since optical signals are used for positioning instead of the node receiving radio frequency waves to calculate the signal positioning, the distance calculated by this positioning method is not affected by signal errors, and thus the straight-line propagation characteristic of optical signals can be utilized to achieve precise positioning of the tag's position.

[0046] By using the tag to record preset information and presetting multiple positioning points, during the movement of each tag, the positioning and processing of the tag are achieved according to the information sent by the tag, thereby improving the positioning efficiency of the tag and the intelligence during the tag processing.

[0047] The following will further elaborate on the present invention in detail with reference to the accompanying drawings and embodiments. Description of the Drawings

[0048] Figure 1 It is a schematic structural diagram of the tag with an integrated optical receiving circuit provided by an embodiment of the present invention;

[0049] Figure 2A It is a cross-sectional structural diagram of the physical structure of an exemplary photodiode provided by an embodiment of the present invention;

[0050] Figure 2B It is a schematic diagram of the electrical device of an exemplary photodiode provided by an embodiment of the present invention;

[0051] Figure 3A It is a schematic circuit diagram of an exemplary first amplifier circuit provided by an embodiment of the present invention;

[0052] Figure 3B It is a schematic circuit diagram of an exemplary second amplifier circuit provided by an embodiment of the present invention;

[0053] Figure 4An optional flowchart of the method for precise positioning using optical signals provided by an embodiment of the present invention;

[0054] Figure 5 A schematic diagram of a process for recording the tag identifier and emission angle corresponding to each tag in multiple tags provided by an embodiment of the present invention;

[0055] Figure 6 A schematic diagram of the principle for positioning a tag provided by an embodiment of the present invention;

[0056] Figure 7 A schematic diagram of the interaction relationship between a tag and a transmitting end and a receiving end provided by an embodiment of the present invention;

[0057] Figure 8 An optional flowchart of the method for precise positioning using optical signals provided by an embodiment of the present invention;

[0058] Figure 9 A schematic diagram of the principle for sorting and transferring items in logistics transportation using the method for precise positioning using optical signals provided by an embodiment of the present invention. Detailed implementation manners

[0059] The following further describes the present invention in detail with reference to specific embodiments, but the implementation manners of the present invention are not limited thereto.

[0060] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0061] In the description of this specification, the description referring to terms such as "an embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0062] Although the present invention has been described in connection with various embodiments, those skilled in the art will understand and realize other variations of the disclosed embodiments by referring to the accompanying drawings, the disclosure, and the appended claims during the implementation of the claimed invention. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit may implement several functions recited in the claims. Certain measures are recited in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce a good effect.

[0063] Figure 1 is a schematic structural diagram of a label of an integrated optical receiving circuit provided by an embodiment of the present invention; as Figure 1 shown, the label includes: an optical receiver, a first amplifier circuit, a second amplifier circuit, a comparator, and a digital baseband. As Figure 1 shown, the optical receiver is connected to the first amplifier circuit. The optical receiver is an on-chip integrated photodiode. The photodiode has a PN junction formed by a P-type substrate and N+. When the first amplifier circuit provides a bias voltage, the P terminal of the photodiode is grounded and the N terminal is connected to a positive voltage. At this time, the optical receiver operates in a reverse bias state. When the optical receiver receives an optical signal, under the action of the reverse bias electric field, it provides a current signal to the first amplifier circuit. The output terminal of the first amplifier circuit is connected to an input terminal of the comparator. And the first amplifier circuit is configured to output a first voltage value V1 when it does not receive the current signal provided by the optical receiver, and output a second voltage value V1' when it receives the current signal provided by the optical receiver, and V1' is less than V1. The output terminal of the second amplifier circuit is connected to the other input terminal of the comparator. And the second amplifier circuit is configured to output a third voltage value V2, where V1 is greater than V2, and the difference between V1 and V2 is a preset voltage V. The comparator is configured to compare the voltage value input by the first amplifier circuit with the voltage value input by the second amplifier circuit, and when the voltage value input by the first amplifier circuit is less than the voltage value input by the second amplifier circuit, determine that the optical receiver has received a preset optical signal, at which time a flip signal is generated and the flip signal is sent to the digital baseband as an enable signal. The digital baseband is connected to the output terminal of the comparator. And the digital baseband is configured to store data and, when receiving the enable signal from the comparator, send the data stored therein to the corresponding receiving end; the data sent is used to assist the receiving end in positioning the label.

[0064] In the embodiment of the present invention, the preset voltage V can be set according to actual needs, and the embodiment of the present invention does not limit this.

[0065] Here, when there is no light, the voltage input to the comparator by the first amplifier circuit is V1, the reference voltage generated by the second amplifier is V2, and the difference between the two is controlled by varying a resistor at the same position in the control circuit. The current generated by light will produce a voltage signal of ΔV at the output terminal of the first amplifier circuit. When the output terminal of the first amplifier circuit receives the optical signal, it changes from V1 to V1 + ΔV (V1’), where the difference between V1 and V2 is less than ΔV.

