Method, system and server for locating goods in supermarkets

Abstract

The present invention discloses a method, system and server for locating commodities in a supermarket, the method comprising: an electronic price tag transmits a signal for measuring an arrival angle and a signal for locating a neighbor price tag, receives a neighbor positioning signal of other price tags and determines neighbor information; a base station measures the arrival angle of the price tag signal; a cloud positioning server determines the initial position of the price tag according to the angle; determines the neighbor relationship of all price tags according to the neighbor information; screens each of the multiple initial positioning positions according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag; a map server predicts the initial commodity display position collection result of each electronic price tag according to the optimized position and maps it to a supermarket map image; optimizes the initial collection result in the image according to the following factors to obtain the positioning result of the commodity bound to the price tag: neighbor relationship, actual distance, display position category, and the ratio of the display position area to the number of collected price tags. The present invention can improve the positioning accuracy of commodities.

Description

Technical Field

[0001] The present invention relates to the technical field of commodity positioning, and in particular to a method, system and server for positioning commodities in a supermarket. Background Art

[0002] This section is intended to provide a background or context to the embodiments of the invention recited in the claims. No admission is made that the description herein is prior art by inclusion in this section.

[0003] At present, electronic shelf labels will replace traditional paper labels; in addition to displaying general information, electronic shelf labels can also be used for many applications, such as fast picking, out-of-stock management, fast inventory, and human-computer interaction between users, etc. Since each electronic price tag is bound to a certain product, locating the position of the electronic price tag is equivalent to locating the product, which is very practical for application scenarios such as fast picking, finding goods, replenishing goods, presetting product display positions (such as pile heads, end racks, etc.), and sorting.

[0004] Currently, there is a method for locating products using the neighbor relationship of price tags. However, in certain situations, such as the stacking scene, where the positions of products and corresponding electronic price tags may change frequently, this neighbor positioning method based on static or semi-static neighbor relationships will encounter challenges. The existing methods for locating products using the neighbor relationship of price tags have the following problems:

[0005] 1. Frequent position changes: In the stacking scenario, the display position of the goods may be frequently adjusted according to the needs of the promotion activities, resulting in the position of the electronic price tag changing accordingly. Since the neighbor relationship is identified and located based on pre-defined rules and known anchor point location information, frequent position changes will interfere with this dependency, that is, the anchor point position may move frequently, making it difficult for the system to quickly and accurately update the price tag position.

[0006] 2. Limitation of the number of price tags: If the density of price tags in the stack area is low and the distribution of price tags is sparse, the establishment of neighbor relationships between price tags will not be stable enough, which limits the reliability of the positioning algorithm. Sparse distribution of price tags means a small number of neighbor data points, which may lead to inaccurate or incorrect positioning results.

[0007] 3. Limitations of automatic updates: When the price tag location changes, the existing neighbor relationship-based positioning system may not be able to update the neighbor relationship database in real time. This delay will affect the timeliness of positioning information and cannot effectively reflect the current actual location in a timely manner.

[0008] 4. Limitations of anchor points: This solution requires anchor price tags. The electronic price tag positioning method that relies on anchor points faces several challenges, including the number and distribution of anchor points, the accuracy of anchor point locations, the scalability of the system, and maintenance costs. If the anchor points are unevenly distributed or insufficient in number, it will directly affect the accuracy of positioning; inaccurately located anchor points will lead to error accumulation; and system expansion and anchor point maintenance may bring higher costs and complexity.

[0009] In summary, the existing method of locating goods using the neighbor relationship of price tags has positioning errors, resulting in low positioning accuracy. Summary of the invention

[0010] The embodiment of the present invention provides a method for locating goods in a supermarket, so as to improve the accuracy of goods positioning. The method is applied to a system, which includes: a plurality of electronic price tags, a plurality of electronic price tag base stations, a cloud positioning server and a map server. The method includes:

[0011] Each electronic price tag transmits a signal for measuring the angle of arrival at a preset time interval; sends a signal for locating neighbor price tags in a preset time window, receives signals for locating neighbor price tags of other price tags, determines neighbor price tag information of each electronic price tag based on the signals for locating neighbor price tags, and sends the information to the electronic price tag base station;

[0012] Each electronic price tag base station determines the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle, and sends the arrival angle of each electronic price tag signal and the neighboring price tag information to the cloud positioning server;

[0013] The cloud positioning server determines multiple preliminary positioning positions of each electronic price tag as the positioning result of the angle of arrival according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station; determines the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag; screens the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag; sends the optimized positioning position of each electronic price tag and the neighbor relationship to the map server;

[0014] The map server predicts the preliminary product display position collection result of each electronic price tag within the preset product display position range according to the optimized positioning position of each electronic price tag; maps the preliminary product display position collection result to the supermarket map image; optimizes the preliminary product display position collection result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position collection result represents the positioning result of the product bound to the electronic price tag.

[0015] The embodiment of the present invention further provides a method for locating goods in a supermarket, so as to improve the accuracy of goods positioning. The method is applied to a cloud positioning server, and the method includes:

[0016] Acquire the arrival angle of the electronic price tag signal and the neighbor price tag information; the arrival angle of the electronic price tag signal is sent by the electronic price tag base station; the electronic price tag base station is used to determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle, and send the arrival angle of each electronic price tag signal and the neighbor price tag information to the cloud positioning server; each electronic price tag is used to: transmit the signal for measuring the arrival angle at a preset time interval; send the signal for locating the neighbor price tag in a preset time window, receive the signals of locating the neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signal for locating the neighbor price tag, and send it to the electronic price tag base station;

[0017] According to the arrival angle of the electronic price tag signal, and the position and height of the electronic price tag base station, multiple preliminary positioning positions of each electronic price tag are determined as the arrival angle positioning result;

[0018] Determine the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag;

[0019] Screening multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain an optimized positioning position of each electronic price tag;

[0020] The optimized positioning position and the neighbor relationship of each electronic price tag are sent to a map server; the map server is used to: predict the preliminary product display position collection result of each electronic price tag within the preset product display position range according to the optimized positioning position of each electronic price tag; map the preliminary product display position collection result to the supermarket map image; optimize the preliminary product display position collection result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position collection result represents the positioning result of the product bound to the electronic price tag.

[0021] The embodiment of the present invention further provides a method for locating commodities in a supermarket, so as to improve the accuracy of commodity positioning. The method is applied to a map server, and the method comprises:

[0022] Obtaining an optimized positioning position and neighbor relationship sent by a cloud positioning server; the cloud positioning server is used to: determine multiple preliminary positioning positions of each electronic price tag as the arrival angle positioning result according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station; determine the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag; screen the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag; the arrival angle and neighbor price tag information of each electronic price tag signal are sent by the electronic price tag base station, and the electronic price tag base station is used to: determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle; each electronic price tag is used to: transmit a signal for measuring the arrival angle at a preset time interval; send a signal for locating a neighbor price tag in a preset time window, receive signals for locating neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signal for locating the neighbor price tag, and send it to the electronic price tag base station;

[0023] According to the optimized positioning position of each electronic price tag, a preliminary product display position aggregation result is predicted for each electronic price tag within the preset product display position range;

[0024] Mapping the preliminary product display location collection results into the supermarket map image;

[0025] The preliminary product display position aggregation result of each electronic price tag is optimized in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position aggregation result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position aggregation result represents the positioning result of the product bound to the electronic price tag.

[0026] The embodiment of the present invention also provides a system for locating goods in a supermarket to improve the accuracy of goods positioning. The system includes: multiple electronic price tags, multiple electronic price tag base stations, a cloud positioning server and a map server, wherein:

[0027] Each electronic price tag is used to transmit a signal for measuring the arrival angle at a preset time interval; send a signal for locating a neighbor price tag in a preset time window, receive signals for locating neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signals for locating neighbor price tags, and send the information to the electronic price tag base station;

[0028] Each electronic price tag base station is used to determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle, and send the arrival angle of each electronic price tag signal and neighboring price tag information to the cloud positioning server;

[0029] The cloud positioning server is used to determine multiple preliminary positioning positions of each electronic price tag as the positioning result of the angle of arrival of the electronic price tag signal and the position and height of the electronic price tag base station; determine the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag; screen the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag; send the optimized positioning position of each electronic price tag and the neighbor relationship to the map server;

[0030] A map server is used to predict, based on the optimized positioning position of each electronic price tag, a preliminary product display position collection result of each electronic price tag within the preset product display position range; map the preliminary product display position collection result to a supermarket map image; optimize the preliminary product display position collection result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position collection result represents the positioning result of the product bound to the electronic price tag.

[0031] The embodiment of the present invention further provides a cloud positioning server for positioning goods in a supermarket, so as to improve the accuracy of positioning the goods. The cloud positioning server includes:

[0032] The first acquisition unit is used to acquire the arrival angle of the electronic price tag signal and the neighbor price tag information; the arrival angle of the electronic price tag signal is sent by the electronic price tag base station; the electronic price tag base station is used to determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle, and send the arrival angle of each electronic price tag signal and the neighbor price tag information to the cloud positioning server; each electronic price tag is used to: transmit a signal for measuring the arrival angle at a preset time interval; send a signal for locating the neighbor price tag in a preset time window, receive the signals of locating the neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signal of locating the neighbor price tag, and send it to the electronic price tag base station;

[0033] An arrival angle positioning unit, used to determine multiple preliminary positioning positions of each electronic price tag as an arrival angle positioning result according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station;

[0034] A neighbor positioning unit, used to determine the neighbor relationship of all electronic price tags as a neighbor positioning result according to the neighbor price tag information of each electronic price tag;

[0035] An optimization unit, configured to screen multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain an optimized positioning position of each electronic price tag;

[0036] A sending unit is used to send the optimized positioning position of each electronic price tag and the neighbor relationship to a map server; the map server is used to: predict the preliminary product display position collection result of each electronic price tag within the preset product display position range according to the optimized positioning position of each electronic price tag; map the preliminary product display position collection result to the supermarket map image; optimize the preliminary product display position collection result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position collection result represents the positioning result of the product bound to the electronic price tag.

