Method and device for locating stored goods based on RFID tag antenna

Abstract

The present application provides a method and device for locating stored goods based on RFID tag antennas, which relates to the field of wireless directional technology, including: obtaining a tag configuration feature set, and deploying RFID readers and antenna arrays; in the process of cargo handling, collecting storage images and identifying changes in the tag configuration features of the goods in the image, and obtaining a set of changed tag configuration features; searching and locating the target goods using an RFID reader array and an antenna array according to the target tag information of the target goods, and obtaining the positioning result of the target goods; selecting a reader and antenna that transmits a positioning radio frequency signal for positioning according to the set of changed tag configuration features. The present application can solve the problems of the prior art in which the positioning of goods is difficult, the positioning efficiency is low, and the positioning accuracy is insufficient due to signal attenuation such as reflection and occlusion of RFID signals in the warehouse, thereby realizing real-time tracking of goods, improving the accuracy and efficiency of positioning, and improving the efficiency of warehousing.

Description

Technical Field

[0001] The present application relates to the field of wireless positioning technology, and in particular to a method and device for positioning stored goods based on RFID tag antennas. Background Art

[0002] With the development of economy, enterprises have a growing demand for warehouse management. Effective warehouse management can greatly improve logistics efficiency, reduce operating costs and enhance enterprise competitiveness.

[0003] At present, the existing warehouse management technology mainly relies on physical marks such as shelves to locate goods. This method may cause the goods to be difficult to find after being misplaced. At the same time, although RFID tag positioning technology has improved the degree of automation of positioning, the signal attenuation of RFID signals such as reflection and occlusion in the warehouse leads to low positioning efficiency and inaccuracy.

[0004] In summary, due to the attenuation of RFID signals such as reflection and occlusion in the warehouse, the existing technology makes it difficult to locate goods, the positioning efficiency is low, and the positioning accuracy is insufficient, which further affects the efficiency and accuracy of warehouse management. Summary of the invention

[0005] The purpose of this application is to provide a method and device for locating stored goods based on RFID tag antennas, so as to solve the problem of signal attenuation such as reflection and obstruction of RFID signals in the warehouse, which leads to difficulty in cargo positioning, low positioning efficiency and insufficient positioning accuracy, further affecting the efficiency and accuracy of warehouse management.

[0006] In a first aspect, the present application provides a method for locating stored goods based on RFID tag antennas, and the method for locating stored goods based on RFID tag antennas is implemented by a storage goods locating device based on RFID tag antennas, wherein the method for locating stored goods based on RFID tag antennas includes: configuring RFID tags for goods in the warehouse, obtaining a tag configuration feature set, and deploying RFID readers and RFID antennas in the warehouse to obtain an RFID reader array and an RFID antenna array; during the cargo handling process in the warehouse, collecting warehouse images, and identifying changes in the tag configuration features of the goods in the warehouse images to obtain a changed tag configuration feature set; obtaining target tag information of the target goods to be located; using the RFID reader array and the RFID antenna array, searching and locating according to the target tag information, to obtain the positioning result of the target goods, wherein, during the search and positioning process, selecting a reader and an antenna that transmits a positioning radio frequency signal for positioning according to the changed tag configuration feature set.

[0007] In a second aspect, the present application further provides a storage cargo positioning device based on an RFID tag antenna, which is used to execute the storage cargo positioning method based on an RFID tag antenna as described in the first aspect, wherein the storage cargo positioning device based on an RFID tag antenna includes: a feature set acquisition module, which is used to configure RFID tags for the goods in the warehouse, obtain a tag configuration feature set, and deploy RFID readers and RFID antennas in the warehouse to obtain an RFID reader array and an RFID antenna array; a feature change identification module, which is used to collect warehouse images during the cargo handling process in the warehouse, and identify the changes in the label configuration features of the goods in the warehouse image to obtain a changed label configuration feature set; a target tag information acquisition module, which is used to obtain the target tag information of the target goods to be positioned; a search and positioning module, which is used to use the RFID reader array and the RFID antenna array to search and position according to the target tag information to obtain the positioning result of the target goods, wherein, in the search and positioning process, the reader and antenna that transmit the positioning radio frequency signal for positioning are selected according to the changed label configuration feature set.