[0066] In the embodiment of the present invention, the on-chip integrated photodiode is implemented by using a PN junction formed by a P-type substrate and N+ in the standard CMOS process. Among them, when the P terminal of the substrate is grounded and the N terminal is connected to a positive potential, the diode can operate in the reverse bias state. The depletion region of the diode PN junction generates carriers under light illumination, and the carriers move under the reverse bias electric field. Moreover, electrons move towards the N terminal, and holes move towards the P terminal, forming a current signal from N to P. In this way, the optical signal is converted into an electrical signal, and the reception of the optical signal is completed. Exemplarily, Figure 2A is a cross-sectional structure diagram of the physical structure of the photodiode, where P_sub represents the P-type substrate; Figure 2B is a schematic diagram of the electrical device of the photodiode.

[0067] In the embodiment of the present invention, the tag can judge the magnitude of the optical signal to prevent mis-triggering. When an optical signal with a set power arrives, an enable signal is generated, and the enable signal activates the digital baseband, enabling it to send data to the receiving end of the positioning system.

[0068] In the embodiment of the present invention, the on-chip integrated optical sensor senses the light illumination and converts it into an electrical signal. When a light illumination signal with a specific intensity is received, the electrical signal converted from the light illumination signal with a specific intensity is processed by the amplifier circuit and the comparator, and then the chip (digital baseband) of the tag can be activated, enabling the chip of the tag to upload data to the corresponding receiving end, thereby cooperating with the receiving end to complete the positioning of the tag's own position. In this way, the integration degree of the tag is greatly improved, the requirements for hardware and power consumption during the tag's own positioning are reduced, and thus the cost is reduced; at the same time, mis-triggering caused by other optical signals existing in nature is also reduced.

[0069] In some embodiments, the first amplifier circuit includes: a first resistor, a second resistor, a third resistor, a first MOS transistor, and a second MOS transistor; among them, the first resistor, the second resistor, and the first MOS transistor form a first series branch, serving as an input-stage common-gate amplifier and providing a bias voltage for the second MOS transistor and the photodiode at the same time; the third resistor and the second MOS transistor form a second series branch, serving as an auxiliary amplifier, reducing the input resistance through feedback and providing a bias voltage for the first MOS transistor at the same time; the first series branch and the second series branch are connected in parallel;

[0070] The second amplifier circuit includes: a fourth resistor, a fifth resistor, a sixth resistor, a third MOS transistor, and a fourth MOS transistor; wherein, the fourth resistor, the fifth resistor, and the third MOS transistor form a third series branch, serving as an input-stage common-gate amplifier and providing a bias voltage for the fourth MOS transistor; the sixth resistor and the fourth MOS transistor form a fourth series branch, serving as an auxiliary amplifier, reducing the input resistance through feedback and providing a bias voltage for the third MOS transistor; the third series branch and the fourth series branch are connected in parallel.

[0071] Wherein, the first resistor is greater than the second resistor, and the resistance difference between the first resistor and the second resistor is positively correlated with a preset voltage; the second resistor has the same resistance value as the fifth resistor, the third resistor has the same resistance value as the sixth resistor, the first MOS transistor has the same size as the third MOS transistor, and the second MOS transistor has the same size as the fourth MOS transistor.

[0072] Exemplarily, Figure 3A is a schematic circuit diagram of the first amplifier circuit; Figure 3B is a schematic circuit diagram of the second amplifier circuit. As Figure 3A shown, the first resistor R1, the second resistor R3, and the first MOS transistor M1 form a series branch, serving as an input-stage common-gate amplifier and providing a bias voltage for the second MOS transistor M3 and the photodiode; the third resistor R5 and the second MOS transistor M3 form another series branch, serving as an auxiliary amplifier, reducing the input resistance through feedback and providing a bias voltage for the first MOS transistor M1; and these two series branches are connected in parallel. The first amplifier circuit is also connected to the power supply (VDD) and ground (GND) at the same time. Vin represents the input terminal of the first amplifier circuit and is used to connect to a photoreceiver. As Figure 3B shown, the fourth resistor R2, the fifth resistor R4, and the third MOS transistor M2 form a series branch, serving as an input-stage common-gate amplifier and providing a bias voltage for the fourth MOS transistor M4; the sixth resistor R6 and the fourth MOS transistor M4 form another series branch, serving as an auxiliary amplifier, reducing the input resistance through feedback and providing a bias voltage for the third MOS transistor M2; and these two series branches are connected in parallel. The first amplifier circuit is also connected to the power supply and ground at the same time.