[0037] The embodiment of the present invention further provides a map server for locating commodities in a supermarket, so as to improve the accuracy of commodity positioning. The map server includes:

[0038] The second acquisition unit is used to acquire the optimized positioning position and neighbor relationship sent by a cloud positioning server; the cloud positioning server is used to: determine multiple preliminary positioning positions of each electronic price tag as the positioning result of the arrival angle according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station; determine the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag; screen the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag; the arrival angle and neighbor price tag information of each electronic price tag signal are sent by the electronic price tag base station, and the electronic price tag base station is used to: determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle; each electronic price tag is used to: transmit a signal for measuring the arrival angle at a preset time interval; send a signal for locating a neighbor price tag in a preset time window, receive signals for locating neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signal for locating the neighbor price tag, and send it to the electronic price tag base station;

[0039] A preliminary aggregation unit, used to predict a preliminary commodity display position aggregation result of each electronic price tag within a preset commodity display position range according to the optimized positioning position of each electronic price tag;

[0040] A mapping unit, used to map the preliminary product display location collection result into a supermarket map image;

[0041] The optimization positioning unit is used to optimize the preliminary product display position aggregation result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position aggregation result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position aggregation result represents the positioning result of the product bound to the electronic price tag.

[0042] An embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method for locating goods in a supermarket when executing the computer program.

[0043] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for locating goods in a supermarket is implemented.

[0044] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method for locating products in a supermarket is implemented.

[0045] In an embodiment of the present invention, a solution for locating goods in a supermarket is as follows: each electronic price tag transmits a signal for measuring the angle of arrival at a preset time interval; sends a signal for locating a neighboring price tag in a preset time window, receives signals for locating neighboring price tags of other price tags, determines the neighboring price tag information of each electronic price tag according to the signal for locating the neighboring price tags, and sends it to an electronic price tag base station; each electronic price tag base station determines the angle of arrival of each electronic price tag signal according to the signal for measuring the angle of arrival, and sends the angle of arrival of each electronic price tag signal and the neighboring price tag information to a cloud positioning server; the cloud positioning server determines multiple preliminary positioning positions of each electronic price tag as the angle of arrival positioning result according to the angle of arrival of the electronic price tag signal and the position and height of the electronic price tag base station; determines the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighboring price tag information of each electronic price tag; and screens the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag. The optimized positioning position of each electronic price tag and the neighbor relationship are sent to the map server; the map server predicts the preliminary product display position collection result of each electronic price tag within the preset product display position range according to the optimized positioning position of each electronic price tag; the preliminary product display position collection result is mapped to the supermarket map image; the preliminary product display position collection result of each electronic price tag is optimized in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position collection result represents the positioning result of the product bound to the electronic price tag, and the scheme can improve the positioning accuracy of the electronic price tag, thereby improving the positioning accuracy of the products in the display area. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0047] Figure 1 It is a flowchart of a method for locating goods in a supermarket applied to a system in an embodiment of the present invention;

[0048] Figure 2 This is a schematic diagram of the structure of a system for locating commodities in a supermarket according to an embodiment of the present invention;

[0049] Figure 3 A network diagram showing the connection relationship between all price tags in an embodiment of the present invention;

[0050] Figure 4 is a schematic diagram of a single base station method in an embodiment of the present invention;

[0051] Figure 5 is a schematic diagram of a multi-base station method in an embodiment of the present invention;

[0052] Figure 6 This is a schematic diagram of the principle of locating goods in a supermarket in an embodiment of the present invention;

[0053] Figure 7 It is a flowchart of a method for locating goods in a supermarket applied to a cloud positioning server in an embodiment of the present invention;

[0054] Figure 8 It is a flowchart of a method for locating goods in a supermarket applied to a map server in an embodiment of the present invention;

[0055] Fig. 9 This is a schematic diagram of the structure of a cloud-based positioning server for positioning commodities in a supermarket in an embodiment of the present invention;

[0056] Fig.10 This is a schematic diagram of the structure of a map server for locating commodities in a supermarket in an embodiment of the present invention;

[0057] Fig.11 The figure is a schematic diagram of the structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0058] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0059] The acquisition, storage, use, and processing of data in the technical solution of this application comply with the relevant provisions of laws and regulations.

[0060] Figure 1 FIG. 1 is a flow chart of a method for locating goods in a supermarket applied to a system in an embodiment of the present invention. The method is applied to the system. Figure 2 FIG. 1 is a schematic diagram of the structure of a system for locating commodities in a supermarket according to an embodiment of the present invention. Figure 2 As shown, the system includes: multiple electronic price tags, multiple electronic price tag base stations, a cloud positioning server and a map server, such as Figure 1 As shown, the method comprises the following steps:

[0061] Step 101: Each electronic price tag transmits a signal for measuring the angle of arrival at a preset time interval; sends a signal for locating neighbor price tags in a preset time window, receives signals for locating neighbor price tags of other price tags, determines neighbor price tag information of each electronic price tag based on the signals for locating neighbor price tags, and sends the information to the electronic price tag base station;

[0062] Step 102: Each electronic price tag base station determines the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle, and sends the arrival angle of each electronic price tag signal and neighboring price tag information to the cloud positioning server;

[0063] Step 103: The cloud positioning server determines multiple preliminary positioning positions of each electronic price tag as the positioning result of the angle of arrival according to the angle of arrival of the electronic price tag signal and the position and height of the electronic price tag base station; determines the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag; screens the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag; and sends the optimized positioning position of each electronic price tag and the neighbor relationship to the map server;

[0064] Step 104: The map server predicts the preliminary product display location collection result of each electronic price tag within the preset product display location range according to the optimized positioning position of each electronic price tag; maps the preliminary product display location collection result to the supermarket map image; optimizes the preliminary product display location collection result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display location collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display location, the matching degree between the category of the preset product display location and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display location to the number of collected electronic price tags; the optimized product display location collection result represents the positioning result of the product bound to the electronic price tag.

[0065] In the method for locating goods in a supermarket applied to a system in an embodiment of the present invention, when working: each electronic price tag transmits a signal for measuring the arrival angle at a preset time interval; sends a signal for locating a neighboring price tag in a preset time window, receives signals for locating neighboring price tags of other price tags, determines the neighboring price tag information of each electronic price tag according to the signal for locating the neighboring price tag and sends it to the electronic price tag base station; each electronic price tag base station determines the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle, and sends the arrival angle of each electronic price tag signal and the neighboring price tag information to the cloud positioning server; the cloud positioning server determines multiple preliminary positioning positions of each electronic price tag as the arrival angle positioning result according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station; determines the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighboring price tag information of each electronic price tag; screens the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning result of each electronic price tag. Position; send the optimized positioning position of each electronic price tag and the neighbor relationship to the map server; the map server predicts the preliminary product display position collection result of each electronic price tag within the preset product display position range according to the optimized positioning position of each electronic price tag; map the preliminary product display position collection result to the supermarket map image; optimize the preliminary product display position collection result of each electronic price tag in the supermarket map image according to one or any combination of the following factors, and obtain the optimized product display position collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the preset product display position area to the number of collected electronic price tags; the optimized product display position collection result represents the positioning result of the product bound to the electronic price tag, and this method can improve the positioning accuracy of the electronic price tag, thereby improving the positioning accuracy of the products in the display area. The following is a detailed introduction.

[0066] The embodiment of the present invention mainly designs a new positioning scheme, a scheme for locating goods in supermarkets. This scheme realizes automatic and accurate positioning of the electronic price tags in different display areas in supermarkets, such as pile heads and end racks (collectively referred to as: preset product display positions in the embodiment of the present invention) by integrating neighbor positioning and AOA positioning. This new electronic price tag positioning scheme realizes a higher precision and dynamically adaptive positioning system by integrating AOA technology and neighbor positioning technology. First, the pitch angle and azimuth angle of the electronic price tag are accurately measured using AOA technology to determine its position. Next, the neighbor relationship between price tags is collected and analyzed using neighbor positioning technology. Finally, combining the data of these two technologies, each price tag is accurately assigned to the preset product display position with the highest probability, such as a pile head or end rack, thereby optimizing the product management and display efficiency in the retail environment. This scheme not only improves the positioning accuracy, but also can flexibly respond to the frequent changes in the location of goods in the commercial environment. The following is combined with Figures 2 to 6 This method is introduced in detail.

[0067] In specific implementation, the preset commodity display position in the embodiment of the present invention may be a pile head or an end frame. For the convenience of description, the embodiments of the present invention and the accompanying drawings are described by taking the preset commodity display position as a pile head as an example.

[0068] In order to better introduce the method for locating goods in a supermarket provided by an embodiment of the present invention, first, the system architecture involved in the implementation of the present invention is introduced in detail.

[0069] like Figure 2 As shown, the architecture diagram of the system for locating goods in a supermarket in an embodiment of the present invention includes:

[0070] 1. Electronic price tags or LCD screens: The electronic price tags or LCD screens at the bottom of the figure represent different product location tags in the supermarket environment. These price tags transmit AOA signals that can be measured by the base station at predetermined time intervals. In addition, according to the unified instructions of the cloud positioning server, signals are sent in the predetermined time window, and when no signals are sent, signals from other price tags are continuously received to detect neighbors, and then neighbor information is reported.

[0071] In the embodiment of the present invention, ESL: electronic shelf label or electronic price tag. Electronic shelf label (ESL) is an electronic display device used in retail stores, usually installed on shelves, for displaying commodity prices, promotional information, inventory status, etc.

[0072] In the embodiment of the present invention, LCD screen or LCD ESL (multiple electronic price tags 01): an electronic shelf label using liquid crystal display technology, used in a retail environment, can remotely update the displayed product prices and information, and improve the efficiency and accuracy of label management.

[0073] 2. E-Shop Base Station 02 (AP): includes wireless communication module and AOA receiving antenna array module. The base station has the function of receiving E-Shop signals and can measure the angle of the signal (AOA). The base station sends the collected data back to the communication control center.

[0074] In the embodiment of the present invention, AP: base station. It is used to manage and control wireless devices, such as ESL, to ensure that electronic shelf labels can receive and send information. Specifically, the base station may include the following modules:

[0075] a. Wireless communication module: In specific implementation, this wireless communication module can receive wireless signals from electronic price tags and send response or command signals (such as commands to detect neighbor price tag information) to the price tags when necessary. The wireless communication module is also responsible for preliminary processing of the received signal data, such as signal decoding and data extraction. For example, the signal data may be modulated by QAM, FSK and other modulation schemes. The wireless communication module will demodulate these modulations to prepare for subsequent AOA calculations.

[0076] b.AOA receiving antenna array module: In specific implementation, this AOA receiving antenna array module consists of multiple antennas arranged in a linear antenna array. Each antenna is able to independently receive signals from the same signal source. By comparing the time difference or phase difference of the same signal received from different antennas, the module can calculate the angle of arrival of the signal. This information is crucial to determine the location of the signal source (such as an electronic price tag).

[0077] 3. Communication Control Center 03: As the communication hub between the cloud positioning server and the base station, it is responsible for transmitting the server's instructions to the base station and transmitting data from the base station back to the server.