[0008] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0009] By configuring RFID tags for goods in a warehouse, a tag configuration feature set is obtained, and RFID readers and RFID antennas are deployed in the warehouse to obtain an RFID reader array and an RFID antenna array; during the transportation of goods in the warehouse, warehouse images are collected, and changes in the tag configuration features of the goods in the warehouse images are identified to obtain a changed tag configuration feature set; target tag information of the target goods to be positioned is obtained; the RFID reader array and the RFID antenna array are used to search and position according to the target tag information to obtain the positioning result of the target goods, wherein, during the search and positioning process, a reader and an antenna that transmits a positioning radio frequency signal for positioning are selected according to the changed tag configuration feature set, which effectively solves the problem of signal attenuation such as reflection and occlusion of RFID signals in the warehouse in the prior art, which leads to difficulty in positioning, low positioning efficiency and insufficient positioning accuracy, further affecting the efficiency and accuracy of warehouse management, and realizing real-time tracking of goods, improving the accuracy and efficiency of positioning, and improving warehouse efficiency.

[0010] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented according to the contents of the specification, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are specifically cited below. It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easy to understand through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0012] Figure 1 This is a flow chart of a method for locating stored goods based on RFID tag antennas in this application;

[0013] Figure 2 This is a schematic diagram of the structure of a storage cargo positioning device based on an RFID tag antenna in this application.

[0014] Description of reference numerals:

[0015] Feature set acquisition module 11, feature change recognition module 12, target tag information acquisition module 13, search and positioning module 14. DETAILED DESCRIPTION

[0016] The present application provides a warehouse cargo positioning method and device based on RFID tag antennas, thereby solving the problems in the prior art of cargo positioning difficulties, low positioning efficiency and insufficient positioning accuracy due to signal attenuation such as reflection and obstruction of RFID signals in the warehouse, which further affects the efficiency and accuracy of warehouse management, realizes real-time tracking of cargo, improves positioning accuracy and efficiency, and improves warehouse efficiency.

[0017] Below, the technical solutions in the present application will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments of the present application. It should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application. It should also be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, rather than all of them.

[0018] For example, please refer to the attached Figure 1 The present application provides a storage cargo positioning method based on RFID tag antenna, wherein the storage cargo positioning method based on RFID tag antenna is applied to a storage cargo positioning device based on RFID tag antenna, and the storage cargo positioning method based on RFID tag antenna specifically includes the following steps:

[0019] S1: Configure RFID tags for goods in the warehouse to obtain a tag configuration feature set, and deploy RFID readers and RFID antennas in the warehouse to obtain an RFID reader array and an RFID antenna array.

[0020] Furthermore, step S1 of the present application also includes:

[0021] RFID tags are configured for the goods in the warehouse to obtain a tag information set and a tag orientation set, wherein each tag orientation includes the orientation of the RFID tag configured on the goods, and the initial multiple tag orientations are the same; the tag orientation set is used as a tag configuration feature set; RFID readers and RFID antennas are deployed in the warehouse to obtain the position information of multiple RFID readers and multiple RFID antennas, and the RFID reader array and RFID antenna array are constructed.

[0022] Specifically, select RFID tags suitable for the storage environment, such as passive UHF RFID tags. Write tag information, including cargo information, i.e., cargo unique identifier, name, category, production date, etc. Tag orientation, i.e., record the position information of the RFID tag relative to the cargo, such as the upper left corner, the center of the front, etc. Initially, the RFID tags of multiple cargoes have the same orientation. Fix the tag, i.e., fix the tag at the predetermined position of the cargo. Use an RFID tag printer to print a tag with cargo information, and use an RFID encoder to write the information into the chip of the tag. Create a record for each tag in the database, including the label's orientation information, and use a barcode or QR code to assist in recording the orientation information. Enter the configuration information of each tag, including cargo information and label orientation, into the database. Construct a tag configuration feature set in the database to store the configuration information of all tags. The fields in the table include tag ID, cargo information, label orientation, etc. Select the model and quantity of the reader and antenna according to the size and layout of the warehouse. Plan the fixed position of the reader and antenna to ensure that all cargo storage areas are covered, such as installing the reader at the entrance, exit, and passage of the warehouse. The antennas are arranged along the shelves to ensure that the goods on each shelf can be read. The antenna angle and height are adjusted according to the specific conditions of the shelves. Use the RFID system management software to configure the working parameters of the reader, such as reading power, reading frequency, etc., and configure the working parameters of the antenna, such as antenna polarization direction, gain, etc. Obtain the RFID reader array and RFID antenna array

[0023] S2: During the cargo handling process in the warehouse, the warehouse image is collected, and the changes in the label configuration features of the cargo in the warehouse image are identified to obtain a set of changed label configuration features.

[0024] Specifically, high-definition surveillance cameras are installed at key locations in the warehouse to cover all cargo handling routes and storage areas. During the cargo handling process, the cameras collect images in the warehouse in real time. Cameras with sufficient resolution and frame rate are selected to capture clear images. The collected images are preprocessed, such as denoising, enhancing contrast, adjusting brightness and saturation, etc. Image recognition technology is used to detect RFID tags in the image and identify their orientation. The tag orientation in the current image is compared with the initial orientation recorded in the database to identify changes in the tag orientation. The identified tag orientation changes are recorded in the database, and a set of changed tag configuration features is constructed based on the recorded change data.