[0073] As Figure 3A and 3BAs shown in the figure, by controlling the values of R1 and R2, there is a certain difference in the resistance between R1 and R2, and there will also be a difference between V1 and V2. Since other components are exactly the same, the difference between V1 and V2 is completely determined by the difference between R1 and R2. This difference is the flip threshold V of the comparator, which enables the comparator to stably output a low level when there is no optical signal input and is not affected by process deviations. Here, setting an appropriate threshold voltage can shield the influence of other optical signals and external interference in the environment on the comparator and enable the comparator to generate an ideal enable signal (flip signal). When the tag starts to work, when the tag does not receive an optical signal with a preset power, the first amplifier circuit outputs V1, and the second amplifier circuit outputs V2. V1 is larger than V2 by a threshold voltage V. At this time, the comparator maintains a low-level output. When the optical receiver receives an optical signal with a preset power, the current generated by it will cause V1 output by the first amplifier circuit to change. When the change amount is less than the threshold voltage V, the output of the comparator remains unchanged. At this time, it can be determined that the received optical signal is not the optical signal for positioning emitted by the transmitting end. When the change amount is greater than the threshold voltage V, the relationship between the two input voltages received by the comparator becomes V1 less than V2. At this time, the comparator outputs a flip signal (for example, a high level) as an enable signal to activate the digital baseband, and the digital baseband returns the stored data to the corresponding receiving end.

[0074] An embodiment of the present invention also provides a method for precise positioning using optical signals, as Figure 4 shown, the method includes:

[0075] S101. The transmitting end sequentially emits first optical signals at different first preset angles at the first position, and after each emission of the first optical signal, sends the first position and each first emission angle to the corresponding receiving end.

[0076] S102. Each of at least one tag generates a flip signal when receiving the first optical signal, and controls its own digital baseband to send the data stored in itself to the receiving end through the flip signal; the first emission angles of the first optical signals received by tags at different positions are different; the data includes the identifier of the tag; the identifiers of different tags are different.

[0077] S103. When the receiving end receives the data, it associates and records the data, and the first position and the first emission angle received at the moment closest to the receiving moment of the data.

[0078] S104. After the transmitting end emits the first optical signal at different preset angles, it moves a preset distance along a preset direction to reach the second position, and sequentially emits second optical signals at different second preset angles at the second position, and after each emission of the second optical signal, sends the second position and each second emission angle to the corresponding receiving end.

[0079] In the embodiments of the present invention, multiple different first preset angles or multiple different second preset angles can be arbitrarily set according to actual needs; for example, the initial emission angle can be set to 0°, increased by 5° each time, and the last first emission angle or second emission angle is 360°; in this way, optical signals can be emitted at angles of 0°, 5°, 10° up to 360° in sequence.

[0080] S105. When the tag receives the second optical signal, it generates a flip signal, and controls its own digital baseband to send data to the receiving end through the flip signal.

[0081] S106. When the receiving end receives the data, it associates and records the data, as well as the second position and the second emission angle received at the moment closest to the receiving moment of the data.

[0082] For example, as Figure 5 shown, taking tag 1 and tag 2 as examples, when tag 1 receives the optical signal 1 emitted at the angle θ1, the digital baseband of tag 1 will return the identifier 001 with its own tag. When the receiving end receives the data 001, it records the initial position and the angle information θ1 received at the moment closest to the receiving moment of the data 001, and binds it to the 001 tag, so as to record the initial position and θ1 under the tag data of 001. When tag 2 receives the optical signal 3 emitted at the angle β1, the digital baseband of tag 2 will return the identifier 002 with its own tag. When the receiving end receives the data 002, it records the initial position and the angle information β1 received at the moment closest to the receiving moment of the data 002, and binds it to the 002 tag, so as to record the initial position and β1 under the tag data of 002. After the first-stage positioning work of tag 1 and 2 is completed, the transmitting end moves a certain distance x and then reaches the moved positions. It emits the optical signal 2 at θ2 and the optical signal 4 at β2 respectively, and starts the second-stage positioning work. The principle is the same as that of the first stage. Thus, the moved position and θ2 are recorded under the tag data of 001, and the moved position and β2 are recorded under the tag data of 002. At this time, the recorded tag 1 data are all the angles when the return data 001 is received, and the tag 2 data are all the angles when the return data 002 is received, completing the one-to-one correspondence between the tag identifier and the angle.

[0083] S107. The receiving end calculates the straight-line distance of the tag relative to the first position through trigonometric functions according to the first emission angle and the second emission angle associated with the identifier of the tag, as well as the preset distance, and obtains the relative position information of the tag.

[0084] In the embodiments of the present invention, the receiving end according to the formula Calculate d, where θ1 represents the first emission angle associated with the identifier of the tag, θ2 represents the second emission angle associated with the identifier of the tag, x represents a preset distance, tan(.) represents the tangent function in trigonometric functions, and d represents the straight-line distance; according to the first emission angle and the straight-line distance, obtain the position information of the tag relative to the first position.

[0085] Here, as Figure 6 shown, two right-angled triangles sharing a common right-angled side can be constructed based on the first position, the second position, and the position where the tag is located; among them, the length of the common right-angled side is y, the horizontal distance between the first position and the right-angled side with length y is z; the straight-line distance between the first position and each tag is d, and the included angle between side z and d is θ1; the horizontal distance between the second position and the right-angled side with length y is z + x, the straight-line distance between the first position and the tag is n, and the included angle between side z + x and side n is θ2.