[0078] From the above, it can be seen that in one embodiment, if Figure 2 As shown, the system further includes: a communication control center 03; the method for locating goods in a supermarket further includes:

[0079] The communication control center forwards the arrival angle and neighboring price tag information of each electronic price tag signal sent by the electronic price tag base station to the cloud positioning server; or forwards the signal sending instruction of the cloud positioning server to each electronic price tag through the electronic price tag base station.

[0080] In specific implementation, the arrival angle of each electronic price tag signal sent by the electronic price tag base station and the neighbor price tag information can be forwarded to the cloud positioning server through the communication control center; or the signal sending instruction of the cloud positioning server (used to process the operation instruction of the electronic price tag, such as the instruction to start the neighbor positioning instruction or the AOA positioning instruction) is forwarded to each electronic price tag through the electronic price tag base station, so as to realize the unified forwarding and processing of the data or information of all electronic price tag base stations to the cloud positioning server or the forwarding of the instruction of the cloud positioning server to each electronic price tag, thereby improving the efficiency of processing data or instructions.

[0081] 4. Cloud Positioning Server 04: This module is responsible for AOA (AOA: Angle of Arrival, the angle of arrival when the wireless signal reaches the receiving device) positioning signal resolution and the entire neighbor positioning service. Neighbor positioning: A positioning method based on the neighbor relationship between devices. For example, the location of some ESLs is known (usually called anchor price tags), and anchor price tags can be used to help locate the surrounding uncalibrated ESLs. The cloud positioning server is responsible for coordinating and processing neighbor positioning instructions and data. It issues instructions for the price tag to start sending signals and receives data returned by the base station (the base station receives the signal sent by the price tag according to the instruction) for further processing and analysis, such as determining whether the quality of the returned data meets the angle (AOA) calculation requirements. It is also responsible for processing the signals received from the base station, and calculating the corresponding pitch angle and azimuth angle as well as RSSI (Received Signal Strength Indication) data, and then using these data to calculate the location of the price tag.

[0082] 5. Map server 05: The map server stores and provides map information within the supermarket, which may include shelf layout, preset product display location information, and price tag collection results. The map server maps electronic price tags to specific locations in the supermarket so that system users can see the exact location of each price tag on the digital map of the supermarket.

[0083] When implementing it, Figure 2 In the system architecture shown, the embodiment of the present invention includes two servers: a map server and a cloud positioning server. The optimized system architecture design has clear division of labor and reasonable functional design, which further ensures the positioning efficiency of goods. The map server is also responsible for store map management (such as creating new maps, revising maps), etc., and the cloud positioning server is responsible for price tags and base station configuration, etc.

[0084] The system for locating goods in supermarkets provided by the embodiment of the present invention will eventually merge the neighbor positioning results and the AOA positioning (AOA positioning is a technology that uses the arrival angle of the received signal to determine the location of the signal source) results. The cloud-based positioning server initiates a full-field detection and sends a message (detection instruction) to all base stations through the communication control center. The base station then broadcasts and notifies all price tags to start detecting neighbor information through random sending and continuous reception in a predetermined time window. After obtaining the neighbor list, the price tag sends the list back to the cloud-based positioning server through the base station. The cloud-based positioning server uses this information to build a network diagram that shows the connection relationship between all price tags, so that the system can intuitively display the neighbor relationship between price tags. Neighbor relationship: refers to the relationship between devices (such as ESL) that are considered to be adjacent to each other based on certain standards (such as signal strength). In the positioning system, this relationship is used to identify whether the positions of ESL are adjacent. Such as Figure 3 As shown, Figure 3 A network diagram showing the connection relationship between all price tags in an embodiment of the present invention. Figure 3 The price tags that have a neighbor relationship with ESL2 are shown, and the price tags that have a neighbor relationship with ESL1 are also shown.

[0085] As can be seen from the above, in one embodiment, the method for locating commodities in a supermarket further includes: the cloud positioning server constructs a network diagram showing the connection relationship between all electronic price tags.

[0086] In specific implementation, the cloud positioning server builds a network diagram showing the connection relationship between all price tags based on the neighbor price tag information (such as the arrival angle and time of the wireless signal emitted by the price tag, as well as the signal strength, etc.), so that the system can intuitively display the neighbor relationship between the price tags, such as Figure 3 As shown, Figure 3 A network diagram showing the connection relationship between all price tags in an embodiment of the present invention. Figure 3 The electronic price tags having a neighbor relationship with ESL2 are displayed, and the electronic price tags having a neighbor relationship with ESL1 are displayed.

[0087] For the neighbor location mechanism, see Figure 3As shown, AOA positioning requires the installation of a base station device with a signal angle measurement function on the ceiling of the area in the supermarket where the goods need to be located. The device can measure the angle of the wireless signal sent from the electronic price tag, and thus locate the electronic price tag based on the measured angle. The AOA system usually uses an array receiver equipped with multiple antennas. By comparing the phase difference of the same signal received by different antennas, the system can calculate the angle of arrival of the signal. The signals received by different antennas have a slight time difference due to the different distances from the source. This time difference is converted into a phase difference, which is used to calculate the angle of arrival. AOA positioning works by measuring the angle of arrival of the wireless signal from the transmitting source (such as an electronic price tag) to the receiver (base station). These angles include azimuth and elevation. After calculating the angle of arrival, a single base station or multi-base station positioning method can be used. The single base station method is as follows: Figure 4 As shown, Figure 4 Schematic diagram of a single base station method in an embodiment of the present invention. The base station position and height as well as the price tag height can be measured in advance and input into the system as known configuration information. After obtaining the azimuth and elevation angles, the horizontal distance between the base station and the price tag can be calculated by combining the elevation angle with the height difference between the base station and the price tag. This calculation is based on the principle of trigonometry, and the distance is obtained by dividing the height difference by the tangent of the vertical angle. After the horizontal distance is obtained, the specific location of the price tag can be determined by combining the azimuth and the base station position. Multi-base station method as shown in FIG. Figure 5 As shown (the figure takes two base stations as an example), Figure 5 Schematic diagram of the multi-base station method in an embodiment of the present invention. The base station position and height can be measured in advance and input into the system as known configuration information. After obtaining the azimuth and elevation angles of multiple base stations, the corresponding straight line intersections are found through geometric operations in combination with the base station positions to determine the position of the target. For the AOA positioning mechanism, see Figure 4 and Figure 5 shown.

[0088] From the above, it can be seen that in one embodiment, based on the arrival angle of the electronic price tag signal, and the position and height of the electronic price tag base station, multiple preliminary positioning positions of each electronic price tag are determined as the arrival angle positioning result, which can include: using a single base station or a multi-base station positioning method, based on the arrival angle of the electronic price tag signal, and the position and height of the electronic price tag base station, determining the preliminary positioning position of each electronic price tag as the arrival angle positioning result.

[0089] In specific implementation, the cloud positioning server can use a single base station or multi-base station positioning method to determine the initial positioning position of each electronic price tag as the arrival angle positioning result according to the arrival angle of the electronic price tag signal, the position and height of the electronic price tag base station, and the height of the electronic price tag, thereby improving the accuracy of determining the initial positioning position, and then improving the accuracy of subsequent electronic price tag positioning, thereby improving the positioning accuracy of the goods bound to the electronic price tag.

[0090] Neighborhood positioning and AOA positioning can both locate electronic price tags separately. However, since some electronic price tags may have a direct line-of-sight wireless signal transmission path with the base station, or there may be no direct line-of-sight transmission path, the AOA angle measurement result is uncertain, resulting in a relatively large error in AOA positioning, such as greater than 2 meters, and even more than 5 meters in complex environments. If you want to accurately locate all display areas in the supermarket, such as the head of the display or the end rack, by simply using the results of AOA positioning, you need to ensure that enough base station equipment is deployed. In this case, the cost is not only too high, but also cannot adapt to the changes in the positions of shelves, heads of display and end racks during long-term use. At the same time, the neighbor positioning system mainly relies on reference price tags (anchor points) at known locations to assist in locating price tags at unknown locations, forming a location network diagram, and determining the location of each price tag by analyzing the distance and adjacent relationship between these price tags. However, this anchor-based method has some limitations. For example, due to the different distribution densities of price tags, there may be a situation where there is no determined neighbor relationship within a certain distance. At the same time, in an environment where frequent changes in position are required, the anchor price tag may be moved frequently, which also limits the accuracy and stability of neighbor positioning. Therefore, the embodiment of the present invention integrates the aforementioned neighbor positioning method and AOA positioning method to obtain a more automated and more accurate positioning result. That is, in an embodiment of the present invention, an advanced electronic price tag positioning system optimized for a supermarket environment is designed. Multiple angle of arrival (AOA) base stations are arranged inside the supermarket, and these base stations are distributed in different areas to ensure coverage of the entire mall and provide accurate angle measurement data. Figure 6 FIG. 1 is a schematic diagram of the principle of locating commodities in a supermarket in an embodiment of the present invention. Figure 6 As shown, the implementation steps of the embodiment of the present invention are:

[0091] 1. In Figure 6The steps to prepare in advance before the "electronic price tag signal" in the video are: base station deployment and configuration: multiple electronic price tag base stations are installed in different areas of the supermarket to ensure effective angle measurement of the electronic price tags in each area. When implementing it specifically, first, select the appropriate base station installation location according to the characteristics of different areas in the supermarket and the size of the space to be covered. On the basis of the traditional vertical installation of base stations to ensure vertical signal coverage, consider installing the base station at an angle to expand the signal coverage horizontally. Base station configuration includes frequency selection, signal transmission interval and power adjustment to adapt to various environmental conditions. The base station density needs to ensure that it can cover the area that needs to be positioned. The base station coverage range is related to the height. The higher the height of a single base station, the larger the coverage range. After the base station is deployed, the base station position and height need to be measured and recorded. The base station position and height and price tag height information need to be configured into the positioning system. The base station needs to be placed horizontally to ensure the accuracy of the measured AOA angle. At the same time, a horizontal detection device is configured inside the base station. The horizontal detection device can detect the base station posture and report the base station posture to compensate for the error caused by the posture and improve the AOA angle measurement accuracy.

[0092] From the above, it can be seen that in one embodiment, the electronic price tag base station is internally configured with a horizontal detection device for detecting the posture of the electronic price tag base station and reporting the posture of the electronic price tag base station to a cloud positioning server; the method for locating goods in a supermarket also includes: the cloud positioning server compensates for the error caused by the posture of the electronic price tag base station to improve the accuracy of the arrival angle positioning result.