[0025] S3: Obtain target tag information of the target goods to be located.

[0026] Specifically, the target goods to be located can be identified based on order processing, inventory checking or other management needs. The tag information of the target goods is queried in the RFID tag configuration feature set. The RFID tag information of the target goods is extracted from the database, including the unique identifier of the tag, tag type, configuration orientation, etc. The target tag information is passed to the RFID reader system to prepare for the positioning operation.

[0027] S4: Using the RFID reader array and RFID antenna array, search and locate according to the target tag information to obtain the positioning result of the target goods, wherein, during the search and positioning process, the reader and antenna that transmit the positioning radio frequency signal for positioning are selected according to the changed tag configuration feature set.

[0028] Specifically, the RFID tag information of the target goods is used to initialize the positioning operation, and one or more readers are selected to start the first round of search and positioning. The radio frequency signal is transmitted, the response of the target tag is detected, and the signal attenuation is analyzed based on the received signal strength to determine the possible range of the target goods. Within the determined range, considering factors such as signal reflection, obstruction and interference, the goods within the range are randomly selected to obtain the characteristics of their changed tag configuration. According to the orientation of the changed tag, the antenna and reader with the smallest signal reflection transmission distance at that orientation are selected for the next round of search and positioning; the signal attenuation analysis and range reduction steps are repeated until the positioning range is small enough. When the range is reduced to a certain extent, the specific location of the target goods can be determined. Use the final determined antenna and reader for precise positioning to obtain the positioning result.

[0029] Furthermore, step S2 of the present application also includes:

[0030] During the cargo handling process in the warehouse, a warehouse image is collected, wherein the warehouse image includes images of multiple cargoes; the images of the multiple cargoes in the warehouse image are segmented to obtain multiple cargo images; label configuration feature changes are identified for the multiple cargo images to obtain a set of changed label configuration features, wherein each changed label configuration feature includes a changed label orientation of an RFID tag after a change caused by handling.

[0031] Specifically, high-definition surveillance cameras are installed at key locations in the warehouse to ensure that all cargo handling paths and storage areas are covered. During the cargo handling process, the cameras collect images in the warehouse in real time. Select cameras with sufficient resolution and frame rate to capture clear images. Preprocess the collected warehouse images, such as denoising and contrast enhancement, and use image segmentation technology to separate multiple cargo images in the warehouse images. Methods such as threshold-based segmentation, edge detection, region growing, and deep learning segmentation can be used. For example, use models such as convolutional neural networks or U-Net for pixel-level segmentation. Extract the features of RFID tags from the segmented cargo images, such as position, shape, size, etc. Identify the orientation of the RFID tag on the cargo and compare it with the initial orientation. Record the changes in the orientation of the RFID tag after handling. Use computer vision techniques such as SIFT scale-invariant feature transforms and SURF accelerated robust features to extract key points in the image. Combine machine learning or deep learning models, such as neural networks, to identify the orientation of the tag. Record the identified orientation changes in the database and build a set of changed label configuration features. Integrate the identified label orientation changes for each cargo into a set. Update the change tag configuration feature set to the database. Use the database management system to manage the change tag configuration feature set to ensure data consistency and traceability.

[0032] Furthermore, the present application also includes:

[0033] A set of sample cargo images is collected, and changed label configuration features in the cargo images are identified to obtain a set of sample changed label configuration features; a label configuration feature change identifier is trained based on a convolutional neural network using the set of sample cargo images and the set of sample changed label configuration features; and the label configuration feature change identifier is used to identify label configuration feature changes on the multiple cargo images to obtain a set of changed label configuration features.

[0034] Specifically, representative goods are selected from the warehouse as samples, and images of the sample goods are taken at different angles and under different lighting conditions to ensure image diversity. The sample goods images taken are grouped into a sample set. Sample images are taken using a professional camera or a high-definition camera, and the captured images are stored in a server or data set for subsequent processing. The RFID tags and their orientations in the sample goods images are manually annotated. The initial orientation of each tag and the possible changed orientation after handling are recorded. Image annotation tools such as LabelImg and VGG Image Annotator are used for accurate annotation. The annotated data of all sample images are integrated into a sample change label configuration feature set. The sample images are preprocessed, such as resizing and normalizing, to adapt to the network input. The CNN model is trained using the sample goods image set and the sample change label configuration feature set. The CNN model is built and trained using deep learning frameworks such as TensorFlow and PyTorch. This includes steps such as forward propagation, backpropagation, and parameter optimization. The model performance is evaluated using the validation set, and the model structure and parameters are adjusted as needed. The trained model is deployed in the actual application environment, and multiple collected goods images are preprocessed. Use the trained model to identify changes in label configuration features in cargo images.