[0086] From trigonometric functions, it can be obtained that:

[0087]

[0088]

[0089] Then:

[0090] Thus, it can be obtained that:

[0091] Solve to get:

[0092] From the above formula, it can be obtained that: Substitute the known values of θ1, θ2, and x, and the straight-line distance d of the tag relative to the initial position can be obtained.

[0093] Exemplarily, Figure 7 is a schematic diagram of the interaction relationship between the tag and the transmitter and the receiver; as Figure 7 shown, the transmitter emits an optical signal and sends its own current position information and the emission angle of the emitted optical signal to the receiver; after receiving the optical signal, the tag generates an enable signal through its own optical receiving circuit (the circuit part composed of an optical receiver, an amplifier circuit, and a comparator), and controls the digital baseband of the tag to return data to the receiver through the enable signal; the receiver records the position information, angle information, and received data sent by the transmitter according to the returned data, and finally locates the position of the tag through the information related to the tag recorded.

[0094] In the embodiments of the present invention, by using optical signals to locate the position of tags, compared with the traditional radio frequency wave positioning method where tags need to accurately identify the magnitude of the received signal, the signal propagation time, etc., the positioning method provided by the present invention does not require tags to perform overly complex processing on signals. Thus, the hardware and power consumption required by wireless sensor nodes (tags) are greatly reduced. At the same time, since optical signals are used for positioning instead of using nodes to receive radio frequency waves to calculate signal positioning, the distance calculated by this positioning method is not affected by signal errors. Therefore, the straight-line propagation characteristics of optical signals can be utilized to achieve precise positioning of the tag positions.

[0095] The embodiments of the present invention further provide a method for precise positioning using optical signals, as Figure 8 shown. This method includes:

[0096] S201. Each of a plurality of transmitting ends arranged at intervals in a preset direction transmits an optical signal to a preset position; wherein, the transmitting positions corresponding to different transmitting ends are different.

[0097] In the embodiments of the present invention, this preset direction can be a straight-line direction or a curve direction, and the embodiments of the present invention do not limit this; and, the position of each transmitting end is fixed.

[0098] In the embodiments of the present invention, the number of the plurality of transmitting ends can be set according to actual needs, and the embodiments of the present invention do not limit this either.

[0099] S202. During the process of movement along a predetermined direction, each of at least one tag generates a flip signal when receiving an optical signal transmitted by a transmitting end, and controls its own digital baseband to send the information stored therein to a corresponding receiving end through the flip signal; the information includes: preset information and the identifier of the tag; this information includes: preset information and the identifier of the tag; the preset information and identifiers stored in the digital basebands of different tags are all different.

[0100] In the embodiments of the present invention, the movement direction of each tag can be a direction that can pass through these plurality of transmitting ends. For example, the movement direction of each tag can be the same as the preset direction in which these plurality of transmitting ends are distributed, or opposite to the preset direction in which these plurality of transmitting ends are distributed.

[0101] In the embodiments of the present invention, for each tag, when the tag reaches the position where the light emitted by a transmitting end arrives, the received optical signal is converted into a current signal, and a voltage value is generated according to the current signal. At the same time, a reference voltage value is generated, and when the voltage value is less than the reference voltage value, a flip signal is generated, and the information stored in its own digital baseband is sent to the corresponding receiving end through the flip signal.

[0102] In the embodiments of the present invention, the preset information stored in the digital baseband of each tag can be input according to actual needs, and the embodiments of the present invention do not limit this.

[0103] S203. The receiving end determines the first current position of the tag according to the received information, and determines the processing method corresponding to the information at the first current position according to the information record table stored in itself.

[0104] In the embodiments of the present invention, the information record table, the positions of each transmitting end among multiple transmitting ends, the initial position when each tag starts to move, and the moving direction of each tag are pre-stored in the receiving end; when the receiving end receives the information sent by a tag, it queries the historical preset information corresponding to the identifier from its own historical information receiving record according to the identifier in the information; when the historical preset information is not queried, it is determined that the tag to which the identifier belongs sends the information for the first time, and the position of the first transmitting end in the moving direction of the tag is used as the first current position of the tag; when w historical preset information corresponding to the identifier is queried, it is determined that the tag to which the identifier belongs sends the information for the wth time, and the position of the wth transmitting end in the moving direction of the tag is used as the first current position of the tag; w is an integer greater than or equal to 1.

[0105] In the embodiments of the present invention, the information record table records the moving positions corresponding to each type of preset information, and these moving positions are the positions where the above-mentioned multiple transmitting ends are located.

[0106] Here, each time the receiving end receives the information sent by a tag, it records the identifier and the preset information included in the information to form a historical information receiving record.