[0093] In specific implementation, the base station needs to be placed horizontally to ensure the accuracy of the measured AOA angle. At the same time, a horizontal detection device is configured inside the base station, which can detect the base station posture and report the base station posture to compensate for the error caused by the posture and improve the AOA angle measurement accuracy.

[0094] Regarding base station deployment and configuration, an embodiment of the present invention provides a preferred solution for tilting the base station to expand the coverage area: In optimizing the base station deployment strategy of the electronic price tag positioning system, it is an effective method to consider tilting the base station to expand the coverage area. This configuration can help improve the signal coverage of the base station, especially in large spaces such as supermarkets, thereby enhancing the accuracy and stability of positioning. The specific steps of tilting the base station to expand the coverage area are: First, according to the characteristics of different areas in the supermarket and the size of the space to be covered, select a suitable base station installation location. On the basis of the traditional vertical installation of the base station to ensure vertical signal coverage, consider tilting the base station to expand the signal coverage laterally. Angle selection: Determine the tilt angle of the base station. The ideal tilt angle should be adjusted according to the spatial height and architecture of the supermarket to maximize the coverage area while avoiding the signal overlap area being too large or too small. This may require a series of field tests to determine the optimal angle. It is also necessary to ensure that the tilt does not cause the signal to be directly blocked by the ground or obstacles. Through such a tilted base station method, the coverage area of ​​each base station can be effectively expanded, and the overall performance and reliability of the electronic price tag positioning system can be improved, so as to better adapt to the complex environment of large spaces such as supermarkets.

[0095] 2. In Figure 6 The cloud positioning server pre-configures the electronic price tag to send wireless signals, and the configuration information includes the frequency, the interval period of sending signals, the power of sending signals, etc.

[0096] 3. Such as Figure 6 "Electronic price tag signal", "AOA positioning signal", "AOA angle measurement": signal transmission and angle measurement: Each electronic price tag periodically sends wireless signals according to preset parameters ( Figure 6 The first batch of electronic price tag signals are AOA positioning signals, and the base station measures the AOA positioning signals, that is, the electronic price tag base station captures these AOA positioning signals and measures their transmission angles, that is, Figure 6 The “AOA angle measurement” step is performed, and then these data (measured angle signals) are sent to the cloud positioning server.

[0097] From the above, it can be seen that in one embodiment, the method for locating goods in a supermarket further includes: the cloud positioning server pre-configures the frequency of the electronic price tag sending signal, the preset time interval, the power and interval period of the sending signal, and pre-configures the position and height of the electronic price tag base station.

[0098] In the specific implementation, the cloud positioning server configures the electronic price tag to send wireless signals, including setting the frequency, the interval period and power of the signal transmission, etc. Each electronic price tag can periodically send wireless signals according to the preset parameters. In addition, after the base station is deployed, the base station location and height need to be measured and recorded. The base station location and height and the price tag height information need to be configured into the positioning system by the cloud positioning server.

[0099] 4. Such as Figure 6 "Base station screening": Based on the information reported by the electronic price tag and the measured angle, the cloud positioning server scores and screens different base stations and eliminates base stations with poor results. For example, if the information and the measured angle include pitch angle and RSSI, for example, by setting multiple thresholds, the pitch angle is greater than or equal to the first threshold, for example, 60 is assigned 0 points, and less than 60 is assigned 1 point, and the RSSI is greater than or equal to the second threshold, for example, 80 is assigned 0 points, and less than 80 is assigned 1 point. Different base stations are scored and screened according to the final score, and base stations with poor results (for example, scores lower than the third threshold) are eliminated.

[0100] From the above, it can be seen that in one embodiment, the method for locating goods in a supermarket further includes: the cloud positioning server screens different electronic price tag base stations based on the information reported by the electronic price tags and the arrival angle, and eliminates the electronic price tag base stations whose positioning results are lower than a preset value.

[0101] During the specific implementation, the cloud positioning server scores and screens different base stations based on the information reported by the electronic price tags and the measured angles, eliminates base stations with poor results, and uses the arrival angles provided by the screened base stations for arrival angle positioning, as well as the neighbor price tag information provided by the screened base stations for neighbor positioning, thereby improving the positioning accuracy of the electronic price tags and thus improving the positioning accuracy of the products bound to the electronic price tags.

[0102] 5. As Figure 6 In "Multi-base station or single base station positioning", "Positioning result": the cloud positioning server uses the angle measurement value (AOA angle measurement data) reported by the base station and Figure 6 The approximate (preliminary) physical location of the electronic price tag is calculated based on the "base station location height and price tag height" to perform AOA positioning, and the following is obtained: Figure 6 In the "Positioning Results", AOA positioning can be performed by single base station or multiple base stations. Single base station positioning requires the price tag height to be known, while multiple base station positioning does not require the price tag height to be known. The map server infers that the electronic price tag should be at a preset product display location in a predetermined display area, such as a pile head or end rack, based on the physical location of the electronic price tag. Figure 6The "preliminary stacking" shown in the figure is: the physical location calculated by the cloud positioning server is used to group the electronic price tags into specific stacks according to certain rules. The scheduled display area is: an area planned in advance for displaying specific products or promotional activities. The stack is: a location in a shopping mall or supermarket used for promotion or special display of certain products. Stacking is an operation process that refers to classifying the electronic price tags into specific stack positions.

[0103] From the above, it can be seen that in one embodiment, if a single base station positioning is used, the cloud positioning server also considers the height of the electronic price tag and determines multiple preliminary positioning positions of each electronic price tag as the arrival angle positioning result.

[0104] 6. The cloud positioning server configures the electronic price tag to send a wireless signal that can be measured by angle measurement through the electronic price tag communication system. The configuration information includes the frequency, the interval period of sending the signal, the power of the sending signal, etc. This step can be a pre-preparation and configuration step.

[0105] 7. Start neighbor positioning: The cloud positioning server starts neighbor positioning through the electronic price tag communication system. Figure 6 The time point of the "neighbor positioning signal" in the AOA signal (such as Figure 6 There is no definite order relationship between the sending of "AOA positioning signals" in the figure. For example, neighbor positioning measurements can be made once a day or every few days, but AOA positioning signals can be sent continuously throughout the day at a fixed period.

[0106] 8. The electronic price tag sends wireless signals according to the configured parameter period (such as Figure 6 The "electronic price tag signal" in the batch can be as follows Figure 6 The "neighbor positioning signal" in the detection time window) and detects the neighbor electronic price tags around. After the detection time window ends, the detected neighbor information (such as Figure 6 The base station then transmits the neighbor information of each electronic price tag to the cloud positioning server. The cloud positioning server calculates the neighbor relationship between the electronic price tags based on the reported results, such as Figure 6 Determining Neighbor Relationships.

[0107] 9. Use neighbor information to filter positioning results: Use neighbor information and the positioning results of neighbor price tags to filter the situation where there are multiple AOA positioning results, that is, use neighbor relationships to assist in filtering the AOA positioning results and remove positioning results with large positioning errors. Due to the actual location and environmental influence of the price tag and the base station, multiple locations may appear for a certain price tag ESL1 through AOA positioning. When the location distance difference between multiple positioning results is less than the threshold (configurable, such as 5 meters), the average is taken as the final AOA positioning result. If the location distance difference between the positioning results is greater than the threshold, the AOA positioning step can be assisted by neighbor information. When a certain price tag ESL1 has multiple AOA positioning results and the distance difference is greater than the threshold, the neighbor price tag ESL2 of the price tag can be determined through neighbor information. If the neighbor price tag ESL2 has only one AOA positioning result, or there are multiple positioning results with close locations. Then the positioning results of the neighbor price tag ESL2 can be compared with the positioning results of the price tag ESL1, and the positioning results that are far away from the positioning results of ESL2 among all the positioning results of ESL1 are eliminated. Thus, the final AOA positioning result is obtained. In addition, if there are 3 positioning results, the distance between 2 positioning results is greater than the threshold, and the distance between 2 positioning results is less than the threshold, the three positioning results of the current electronic price tag are compared with the positioning results of the neighboring price tags in the same way as above, and the results whose distance from the neighboring price tag positioning results is greater than a preset distance threshold are eliminated.

[0108] As can be seen from the above, in one embodiment, screening multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag may include:

[0109] When the distance between each two preliminary positioning positions to be screened of the current electronic price tag is greater than a preset distance threshold, determining the adjacent electronic price tags of the current electronic price tag according to the neighbor relationship;

[0110] If the adjacent electronic price tag has only one arrival angle positioning result, or there are multiple arrival angle positioning results with close positions, the positioning result of the adjacent electronic price tag is compared with each preliminary positioning position to be screened of the current electronic price tag, and the positioning results of all preliminary positioning positions to be screened of the current electronic price tag whose distance from the adjacent electronic price tag positioning result exceeds a preset distance are eliminated to obtain the optimized positioning position of each electronic price tag.

[0111] As can be seen from the above, in one embodiment, screening multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag also includes:

[0112] When the distance between every two preliminary positioning positions is less than the preset distance threshold, the coordinate average of all preliminary positioning positions is taken as the optimized positioning position of each electronic price tag.

[0113] In specific implementation, the above specific implementation method of obtaining the optimized positioning position of each electronic price tag can further improve the positioning accuracy of the electronic price tag, and further improve the positioning accuracy of the goods in the supermarket.

[0114] 10. The map server combines the neighbor positioning results and the results of the preset product display positions (such as the head of the pile or the end rack) based on the angle measurement, and further locates the electronic price tags on the predetermined display area according to the comprehensive processing method. The map server not only optimizes the positioning accuracy based on the neighbor positioning results and the angle measurement results, but also accurately locates the electronic price tags on the predetermined display area through a comprehensive processing method. The comprehensive processing method: Combine the neighbor positioning results and the AOA positioning results, and use the following factors (parameters) to further accurately locate each electronic price tag to the preset product display position (such as the head of the pile or the end rack) of the predetermined display area. That is, this comprehensive processing method (such as Figure 6 The details of "Comprehensive Scoring of Pile Head Collection" are as follows:

[0115] a) The actual distance between the initial positioning position of the electronic price tag and the preset product display position (such as the head of the pile or the end rack) (e.g. Figure 6 "Distance information between price tag and stack head" in the E-Sale function: Evaluate the actual distance between the positioning coordinates (preliminary positioning position) of the E-Sale tag and the preset product display position (such as stack head or end shelf). The closer the distance between the E-Sale tag and the preset product display position (such as stack head or end shelf), the higher the score, which indicates that the price tag is more closely related to the corresponding preset product display position (such as stack head or end shelf).