[0107] In the embodiments of the present invention, the receiving end can query the moving position in its own information record table according to the preset information included in the received information, and generate the processing method of the tag to which the received information belongs according to the query result.

[0108] S204. When the processing method is to move the tag, the receiving end moves the tag by controlling the execution device; the information record table includes the moving positions corresponding to each type of preset information.

[0109] In the embodiments of the present invention, the execution device can be a device wirelessly or wiredly connected to the receiving end, and when receiving the instruction sent by the receiving end, it performs the corresponding action according to the instruction.

[0110] In the embodiments of the present invention, the control execution device can move the tag to a preset position, or apply a force in a certain direction to the tag to make the tag move.

[0111] S205. When the processing method is not to move the tag, the receiving end does not process the tag.

[0112] S206. When the receiving end does not process the tag, the tag continues to move along the predetermined direction, and generates a flip signal when receiving an optical signal transmitted by another transmitting end, and controls its own digital baseband to send information to the receiving end through the flip signal.

[0113] The principle here is the same as that of S202 above.

[0114] S207. The receiving end determines the second current position of the tag according to the received information, and determines the processing method corresponding to the information at the second current position according to the information record table.

[0115] The principle here is the same as that of S203 above.

[0116] S208. When the processing method is to move the tag, the receiving end moves the tag by controlling the execution device.

[0117] In the embodiment of the present invention, by using tags to record preset information and presetting multiple positioning points, and according to the information sent by the tags during the movement of each tag, the positioning and processing of the tags are realized, thereby improving the positioning efficiency of the tags and the intelligence during the processing of the tags.

[0118] In some embodiments, at least one tag is correspondingly arranged on at least one article (such as a package, etc.), each article corresponds to one tag; the preset information stored in the digital baseband of each tag is the article information of the article where it is located; in the receiving end, the positions of each transmitting end among multiple transmitting ends or the positions of the optical signals transmitted by each transmitting end, the initial position when each tag starts to move, and the movement direction of each tag are stored. Based on this, the receiving end in S203 above can determine the first current position of the tag according to the received information in the following way: when the receiving end receives the information, it queries the historical article information corresponding to the identifier from its own historical information receiving record according to the identifier in the information; when the historical article information is not queried, it is determined that the tag to which the identifier belongs is sending information for the first time, and the position of the first transmitting end or the position of the optical signal transmitted by the first transmitting end in the movement direction of the tag is used as the first current position of the tag; when w pieces of historical article information corresponding to the identifier are queried, it is determined that the tag to which the identifier belongs is sending information for the wth time, and the position of the wth transmitting end or the position of the optical signal transmitted by the wth transmitting end in the movement direction of the tag is used as the first current position of the tag; w is an integer greater than or equal to 1.

[0119] In some embodiments, the above S204 can be implemented in the following manner: The receiving end queries the moving position corresponding to the item information from the information record table according to the item information in the received information; when the moving position is queried, it is determined whether the moving position is the first current position; when the moving position is the first current position, it is determined that the processing method corresponding to the item information at the first current position is: moving the item where the label is located; when the moving position is not queried, or the moving position is different from the first current position, it is determined that the processing method corresponding to the information at the first current position is: not moving the item where the label is located.

[0120] Exemplarily, when the item is a package, the item information may be the type of the commodity in the package; in the corresponding information record table, it may include the classified transfer positions corresponding to each commodity type.

[0121] In some embodiments, the above items carrying labels are all located on the conveyor belt, and the conveyor belt moves the items placed on the conveyor belt along the predetermined direction by moving along the predetermined direction; and a plurality of transmitting ends are sequentially arranged at intervals along the preset direction on the same side or both sides of the conveyor belt.

[0122] Here, when arranged on both sides of the conveyor belt, the different transmitting ends are set with a dislocation, so that the position of each transmitting end is unique.

[0123] Here, the interval between different transmitting ends can be fixed or not fixed, and the embodiments of the present invention do not limit this.

[0124] Exemplarily, when the above method is applied to logistics transportation, the label is pasted on the item and placed on the conveyor belt, the emission source and the receiving end are placed at fixed positions, the transmitting end emits continuous and uninterrupted light, when the item passes through the position irradiated by the optical signal of the transmitting end, the label on the item will receive and distinguish this optical signal, and return the data in this label to the receiving end, the data in the label includes the item information, when the receiving end receives this label data, it can judge where this item is located, and then obtain the specific position information of the item, and then it can judge whether the item has come to the predetermined position according to the specific position information of the item, so as to decide whether to process the item. For example, Figure 9As shown in the figure. When the optical signal of tag 1 reaches the irradiation position (position 1) of the transmitting end 1, tag 1 returns data to the receiving end. After receiving the data, the receiving end determines the item type according to the information carried by tag 1 and determines that tag 1 is currently at position 1, and decides whether to process at position 1. If this item needs to be processed at position 1, item 1 will be classified and transferred. If not, the item with tag 1 will not be processed at position 1, and this item will continue to move along the conveyor belt to the irradiation position (position 2) of the transmitting end 2. And tag 1 returns data to the receiving end, and the receiving end determines whether the item needs to be classified and transferred at position 2. If so, classification and transfer will be carried out. If not, it will continue to move forward to the next positioning point, so as to realize the sorting and transfer of each item.

[0125] The present invention also provides a system for precise positioning using optical signals, and the system includes:

[0126] A transmitting end, configured to sequentially emit first optical signals at different first preset angles at a first position, and after each emission of the first optical signal, send the first position and each first emission angle to the corresponding receiving end;

[0127] Each of at least one tag is configured to generate a flip signal when receiving the first optical signal, and control its own digital baseband to send the data stored in itself to the receiving end through the flip signal; the first emission angles of the first optical signals received by tags at different positions are different; the data includes the identifier of the tag; the identifiers of different tags are different;

[0128] The receiving end is configured to, when receiving the data, associate and record the data, the first position and the first emission angle received at the moment closest to the receiving moment of the data;

[0129] The transmitting end is further configured to, after emitting the first optical signal at different preset angles, move a preset distance along a preset direction to reach a second position, and sequentially emit second optical signals at different second preset angles at the second position, and after each emission of the second optical signal, send the second position and each second emission angle to the corresponding receiving end;

[0130] The tag is further configured to generate a flip signal when receiving the second optical signal, and control its own digital baseband to send the data to the receiving end through the flip signal;

[0131] The receiving end is further configured to, when receiving the data, associate and record the data with the second position and the second emission angle received at the moment closest to the receiving moment of the data; and calculate the linear distance of the tag relative to the first position through trigonometric functions according to the first emission angle and the second emission angle associated with the identifier of the tag and the preset distance, so as to obtain the relative position information of the tag.

[0132] The present invention further provides a system for precise positioning using optical signals, which includes:

[0133] At least one tag, a receiving end, and a plurality of transmitting ends sequentially arranged at intervals along a preset direction;

[0134] Each transmitting end is configured to transmit an optical signal to a preset position; wherein, the positions corresponding to different transmitting ends are different;

[0135] Each tag is configured to generate a flip signal when receiving an optical signal transmitted by a transmitting end during the movement along a predetermined direction, and control its own digital baseband to send the information stored in itself to the corresponding receiving end through the flip signal; the information includes: preset information and the identifier of the tag; the preset information and the identifier stored in the digital basebands of different tags are different;

[0136] The receiving end is configured to determine the first current position of the tag according to the received information, and determine the processing method corresponding to the information at the first current position according to the information record table stored in itself; when the processing method is to move the tag, move the tag by controlling an execution device; the information record table includes the moving positions corresponding to each type of preset information; when the processing method is not to move the tag, no processing is performed on the tag;

[0137] The tag is further configured to, when the receiving end does not process itself, continue to move along the predetermined direction, and generate a flip signal when receiving an optical signal transmitted by another transmitting end, and control its own digital baseband to send the information to the receiving end through the flip signal;

[0138] The receiving end is further configured to determine the second current position of the tag according to the received information, and determine the processing method corresponding to the information at the second current position according to the information record table; when the processing method is to move the tag, move the tag by controlling the execution device.

[0139] The above content is a further detailed description of the present invention in combination with specific preferred embodiments. It cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those of ordinary skill in the technical field to which the present invention pertains, without departing from the concept of the present invention, several simple deductions or substitutions can be made, and all should be regarded as belonging to the protection scope of the present invention.

Claims

1. A label integrated with an optical receiving circuit, characterized in that, The label includes: A photoreceiver, a first amplifier circuit, a second amplifier circuit, a comparator, and a digital baseband; The photoreceiver is connected to the first amplifier circuit. The photoreceiver is an on-chip integrated photodiode. The photodiode has a PN junction formed by a P-type substrate and N+. When the first amplifier circuit provides a bias voltage, the P terminal is grounded and the N terminal is connected to a positive voltage, and the photoreceiver operates in a reverse bias state. The photoreceiver is configured to provide a current to the first amplifier circuit under the action of a reverse bias electric field when receiving an optical signal; The first amplifier circuit has an output terminal connected to an input terminal of the comparator. The first amplifier circuit is configured to output a first voltage value when not receiving the current provided by the photoreceiver, and output a second voltage value when receiving the current provided by the photoreceiver; the second voltage value is less than the first voltage value; The second amplifier circuit has an output terminal connected to the other input terminal of the comparator. The second amplifier circuit is configured to output a third voltage value; the first voltage value is greater than the third voltage value, and the difference between the first voltage value and the third voltage value is a preset voltage; The comparator is configured to compare the voltage value input by the first amplifier circuit with the voltage value input by the second amplifier circuit, and when the voltage value input by the first amplifier circuit is less than the voltage value input by the second amplifier circuit, determine that the photoreceiver has received a preset optical signal, generate a flip signal, and send the flip signal to the digital baseband; The digital baseband is connected to the output terminal of the comparator; it is configured to store data; and when receiving the flip signal, send the data stored therein to a corresponding receiving end; the sent data is used to assist the receiving end in positioning the position of the label.