[0116] b) Preset product display locations (such as stacking or end racks) and price tag category relationships (such as Figure 6 The category matching degree is to analyze whether the category of the goods on the pile head matches the category of the goods indicated on the price tag. A higher score is obtained if the goods on the pile head match the category of the goods on the price tag. The higher the similarity, the higher the score of the pile head. (You can choose to use or not use it according to the actual situation through system configuration).

[0117] c) The area of ​​the preset product display location (such as the top of the pile or the end shelf) and the number of price tags that have been positioned on the preset product display location (such as Figure 6"Pile head area and number of price tags collected" in the figure): Because the number of price tags on the pile head will fluctuate within a range, it is necessary to consider the ratio of the actual area of ​​the pile head to the number of price tags that have been located, so as to avoid the situation where there are no price tags or too many price tags on the pile head. That is, consider the ratio of the area of ​​the pile head to the number of price tags that have been located. The lower the ratio of the number of price tags to the area, the higher the score.

[0118] d) Neighbor relations (such as Figure 6 "Neighborhood Relationship" in ): Score the price tag based on the closeness of its relationship with its neighboring price tags. The closer the neighbor relationship, the closer the price tags are to each other, and the more likely they are to be in the same preset product display location (such as the top of the pile or the end shelf). That is, the score is based on the neighbor relationship between the price tags. The more price tags with the same neighbor relationship on the preset product display location (such as the top of the pile or the end shelf), the higher the score of the preset product display location (such as the top of the pile or the end shelf).

[0119] 10. Based on the above parameters (factors ad, i.e., the connection relationship between all electronic price tags in the neighbor positioning results, the actual distance, the category information of the preset product display location (such as the display location of the pile head, end shelf, etc.), and the information of the pile head area and the number of collected price tags, i.e., the ratio of the display location area to the number of collected price tags), score the preset product display location near the location of the price tag for each price tag system to determine the preset product display location (such as the pile head or end shelf) that best suits its location. At the same time, according to the layout of different stores, different factors of the above comprehensive processing method can be configured with different weights according to actual conditions. The weights are configured in the map server according to the accuracy of the collection results of the preset product display location (such as the pile head or end shelf), so as to adapt to different store needs, that is, weight adjustment: according to the collection accuracy of the preset product display location (such as the pile head or end shelf), adjust the weights of each factor of the comprehensive processing method, and configure the weights into the map positioning server to adapt to the actual situation of the store.

[0120] From the above, it can be seen that in one embodiment, the method for locating products in supermarkets further includes: the map server adjusts the weights of various factors according to the verification results of the optimized product display position aggregation results of each electronic price tag to adapt to the actual conditions of different supermarkets.

[0121] During the specific implementation, the map server adjusts the weights of various factors based on the accuracy (verification results) of the preset product display locations (such as pile heads or end racks), and configures the weights into the map server to adapt to the actual situation of the store with high flexibility and accuracy.

[0122] 11. Through the above steps, the instantaneous preset product display position (such as the head of the pile or the end rack) can be calculated. Since the system relies on wireless signals for positioning, the wireless signals will be affected by the environment at different times, which may cause inaccurate positioning results. Therefore, the embodiment of the present invention also designs a time window filtering algorithm to further improve the accuracy, such as Figure 6 The time window filtering algorithm collects and analyzes a series of results within a set time window, and then selects the most frequent results from these results (such as Figure 6 The algorithm accumulates data over a period of time, that is, collects and analyzes the accumulated data within a set time window, selects the result with the highest frequency as the final output, reduces the impact of instantaneous errors or occasional fluctuations, and thus improves the accuracy and stability of decision-making.

[0123] From the above, it can be seen that in one embodiment, the above method for locating products in a supermarket also includes: the map server obtains the optimized product display position collection results (such as the head of the pile or the end rack) of each electronic price tag at multiple times within a preset filtering time window, and selects the optimized product display position collection result with the highest frequency as the final product display position collection result.

[0124] In specific implementation, since the system relies on wireless signals for positioning, the wireless signals will be affected by the environment at different times, which may lead to inaccurate positioning results. Therefore, the embodiment of the present invention also designs a time window filtering algorithm to further improve the accuracy. The time window filtering algorithm collects and analyzes a series of results within a set time window, and then selects the result with the highest frequency from these results as the final preset product display position (such as the head of the pile or the end rack) collection result output. The algorithm accumulates data over a period of time to reduce the impact of instantaneous errors or occasional fluctuations, thereby improving the accuracy and stability of decision-making.

[0125] 12. Fusion and adjustment: Record neighbor positioning and AOA positioning results as a reference for subsequent comparison. If the deviation of the subsequent positioning results from the reference base value increases, adjust the weight of the corresponding positioning results to optimize and adjust the final position judgment, that is: when implementing neighbor positioning and AOA positioning, different update cycles are usually set, and the update cycle is configurable. In order to effectively fuse the two positioning results, an algorithm strategy can be adopted, which first records the neighbor positioning and AOA positioning results as a benchmark for subsequent comparison. On this basis, the algorithm compares the deviation between the latest neighbor positioning and AOA positioning data and the previously recorded benchmark value. If the new positioning result deviates greatly from the established benchmark, the weight of the corresponding positioning result in the final positioning decision will be reduced accordingly. In this way, the algorithm can dynamically adjust the fusion ratio of the two positioning results to achieve higher positioning accuracy and efficiency. This method not only takes into account the characteristics of the two technologies, but also flexibly responds to possible positioning errors, ensuring the overall performance of the positioning system.

[0126] From the above, it can be seen that in one embodiment, the above method for locating products in a supermarket also includes: when the error between the optimized product display location collection result and the reference positioning result exceeds a preset deviation value, the map server adjusts the weights of the neighbor positioning result and the arrival angle positioning result to obtain a product display location collection result whose error with the reference positioning result is lower than the preset deviation value.

[0127] In the specific implementation, the neighbor positioning and AOA positioning results are recorded as a reference for subsequent comparison. If the deviation between the subsequent positioning results and the reference base value increases, the weight of the corresponding positioning result is adjusted to optimize and adjust the final position judgment, thereby improving the accuracy of subsequent electronic price tag positioning, thereby improving the positioning accuracy of the products bound to the electronic price tag.

[0128] In a supermarket environment, the location of price tags on a preset product display location (such as a stack or end shelf) may change frequently. To cope with this change, the system will periodically (daily) initiate the above steps to ensure that all price tags are accurately repositioned.

[0129] The method for locating goods in a supermarket provided by the embodiment of the present invention realizes:

[0130] 1. Positioning that integrates neighbor positioning and angle measurement: This integrated positioning is to combine the advantages of neighbor positioning and AOA positioning to improve the accuracy and reliability of overall positioning. Specific implementation methods include:

[0131] a.AOA positioning operation: The cloud positioning server configures the electronic price tag to send wireless signals, including setting the frequency, the interval period and power of the signal transmission, etc. The base station receives these signals and measures the angle of arrival of the signal, and then sends this angle information back to the cloud positioning server to calculate the physical location of the electronic price tag.

[0132] b. Base station strategy: deploy base stations at appropriate locations in the store. The base stations receive electronic price tag signals and angle information, score the base stations based on these signals, and filter out base stations with poor results. Based on the filtered base station results, select a single base station or multiple base stations to locate the price tag.

[0133] c. Neighbor positioning operation: The cloud positioning server starts neighbor positioning through the electronic price tag communication system. The electronic price tag periodically sends wireless signals according to the configuration parameters. The base station not only measures the angle of the signal, but also records the arrival time and strength of the signal to help calculate the neighbor relationship between the electronic price tags.

[0134] d. Data fusion: Due to the different cycles of neighbor positioning and AOA positioning, there is no strict time relationship between the two types of positioning. Even if there is no strict time relationship, after AOA obtains the positioning result, it can be combined with the most recent neighbor positioning result, and then the preset product display position (such as the head of the pile or the end shelf) can be processed to obtain the preset product display position result for each price tag. The map server combines the neighbor positioning results and the AOA positioning results, and further integrates these data to optimize the positioning accuracy, and determines which preset product display position (such as the head of the pile or the end shelf, etc.) the electronic price tag should be in in the supermarket based on these data. Neighbor positioning and AOA positioning complement each other, and their integration can improve the accuracy of the final position estimate.

[0135] 2. Comprehensive treatment: The purpose of the comprehensive scoring method is to determine the most suitable preset product display position for each electronic price tag based on multiple scoring factors. These scoring factors include:

[0136] a. Distance between the positioning position and the preset product display position: The closer the actual distance between the positioning coordinates of the electronic price tag and the predefined preset product display position, the higher the score. This indicates that the price tag has a closer relationship with its corresponding preset product display position.

[0137] b. Relationship between the categories of the preset product display locations and the categories of the price tags: Analyze whether the categories of the products in the preset product display locations match the categories of the products indicated on the price tags. A complete match will result in a higher score, indicating the consistency and relevance of the product layout.

[0138] c. The area of ​​the preset product display location and the number of price tags that have been positioned on the preset product display location: Consider the ratio of the actual area of ​​the preset product display location to the number of price tags that have been positioned, so as to avoid the situation where there are no price tags or too many price tags on the preset product display location. A reasonable ratio scores high and helps to maintain the attractiveness and functionality of the display effect.

[0139] d. Neighborhood relationship: The price tag is scored based on the closeness of its relationship with its neighboring price tags. The closer the neighbor relationship, the closer the price tags are, and the more likely they are to be in the same preset product display position.

[0140] 3. Time window filtering and weight adjustment: By analyzing the results over a period of time, instantaneous errors can be eliminated. Weight parameters can be dynamically adjusted according to changes in the internal layout of the supermarket.

[0141] a. Time window filtering: Based on the results over a period of time, eliminate instantaneous errors and select the results with the highest frequency.

[0142] b. Adjustment of comprehensive score weight: adjust the weight of each component according to the actual preset product display position aggregation results.

[0143] c. Neighbor positioning and AOA positioning fusion weight adjustment: Dynamically adjust the weight ratio of the two according to the consistency and stability of the positioning results.

[0144] The embodiment of the present invention also provides a method for locating goods in a supermarket applied to a cloud positioning server, as described in the following embodiment. Since the principle of solving the problem by this method is similar to the method for locating goods in a supermarket applied to the system, the implementation of the method for locating goods in a supermarket applied to the cloud positioning server can refer to the implementation of the method for locating goods in a supermarket applied to the system, and the repeated parts will not be repeated.