2. The label of the integrated optical receiving circuit according to claim 1, wherein The first amplifier circuit includes: a first resistor, a second resistor, a third resistor, a first MOS transistor, and a second MOS transistor; wherein, the first resistor, the second resistor, and the first MOS transistor form a first series branch, serving as an input-stage common-gate amplifier, and at the same time providing a bias voltage for the second MOS transistor and the photodiode; the third resistor and the second MOS transistor form a second series branch, serving as an auxiliary amplifier, reducing the input resistance through feedback, and at the same time providing a bias voltage for the first MOS transistor; the first series branch and the second series branch are in parallel; The second amplifier circuit includes: a fourth resistor, a fifth resistor, a sixth resistor, a third MOS transistor, and a fourth MOS transistor; wherein, the fourth resistor, the fifth resistor, and the third MOS transistor form a third series branch, serving as an input-stage common-gate amplifier, and at the same time providing a bias voltage for the fourth MOS transistor; the sixth resistor and the fourth MOS transistor form a fourth series branch, serving as an auxiliary amplifier, reducing the input resistance through feedback, and at the same time providing a bias voltage for the third MOS transistor; the third series branch and the fourth series branch are in parallel; Wherein, the first resistor is greater than the second resistor, and the resistance difference between the first resistor and the second resistor is positively correlated with the preset voltage; the second resistor has the same resistance value as the fifth resistor, the third resistor has the same resistance value as the sixth resistor, the first MOS transistor has the same size as the third MOS transistor, and the second MOS transistor has the same size as the fourth MOS transistor.

3. A method for precise positioning using optical signals, characterized in that, Including: The transmitting end sequentially emits a first optical signal at different first preset angles at a first position, and after each emission of the first optical signal, sends the first position and each first emission angle to the corresponding receiving end; Each of at least one tag generates a flip signal when receiving the first optical signal, and controls its own digital baseband to send the data stored therein to the receiving end through the flip signal; the first emission angles of the first optical signals received by tags at different positions are different; the data includes the identifier of the tag; the identifiers of different tags are different; When the receiving end receives the data, it associates and records the data, and the first position and the first emission angle received at the moment closest to the receiving moment of the data; After the transmitting end emits the first optical signal at different preset angles, it moves a preset distance along a preset direction to reach a second position, and sequentially emits a second optical signal at different second preset angles at the second position, and after each emission of the second optical signal, sends the second position and each second emission angle to the corresponding receiving end; The tag generates a flip signal when receiving the second optical signal, and controls its own digital baseband to send the data to the receiving end through the flip signal; When the receiving end receives the data, it associates and records the data, and the second position and the second emission angle received at the moment closest to the receiving moment of the data; The receiving end calculates the linear distance of the tag relative to the first position through trigonometric functions according to the first emission angle and the second emission angle associated with the identifier of the tag, and the preset distance, so as to obtain the relative position information of the tag.

4. The method for precise optical signal positioning according to claim 3, characterized in that, The receiving end calculates the linear distance of the tag relative to the first position through trigonometric functions according to the first emission angle and the second emission angle associated with the identifier of the tag, and the preset distance, so as to obtain the relative position information of the tag, including: The receiving end calculates d according to the formula where θ1 represents the first emission angle associated with the identifier of the tag, θ2 represents the second emission angle associated with the identifier of the tag, x represents a preset distance, tan(.) represents the tangent function in trigonometric functions, and d represents the linear distance; Obtaining the position information of the tag relative to the first position according to the first emission angle and the linear distance.

5. A method for precise positioning using optical signals, characterized in that, The method includes: Each of a plurality of transmitting ends sequentially arranged at intervals along a preset direction emits an optical signal to a preset position; wherein, the emission positions corresponding to different transmitting ends are different; During the movement of each of at least one tag along a predetermined direction, when receiving an optical signal emitted by a transmitting end, a flip signal is generated, and the digital baseband of the tag itself is controlled by the flip signal to send the information stored in the tag itself to the corresponding receiving end; the information includes: preset information and the identifier of the tag; the information includes: preset information and the identifier of the tag; the preset information and the identifier stored in the digital basebands of different tags are different; The receiving end determines the first current position of the tag according to the received information, and determines the processing method corresponding to the information at the first current position according to the information record table stored in the receiving end itself; When the processing method is to move the tag, the receiving end moves the tag by controlling the execution device; the information record table contains the moving positions corresponding to each type of preset information; When the processing method is not to move the tag, the receiving end does not process the tag; When the receiving end does not process the tag, the tag continues to move along the predetermined direction, and when receiving an optical signal emitted by another transmitting end, a flip signal is generated, and the digital baseband of the tag itself is controlled by the flip signal to send the information to the receiving end; The receiving end determines the second current position of the tag according to the received information, and determines the processing method corresponding to the information at the second current position according to the information record table; When the processing method is to move the tag, the receiving end moves the tag by controlling the execution device.

6. The method for precise optical signal positioning according to claim 5, wherein The at least one tag is correspondingly arranged on at least one item, and each item corresponds to one tag; the preset information stored in the digital baseband of each tag is the item information of the item where the tag is located; the receiving end stores the positions of each transmitting end among the multiple transmitting ends or the positions of the optical signals emitted by each transmitting end, the initial position of each tag when it starts to move, and the moving direction of each tag; The receiving end determines the first current position of the tag according to the received information, including: When receiving the information, the receiving end queries the historical item information corresponding to the identifier from the historical information receiving record in the receiving end itself according to the identifier in the information; When the historical item information is not queried, it is determined that the tag to which the identifier belongs sends information for the first time, and the position of the first transmitting end in the moving direction of the tag or the position of the optical signal emitted by the first transmitting end is used as the first current position of the tag; When w pieces of historical item information corresponding to the identifier are queried, it is determined that the tag to which the identifier belongs sends information for the wth time, and the position of the wth transmitting end in the moving direction of the tag or the position of the optical signal emitted by the wth transmitting end is used as the first current position of the tag; w is an integer greater than or equal to 1.

7. The method for precise positioning using optical signals according to claim 6, characterized in that, The determining the processing method corresponding to the information at the first current position according to the information record table stored in the receiving end itself includes: According to the item information in the received information, query the moving position corresponding to the item information from the information record table; When the moving position is queried, determine whether the moving position is the first current position; When the moving position is the first current position, determine that the processing method corresponding to the item information at the first current position is: move the item where the tag is located; When the moving position is not queried, or the moving position is different from the first current position, determine that the processing method corresponding to the information at the first current position is: do not move the item where the tag is located.

8. The method for precise positioning using optical signals according to claim 6, characterized in that The item carrying the tag is located on the conveyor belt, and the conveyor belt moves the item placed on the conveyor belt along the predetermined direction by moving along the predetermined direction; the plurality of transmitting ends are sequentially arranged at intervals along the preset direction on one side or both sides of the conveyor belt.

9. A system for precise positioning using optical signals, characterized in that, Comprising: A transmitting end, configured to sequentially emit first optical signals at different first preset angles at a first position, and after each emission of the first optical signal, send the first position and each first emission angle to the corresponding receiving end; Each of at least one tag is configured to generate a flip signal when receiving the first optical signal, and control its own digital baseband to send the data stored by itself to the receiving end through the flip signal; the first emission angles of the first optical signals received by tags at different positions are different; the data includes the identifier of the tag; the identifiers of different tags are different; The receiving end is configured to, when receiving the data, associate and record the data, and the first position and the first emission angle received at the moment closest to the receiving moment of the data; The transmitting end is further configured to, after emitting the first optical signals at different preset angles, move a preset distance along the preset direction to reach a second position, and sequentially emit second optical signals at different second preset angles at the second position, and after each emission of the second optical signal, send the second position and each second emission angle to the corresponding receiving end; The tag is further configured to generate a flip signal when receiving the second optical signal, and control its own digital baseband to send the data to the receiving end through the flip signal; The receiving end is further configured to, when receiving the data, associate and record the data, and the second position and the second emission angle received at the moment closest to the receiving moment of the data; calculate the linear distance of the tag relative to the first position through trigonometric functions according to the first emission angle and the second emission angle associated with the identifier of the tag, and the preset distance, to obtain the relative position information of the tag.

10. A system for precise positioning using optical signals, characterized in that, Comprising: At least one tag, a receiving end, and a plurality of transmitting ends sequentially arranged at intervals along a preset direction; Each transmitting end is configured to emit an optical signal to a preset position; wherein, the emitting positions corresponding to different transmitting ends are different; Each tag is used to generate a flip signal when receiving an optical signal emitted by a transmitting end during movement along a predetermined direction, and controls its own digital baseband to send the information stored therein to the corresponding receiving end through the flip signal; the information includes: preset information and the identifier of the tag; the preset information and the identifier stored in the digital basebands of different tags are different; The receiving end is used to determine the first current position of the tag according to the received information, and determine the processing method corresponding to this information at the first current position according to the information record table stored therein; when the processing method is to move the tag, the tag is moved by controlling the execution device; the information record table contains the moving positions corresponding to each type of preset information; when the processing method is not to move the tag, the tag is not processed; The tag is further used to continue moving along the predetermined direction when the receiving end does not process it, and generate a flip signal when receiving an optical signal emitted by another transmitting end, and control its own digital baseband to send the information to the receiving end through the flip signal; The receiving end is further used to determine the second current position of the tag according to the received information, and determine the processing method corresponding to this information at the second current position according to the information record table; when the processing method is to move the tag, the tag is moved by controlling the execution device.

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