[0145] Figure 7 FIG. 1 is a flow chart of a method for locating goods in a supermarket applied to a cloud positioning server in an embodiment of the present invention. Figure 7 As shown, the method comprises the following steps:

[0146] Step 201: Acquire the arrival angle of the electronic price tag signal and the neighbor price tag information; the arrival angle of the electronic price tag signal is sent by the electronic price tag base station; the electronic price tag base station is used to determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle, and send the arrival angle of each electronic price tag signal and the neighbor price tag information to the cloud positioning server; each electronic price tag is used to: transmit a signal for measuring the arrival angle at a preset time interval; send a signal for locating the neighbor price tag in a preset time window, receive the signals of locating the neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signal for locating the neighbor price tag, and send it to the electronic price tag base station;

[0147] Step 202: Determine multiple preliminary positioning positions of each electronic price tag as the arrival angle positioning result according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station;

[0148] Step 203: determining the neighbor relationship of all electronic price tags according to the neighbor price tag information of each electronic price tag as a neighbor positioning result;

[0149] Step 204: screening multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain an optimized positioning position of each electronic price tag;

[0150] Step 205: Send the optimized positioning position and the neighbor relationship of each electronic price tag to the map server; the map server is used to: predict the preliminary product display position collection result of each electronic price tag within the preset product display position range according to the optimized positioning position of each electronic price tag; map the preliminary product display position collection result to the supermarket map image; optimize the preliminary product display position collection result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position collection result represents the positioning result of the product bound to the electronic price tag.

[0151] In one embodiment, the method for locating goods in a supermarket applied to a cloud positioning server may further include: constructing a network diagram showing the connection relationship between all electronic price tags.

[0152] In one embodiment, the above method for locating goods in a supermarket applied to a cloud positioning server may also include: based on the information and arrival angle reported by the electronic price tag, screening different electronic price tag base stations, and eliminating the electronic price tag base stations whose positioning results are lower than a preset value.

[0153] In one embodiment, multiple preliminary positioning positions of each electronic price tag are determined as the arrival angle positioning result according to the arrival angle of the electronic price tag signal, and the position and height of the electronic price tag base station, including: through a single base station or a multi-base station positioning method, according to the arrival angle of the electronic price tag signal, and the position and height of the electronic price tag base station, the preliminary positioning position of each electronic price tag is determined as the arrival angle positioning result.

[0154] In one embodiment, the above method for locating goods in a supermarket applied to a cloud positioning server may also include: pre-configuring the frequency of the electronic price tag sending signal, the preset time interval, the power and interval period of the sending signal, and pre-configuring the location and height of the electronic price tag base station.

[0155] In one embodiment, the electronic price tag base station is internally configured with a horizontal detection device for detecting the posture of the electronic price tag base station and reporting the posture of the electronic price tag base station to a cloud positioning server; the method for locating goods in a supermarket also includes: compensating for the error caused by the posture of the electronic price tag base station to improve the accuracy of the arrival angle positioning result.

[0156] In one embodiment, multiple preliminary positioning positions of each electronic price tag are screened according to the neighbor relationship to obtain an optimized positioning position of each electronic price tag, including:

[0157] When the distance between each two preliminary positioning positions to be screened of the current electronic price tag is greater than a preset distance threshold, determining the adjacent electronic price tags of the current electronic price tag according to the neighbor relationship;

[0158] If the adjacent electronic price tag has only one arrival angle positioning result, or there are multiple arrival angle positioning results with close positions, the positioning result of the adjacent electronic price tag is compared with each preliminary positioning position to be screened of the current electronic price tag, and the positioning results of all preliminary positioning positions to be screened of the current electronic price tag whose distance from the adjacent electronic price tag positioning result exceeds a preset distance are eliminated to obtain the optimized positioning position of each electronic price tag.

[0159] In one embodiment, screening multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag further includes:

[0160] When the distance between every two preliminary positioning positions is less than the preset distance threshold, the coordinate average of all preliminary positioning positions is taken as the optimized positioning position of each electronic price tag.

[0161] In one embodiment, when single base station positioning is used, the cloud positioning server also considers the height of the electronic price tag and determines multiple preliminary positioning positions of each electronic price tag as the arrival angle positioning result.

[0162] The embodiment of the present invention also provides a method for locating goods in a supermarket applied to a map server, as described in the following embodiment. Since the principle of solving the problem by this method is similar to the method for locating goods in a supermarket applied to the system, the implementation of the method for locating goods in a supermarket applied to the map server can refer to the implementation of the method for locating goods in a supermarket applied to the system, and the repeated parts will not be repeated.

[0163] Figure 8 FIG. 1 is a flow chart of a method for locating goods in a supermarket applied to a map server in an embodiment of the present invention. Figure 8 As shown, the method comprises the following steps:

[0164] Step 301: Obtain the optimized positioning position and neighbor relationship sent by a cloud positioning server; the cloud positioning server is used to: determine multiple preliminary positioning positions of each electronic price tag as the arrival angle positioning result according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station; determine the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag; screen the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag; the arrival angle and neighbor price tag information of each electronic price tag signal are sent by the electronic price tag base station, and the electronic price tag base station is used to: determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle; each electronic price tag is used to: transmit a signal for measuring the arrival angle at a preset time interval; send a signal for locating a neighbor price tag in a preset time window, receive signals for locating neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signal for locating the neighbor price tag, and send it to the electronic price tag base station;

[0165] Step 302: predicting a preliminary commodity display position collection result of each electronic price tag within a preset commodity display position range according to the optimized positioning position of each electronic price tag;

[0166] Step 303: Mapping the preliminary product display location collection result into a supermarket map image;

[0167] Step 304: Optimize the preliminary product display location aggregation result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display location aggregation result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display location aggregation result represents the positioning result of the product bound to the electronic price tag.

[0168] In one embodiment, the above-mentioned method for locating goods in a supermarket applied to a map server may also include: obtaining the optimized product display position collection results for each electronic price tag at multiple times within a preset filtering time window, and selecting the optimized product display position collection result with the highest frequency of occurrence as the final product display position collection result.

[0169] In one embodiment, the above method for locating goods in supermarkets applied to a map server may also include: adjusting the weights of various factors according to the verification results of the optimized product display position aggregation results of each electronic price tag to adapt to the actual conditions of different supermarkets.

[0170] In one embodiment, the above-mentioned method for locating goods in supermarkets applied to a map server may also include: when the error between the optimized product display location collection result and the reference positioning result exceeds a preset deviation value, adjusting the weights of the neighbor positioning result and the arrival angle positioning result to obtain a product display location collection result whose error with the reference positioning result is lower than the preset deviation value.

[0171] The present invention also provides a system for locating goods in a supermarket, as described in the following embodiments. Since the principle of solving the problem by the system is similar to the method for locating goods in a supermarket applied to the system, the implementation of the system can refer to the implementation of the method for locating goods in a supermarket applied to the system, and the repeated parts will not be repeated.

[0172] Figure 2 FIG. 1 is a schematic diagram of the structure of a system for locating commodities in a supermarket according to an embodiment of the present invention. Figure 2 As shown, the system includes: multiple electronic price tags 01, multiple electronic price tag base stations 02, a cloud positioning server 04 and a map server 05, wherein:

[0173] Each electronic price tag 01, each electronic price tag, is used to transmit a signal for measuring the arrival angle at a preset time interval; send a signal for locating a neighbor price tag in a preset time window, receive signals for locating neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signal for locating the neighbor price tag, and send it to the electronic price tag base station;

[0174] Each electronic price tag base station 02 is used to determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle, and send the arrival angle of each electronic price tag signal and the neighboring price tag information to the cloud positioning server;

[0175] The cloud positioning server 04 is used to determine multiple preliminary positioning positions of each electronic price tag as the positioning result of the angle of arrival of the electronic price tag signal and the position and height of the electronic price tag base station; determine the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag; screen the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag; send the optimized positioning position of each electronic price tag and the neighbor relationship to the map server;

[0176] The map server 05 is used to predict the preliminary product display position collection result of each electronic price tag within the preset product display position range according to the optimized positioning position of each electronic price tag; map the preliminary product display position collection result to the supermarket map image; optimize the preliminary product display position collection result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position collection result represents the positioning result of the product bound to the electronic price tag.

[0177] In one embodiment, Figure 2 As shown, the system also includes: a communication control center 03, which is used to forward the arrival angle and neighbor price tag information of each electronic price tag signal sent by the electronic price tag base station to the cloud positioning server; or forward the signal sending instruction of the cloud positioning server to each electronic price tag through the electronic price tag base station.

[0178] In one embodiment, the cloud positioning server is further used to construct a network diagram showing the connection relationship between all electronic price tags.

[0179] In one embodiment, the cloud positioning server is further used to screen different electronic price tag base stations based on the information and arrival angle reported by the electronic price tag, and eliminate the electronic price tag base stations whose positioning results are lower than a preset value.

[0180] In one embodiment, the cloud positioning server is specifically used to: determine the preliminary positioning position of each electronic price tag as the arrival angle positioning result according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station through a single base station or multiple base station positioning method.

[0181] In one embodiment, the map server is further used to obtain the optimized preset product display position collection results at multiple times within the preset filtering time window, and select the optimized preset product display position collection result with the highest occurrence frequency as the final preset product display position collection result.

[0182] In one embodiment, the map server is further used to adjust the weight of each factor according to the verification result of the optimization result of the preset product display location aggregation to adapt to the actual situation of different supermarkets.

[0183] In one embodiment, the map server is also used to adjust the weights of the neighbor positioning results and the arrival angle positioning results when the error between the optimized preset product display location collection results and the reference positioning results exceeds a preset deviation value, so as to obtain a preset product display location collection result whose error with the reference positioning result is lower than a preset deviation value.

[0184] In one embodiment, the cloud positioning server is specifically used to: pre-configure the frequency of the electronic price tag sending signal, the preset time interval, the power and interval period of the sending signal, and pre-configure the location and height of the electronic price tag base station.

[0185] In one embodiment, the electronic price tag base station is internally configured with a horizontal detection device for detecting the posture of the electronic price tag base station and reporting the posture of the electronic price tag base station to a cloud positioning server; the method for locating goods in a supermarket also includes: compensating for the error caused by the posture of the electronic price tag base station to improve the accuracy of the arrival angle positioning result.

[0186] In one embodiment, multiple preliminary positioning positions of each electronic price tag are screened according to the neighbor relationship to obtain an optimized positioning position of each electronic price tag, including:

[0187] When the distance between each two preliminary positioning positions to be screened of the current electronic price tag is greater than a preset distance threshold, determining the adjacent electronic price tags of the current electronic price tag according to the neighbor relationship;

[0188] If the adjacent electronic price tag has only one arrival angle positioning result, or there are multiple arrival angle positioning results with close positions, the positioning result of the adjacent electronic price tag is compared with each preliminary positioning position to be screened of the current electronic price tag, and the positioning results of all preliminary positioning positions to be screened of the current electronic price tag whose distance from the adjacent electronic price tag positioning result exceeds a preset distance are eliminated to obtain the optimized positioning position of each electronic price tag.

[0189] In one embodiment, screening multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag further includes:

[0190] When the distance between every two preliminary positioning positions is less than the preset distance threshold, the coordinate average of all preliminary positioning positions is taken as the optimized positioning position of each electronic price tag.

[0191] In one embodiment, when single base station positioning is used, the cloud positioning server also considers the height of the electronic price tag and determines multiple preliminary positioning positions of each electronic price tag as the arrival angle positioning result.

[0192] The embodiment of the present invention also provides a cloud positioning server for locating goods in a supermarket, as described in the following embodiment. Since the principle of solving the problem by the cloud positioning server is similar to the method for locating goods in a supermarket applied to the system, the implementation of the cloud positioning server can refer to the implementation of the method for locating goods in a supermarket applied to the system, and the repeated parts will not be repeated.

[0193] Fig. 9 FIG. 1 is a schematic diagram of the structure of a cloud-based positioning server for positioning commodities in a supermarket in an embodiment of the present invention. Fig. 9 As shown, the cloud positioning server includes:

[0194] The first acquisition unit 041 is used to acquire the optimized positioning position and neighbor relationship sent by a cloud positioning server; the cloud positioning server is used to: determine multiple preliminary positioning positions of each electronic price tag as the positioning result of the arrival angle according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station; determine the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag; screen the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag; the arrival angle of each electronic price tag signal and the neighbor price tag information are sent by the electronic price tag base station, and the electronic price tag base station is used to: determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle; each electronic price tag is used to: transmit a signal for measuring the arrival angle at a preset time interval; send a signal for locating a neighbor price tag in a preset time window, receive signals for locating neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signal for locating the neighbor price tag, and send it to the electronic price tag base station;

[0195] The arrival angle positioning unit 042 is used to determine multiple preliminary positioning positions of each electronic price tag as the arrival angle positioning result according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station;

[0196] A neighbor positioning unit 043, used to determine the neighbor relationship of all electronic price tags as a neighbor positioning result according to the neighbor price tag information of each electronic price tag;

[0197] The optimization unit 044 is used to screen multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain an optimized positioning position of each electronic price tag;

[0198] The sending unit 045 is used to send the optimized positioning position of each electronic price tag and the neighbor relationship to the map server; the map server is used to: predict the preliminary product display position collection result of each electronic price tag within the preset product display position range according to the optimized positioning position of each electronic price tag; map the preliminary product display position collection result to the supermarket map image; optimize the preliminary product display position collection result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position collection result represents the positioning result of the product bound to the electronic price tag.

[0199] In one embodiment, the neighbor positioning unit is further used to construct a network diagram showing the connection relationship between all electronic price tags.

[0200] In one embodiment, the cloud positioning server for positioning products in supermarkets may further include a base station screening unit for screening different electronic price tag base stations based on the information and arrival angle reported by the electronic price tags, and eliminating electronic price tag base stations whose positioning results are lower than a preset value.

[0201] In one embodiment, the above-mentioned arrival angle positioning unit is specifically used to: determine the preliminary positioning position of each electronic price tag as the arrival angle positioning result according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station through a single base station or a multi-base station positioning method.

[0202] In one embodiment, the cloud positioning server for locating goods in the supermarket may also include a configuration unit for pre-configuring the frequency of the electronic price tag sending signal, the preset time interval, the power and interval period of the sending signal, and pre-configuring the location and height of the electronic price tag base station.

[0203] In one embodiment, the electronic price tag base station is internally configured with a horizontal detection device for detecting the posture of the electronic price tag base station and reporting the posture of the electronic price tag base station to a cloud positioning server; the cloud positioning server for locating the goods in the supermarket may also include a compensation unit for compensating for the error caused by the posture of the electronic price tag base station to improve the accuracy of the arrival angle positioning result.

[0204] In one embodiment, multiple preliminary positioning positions of each electronic price tag are screened according to the neighbor relationship to obtain an optimized positioning position of each electronic price tag, including:

[0205] When the distance between each two preliminary positioning positions to be screened of the current electronic price tag is greater than a preset distance threshold, determining the adjacent electronic price tags of the current electronic price tag according to the neighbor relationship;

[0206] If the adjacent electronic price tag has only one arrival angle positioning result, or there are multiple arrival angle positioning results with close positions, the positioning result of the adjacent electronic price tag is compared with each preliminary positioning position to be screened of the current electronic price tag, and the positioning results of all preliminary positioning positions to be screened of the current electronic price tag whose distance from the adjacent electronic price tag positioning result exceeds a preset distance are eliminated to obtain the optimized positioning position of each electronic price tag.

[0207] In one embodiment, screening multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag further includes:

[0208] When the distance between every two preliminary positioning positions is less than the preset distance threshold, the coordinate average of all preliminary positioning positions is taken as the optimized positioning position of each electronic price tag.

[0209] In one embodiment, when single base station positioning is used, the cloud positioning server also considers the height of the electronic price tag and determines multiple preliminary positioning positions of each electronic price tag as the arrival angle positioning result.

[0210] The embodiment of the present invention also provides a map server for locating goods in a supermarket, as described in the following embodiment. Since the principle of solving the problem by the map server is similar to the method for locating goods in a supermarket applied to the system, the implementation of the map server can refer to the implementation of the method for locating goods in a supermarket applied to the system, and the repeated parts will not be repeated.

[0211] Fig.10 FIG. 1 is a schematic diagram of the structure of a map server for locating commodities in a supermarket in an embodiment of the present invention. Fig.10 As shown, the map server includes:

[0212] The second acquisition unit 051 is used to acquire the optimized positioning position and neighbor relationship sent by a cloud positioning server; the cloud positioning server is used to: determine multiple preliminary positioning positions of each electronic price tag as the arrival angle positioning result according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station; determine the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag; screen the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag; the arrival angle and neighbor price tag information of each electronic price tag signal are sent by the electronic price tag base station, and the electronic price tag base station is used to: determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle; each electronic price tag is used to: transmit a signal for measuring the arrival angle at a preset time interval; send a signal for locating a neighbor price tag in a preset time window, receive signals for locating neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signal for locating the neighbor price tag, and send it to the electronic price tag base station;

[0213] A preliminary collection unit 052, configured to predict a preliminary commodity display position collection result of each electronic price tag within a preset commodity display position range according to the optimized positioning position of each electronic price tag;

[0214] A mapping unit 053, used to map the preliminary product display location collection result into a supermarket map image;

[0215] The optimization positioning unit 054 is used to optimize the preliminary product display position aggregation result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position aggregation result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position aggregation result represents the positioning result of the product bound to the electronic price tag.

[0216] In one embodiment, the map server for locating products in supermarkets may also include: a final positioning unit, used to: obtain the optimized product display position collection results for each electronic price tag at multiple times within a preset filtering time window, and select the optimized product display position collection result with the highest frequency of occurrence as the final product display position collection result.

[0217] In one embodiment, the map server for locating products in supermarkets may further include: a first weight adjustment unit, used to adjust the weights of various factors according to the verification results of the optimized product display position aggregation results of each electronic price tag to adapt to the actual conditions of different supermarkets.

[0218] In one embodiment, the map server for locating products in supermarkets may further include: a second weight adjustment unit, for adjusting the weights of neighbor positioning results and arrival angle positioning results when the error between the optimized product display location collection result and the reference positioning result exceeds a preset deviation value, so as to obtain a product display location collection result whose error with the reference positioning result is lower than a preset deviation value.

[0219] Based on the above invention concept, Fig.11 As shown, the present invention also proposes a computer device 600, including a memory 610, a processor 620, and a computer program 630 stored in the memory 610 and executable on the processor 620, wherein the processor 620 implements the aforementioned method of locating goods in a supermarket when executing the computer program 630.

[0220] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for locating goods in a supermarket is implemented.

[0221] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the method for locating products in a supermarket is implemented.

[0222] In an embodiment of the present invention, a solution for locating goods in a supermarket is as follows: each electronic price tag transmits a signal for measuring the angle of arrival at a preset time interval; sends a signal for locating a neighboring price tag in a preset time window, receives signals for locating neighboring price tags of other price tags, determines the neighboring price tag information of each electronic price tag according to the signal for locating the neighboring price tags, and sends it to an electronic price tag base station; each electronic price tag base station determines the angle of arrival of each electronic price tag signal according to the signal for measuring the angle of arrival, and sends the angle of arrival of each electronic price tag signal and the neighboring price tag information to a cloud positioning server; the cloud positioning server determines multiple preliminary positioning positions of each electronic price tag as the angle of arrival positioning result according to the angle of arrival of the electronic price tag signal and the position and height of the electronic price tag base station; determines the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighboring price tag information of each electronic price tag; and screens the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag. The optimized positioning position of each electronic price tag and the neighbor relationship are sent to the map server; the map server predicts the preliminary product display position collection result of each electronic price tag within the preset product display position range according to the optimized positioning position of each electronic price tag; the preliminary product display position collection result is mapped to the supermarket map image; the preliminary product display position collection result of each electronic price tag is optimized in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position collection result represents the positioning result of the product bound to the electronic price tag, and the scheme can improve the positioning accuracy of the electronic price tag, thereby improving the positioning accuracy of the products in the display area.

[0223] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0224] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0225] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0226] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0227] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for locating goods in a supermarket, characterized in that: The method is applied to a system, the system comprising: a plurality of electronic price tags, a plurality of electronic price tag base stations, a cloud positioning server and a map server, the method comprising: Each electronic price tag transmits a signal for measuring the angle of arrival at a preset time interval; sends a signal for locating neighbor price tags in a preset time window, receives signals for locating neighbor price tags of other price tags, determines neighbor price tag information of each electronic price tag based on the signals for locating neighbor price tags, and sends the information to the electronic price tag base station; Each electronic price tag base station determines the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle, and sends the arrival angle of each electronic price tag signal and the neighboring price tag information to the cloud positioning server; The cloud positioning server determines multiple preliminary positioning positions of each electronic price tag as the positioning result of the angle of arrival according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station; determines the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag; screens the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag; sends the optimized positioning position of each electronic price tag and the neighbor relationship to the map server; The map server predicts the preliminary product display position collection result of each electronic price tag within the preset product display position range according to the optimized positioning position of each electronic price tag; maps the preliminary product display position collection result to the supermarket map image; optimizes the preliminary product display position collection result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position collection result represents the positioning result of the product bound to the electronic price tag.

2. The method according to claim 1, characterized in that The system further includes: a communication control center; the method for locating goods in a supermarket further includes: The communication control center forwards the arrival angle and neighboring price tag information of each electronic price tag signal sent by the electronic price tag base station to the cloud positioning server; or forwards the signal sending instruction of the cloud positioning server to each electronic price tag through the electronic price tag base station.

3. A method for locating goods in a supermarket, characterized in that: The method is applied to a cloud positioning server, and the method includes: Acquire the arrival angle of the electronic price tag signal and the neighbor price tag information; the arrival angle of the electronic price tag signal is sent by the electronic price tag base station; the electronic price tag base station is used to determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle, and send the arrival angle of each electronic price tag signal and the neighbor price tag information to the cloud positioning server; each electronic price tag is used to: transmit the signal for measuring the arrival angle at a preset time interval; send the signal for locating the neighbor price tag in a preset time window, receive the signals of locating the neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signal for locating the neighbor price tag, and send it to the electronic price tag base station; According to the arrival angle of the electronic price tag signal, and the position and height of the electronic price tag base station, multiple preliminary positioning positions of each electronic price tag are determined as the arrival angle positioning result; Determine the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag; Screening multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain an optimized positioning position of each electronic price tag; The optimized positioning position and the neighbor relationship of each electronic price tag are sent to a map server; the map server is used to: predict the preliminary product display position collection result of each electronic price tag within the preset product display position range according to the optimized positioning position of each electronic price tag; map the preliminary product display position collection result to the supermarket map image; optimize the preliminary product display position collection result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position collection result represents the positioning result of the product bound to the electronic price tag.

4. The method according to claim 3, characterized in that Also includes: Construct a network diagram showing the connections between all electronic price tags.

5. The method according to claim 3, characterized in that Also includes: Based on the information and arrival angle reported by the electronic price tag, different electronic price tag base stations are screened, and the electronic price tag base stations with positioning results lower than the preset value are eliminated.

6. The method according to claim 3, characterized in that According to the arrival angle of the electronic price tag signal, and the position and height of the electronic price tag base station, multiple preliminary positioning positions of each electronic price tag are determined as the arrival angle positioning result, including: through a single base station or a multi-base station positioning method, according to the arrival angle of the electronic price tag signal, and the position and height of the electronic price tag base station, the preliminary positioning position of each electronic price tag is determined as the arrival angle positioning result.

7. The method according to claim 3, characterized in that Also includes: Pre-configure the frequency of the electronic price tag sending signal, the preset time interval, the power and interval period of the sending signal, and pre-configure the location and height of the electronic price tag base station.

8. The method according to claim 3, characterized in that The electronic price tag base station is internally configured with a horizontal detection device for detecting the posture of the electronic price tag base station and reporting the posture of the electronic price tag base station to a cloud positioning server; the method for locating goods in a supermarket also includes: compensating for the error caused by the posture of the electronic price tag base station to improve the accuracy of the arrival angle positioning result.

9. The method according to claim 3, characterized in that The multiple preliminary positioning positions of each electronic price tag are screened according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag, including: When the distance between each two preliminary positioning positions to be screened of the current electronic price tag is greater than a preset distance threshold, determining the adjacent electronic price tags of the current electronic price tag according to the neighbor relationship; If the adjacent electronic price tag has only one arrival angle positioning result, or there are multiple arrival angle positioning results with close positions, the positioning result of the adjacent electronic price tag is compared with each preliminary positioning position to be screened of the current electronic price tag, and the positioning results of all preliminary positioning positions to be screened of the current electronic price tag whose distance from the adjacent electronic price tag positioning result exceeds a preset distance are eliminated to obtain the optimized positioning position of each electronic price tag.

10. The method according to claim 9, characterized in that The method further comprises: screening multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain an optimized positioning position of each electronic price tag; When the distance between every two preliminary positioning positions is less than the preset distance threshold, the coordinate average of all preliminary positioning positions is taken as the optimized positioning position of each electronic price tag.

11. The method according to claim 3, characterized in that If single base station positioning is used, the cloud positioning server also considers the height of the electronic price tag and determines multiple preliminary positioning positions of each electronic price tag as the arrival angle positioning result.

12. A method for locating goods in a supermarket, characterized in that: The method is applied to a map server, and the method comprises: Obtaining an optimized positioning position and neighbor relationship sent by a cloud positioning server; the cloud positioning server is used to: determine multiple preliminary positioning positions of each electronic price tag as the arrival angle positioning result according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station; determine the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag; screen the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag; the arrival angle and neighbor price tag information of each electronic price tag signal are sent by the electronic price tag base station, and the electronic price tag base station is used to: determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle; each electronic price tag is used to: transmit a signal for measuring the arrival angle at a preset time interval; send a signal for locating a neighbor price tag in a preset time window, receive signals for locating neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signal for locating the neighbor price tag, and send it to the electronic price tag base station; According to the optimized positioning position of each electronic price tag, a preliminary product display position aggregation result is predicted for each electronic price tag within the preset product display position range; Mapping the preliminary product display location collection results into the supermarket map image; The preliminary product display position aggregation result of each electronic price tag is optimized in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position aggregation result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position aggregation result represents the positioning result of the product bound to the electronic price tag.

13. The method according to claim 12, characterized in that Also includes: The optimized product display position aggregation results of each electronic price tag at multiple times are obtained within a preset filtering time window, and the optimized product display position aggregation result with the highest occurrence frequency is selected as the final product display position aggregation result.

14. The method according to claim 12, characterized in that Also includes: According to the verification results of the collection results of the optimized product display position of each electronic price tag, the weight of each factor is adjusted to adapt to the actual situation of different supermarkets.

15. The method according to claim 12, characterized in that Also includes: When the error between the optimized product display position aggregation result and the reference positioning result exceeds a preset deviation value, the weights of the neighbor positioning result and the arrival angle positioning result are adjusted to obtain a product display position aggregation result whose error with the reference positioning result is lower than the preset deviation value.

16. A system for locating goods in a supermarket, characterized in that: The system includes: multiple electronic price tags, multiple electronic price tag base stations, a cloud positioning server and a map server, wherein: Each electronic price tag is used to transmit a signal for measuring the arrival angle at a preset time interval; send a signal for locating a neighbor price tag in a preset time window, receive signals for locating neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signals for locating neighbor price tags, and send the information to the electronic price tag base station; Each electronic price tag base station is used to determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle, and send the arrival angle of each electronic price tag signal and neighboring price tag information to the cloud positioning server; The cloud positioning server is used to determine multiple preliminary positioning positions of each electronic price tag as the positioning result of the angle of arrival of the electronic price tag signal and the position and height of the electronic price tag base station; determine the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag; screen the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag; send the optimized positioning position of each electronic price tag and the neighbor relationship to the map server; A map server is used to predict, based on the optimized positioning position of each electronic price tag, a preliminary product display position collection result of each electronic price tag within the preset product display position range; map the preliminary product display position collection result to a supermarket map image; optimize the preliminary product display position collection result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position collection result represents the positioning result of the product bound to the electronic price tag.

17. A cloud-based positioning server for positioning goods in a supermarket, characterized in that: include: A first acquisition unit, used to acquire the arrival angle of the electronic price tag signal and the neighbor price tag information; The arrival angle of the electronic price tag signal is sent by the electronic price tag base station; the electronic price tag base station is used to determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle, and send the arrival angle of each electronic price tag signal and the neighbor price tag information to the cloud positioning server; each electronic price tag is used to: transmit the signal for measuring the arrival angle at a preset time interval; send the signal for locating the neighbor price tag in the preset time window, receive the signals of locating the neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signal of locating the neighbor price tag and send it to the electronic price tag base station; An arrival angle positioning unit, used to determine multiple preliminary positioning positions of each electronic price tag as an arrival angle positioning result according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station; A neighbor positioning unit, used to determine the neighbor relationship of all electronic price tags as a neighbor positioning result according to the neighbor price tag information of each electronic price tag; An optimization unit, configured to screen multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain an optimized positioning position of each electronic price tag; A sending unit is used to send the optimized positioning position of each electronic price tag and the neighbor relationship to a map server; the map server is used to: predict the preliminary product display position collection result of each electronic price tag within the preset product display position range according to the optimized positioning position of each electronic price tag; map the preliminary product display position collection result to the supermarket map image; optimize the preliminary product display position collection result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position collection result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position collection result represents the positioning result of the product bound to the electronic price tag.

18. A map server for locating goods in a supermarket, characterized in that: include: A second acquisition unit is used to acquire an optimized positioning position and a neighbor relationship sent by a cloud positioning server; The cloud positioning server is used to: determine multiple preliminary positioning positions of each electronic price tag as the arrival angle positioning result according to the arrival angle of the electronic price tag signal and the position and height of the electronic price tag base station; determine the neighbor relationship of all electronic price tags as the neighbor positioning result according to the neighbor price tag information of each electronic price tag; screen the multiple preliminary positioning positions of each electronic price tag according to the neighbor relationship to obtain the optimized positioning position of each electronic price tag; the arrival angle and neighbor price tag information of each electronic price tag signal are sent by the electronic price tag base station, and the electronic price tag base station is used to: determine the arrival angle of each electronic price tag signal according to the signal for measuring the arrival angle; each electronic price tag is used to: transmit a signal for measuring the arrival angle at a preset time interval; send a signal for locating a neighbor price tag in a preset time window, receive signals for locating neighbor price tags of other price tags, determine the neighbor price tag information of each electronic price tag according to the signal for locating the neighbor price tag, and send it to the electronic price tag base station; A preliminary aggregation unit, used to predict a preliminary commodity display position aggregation result of each electronic price tag within a preset commodity display position range according to the optimized positioning position of each electronic price tag; A mapping unit, used to map the preliminary product display location collection result into a supermarket map image; The optimization positioning unit is used to optimize the preliminary product display position aggregation result of each electronic price tag in the supermarket map image according to one or any combination of the following factors to obtain the optimized product display position aggregation result of each electronic price tag: the neighbor relationship, the actual distance between the optimized positioning position of each electronic price tag and the preset product display position, the matching degree between the category of the preset product display position and the category of the product bound to the electronic price tag, and the ratio of the area of ​​the preset product display position to the number of collected electronic price tags; the optimized product display position aggregation result represents the positioning result of the product bound to the electronic price tag.

19. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 15 is implemented.

20. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 15 is implemented.

21. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 15 is implemented.

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