[0035] Furthermore, step S4 of the present application also includes:

[0036] In the RFID reader array and the RFID antenna array, a first positioning reader group and a first positioning antenna group are randomly selected to transmit a positioning radio frequency signal matching the target tag information, and a first positioning identification result is received and processed, wherein the first positioning identification result includes a first positioning area; the first positioning area is used to select the goods in the warehouse to obtain a first selected goods set, and the first changed label configuration feature set is indexed to obtain a first changed label configuration feature set; a first changed label configuration feature is randomly selected in the first changed label configuration feature set to obtain a first changed label configuration feature, and according to the first changed label configuration feature, a second positioning reader group and a second positioning antenna group are optimally selected in the RFID reader array and the RFID antenna array to obtain a second positioning reader group and a second positioning antenna group; the second positioning reader group and the second positioning antenna group are used to transmit the positioning radio frequency signal, and a second positioning identification result is received and processed, wherein the second positioning identification result includes a second positioning area; iterative positioning is continued until convergence, and multiple positioning areas in the iterative positioning process are superimposed to obtain an intersection area as a positioning result.

[0037] Specifically, a group is randomly selected from the RFID reader array and the antenna array as the first positioning reader group and the first positioning antenna group, and the first positioning reader group is used to transmit a positioning radio frequency signal matching the target tag information. A group of readers and antennas are selected from the array using a random algorithm, and a radio frequency signal is sent through the selected reader group to activate the target tag. The radio frequency signal from the target tag is received using the selected antenna group. The received signal is processed to identify the location of the tag, and the location of the tag is determined using a signal processing algorithm, such as signal strength analysis, time difference analysis, etc. According to the first positioning area in the first positioning recognition result, a first framed set of goods in the warehouse is framed, and a designated area can be framed in the warehouse image using image processing technology, and the first framed set of goods is indexed in the change tag configuration feature set. A feature is randomly selected from the first change tag configuration feature set, and the best antenna and reader combination is selected according to the orientation and signal propagation characteristics of the feature. The radio frequency signal is sent through the second positioning reader group, and the received signal is processed to obtain a more accurate positioning result. Repeat the above steps, select different features and positioning combinations in each iteration, superimpose the positioning areas of each iteration, perform intersection operation on the superimposed positioning areas, and obtain the final positioning result.

[0038] Furthermore, the present application also includes:

[0039] The RFID tag of the target cargo receives the target return signal returned after receiving the positioning radio frequency signal; the target return signal is subjected to signal strength attenuation analysis to obtain signal strength attenuation information, wherein a sample return signal set is collected, and a sample signal strength attenuation information set is collected, a signal strength attenuation analyzer is trained, and the target return signal is analyzed; the signal strength attenuation information is input into a label distance classification table, and the label distance is obtained by classification, wherein the label distance classification table is constructed by a sample signal strength attenuation information set and a sample label distance set; according to the label distance, a first positioning area is obtained by dividing as a first positioning identification result.

[0040] Specifically, the RFID tag of the target cargo is activated after receiving the positioning radio frequency signal, and returns the target return signal, and the reader receives the return signal from the target tag. Calculate the strength of the target return signal. Estimate the attenuation of the signal during the propagation process based on the signal strength and known environmental parameters, such as antenna gain, signal propagation characteristics, etc. Collect a large number of sample return signal sets and corresponding signal strength attenuation information sets. Integrate the sample signal strength attenuation information set and the sample tag distance set, and construct a tag distance classification table based on the integrated data. Associate the signal strength attenuation information with the corresponding tag distance and use machine learning or deep learning algorithms to train the signal strength attenuation analyzer so that it can predict the distance between the tag and the reader based on the received signal strength. Classify in the tag distance classification table according to the tag distance predicted by the signal strength attenuation analyzer. Divide the first positioning area according to the classification results, for example, draw a circle with the receiver and antenna as the center and the tag distance as the radius to obtain the first positioning area.

[0041] Furthermore, the present application also includes:

[0042] A first change tag configuration feature is randomly selected in the first change tag configuration feature set to obtain a first change tag configuration feature, wherein the first change tag configuration feature includes a first change tag orientation; a reader and an antenna are randomly selected in the RFID reader array and the RFID antenna array, and based on the position information of the reader and the antenna, in combination with the first change tag orientation, a signal reflection transmission distance of a return signal emitted by the RFID tag corresponding to the first change tag orientation is obtained; a reader and an antenna are continuously traversed and selected in the RFID reader array and the RFID antenna array, and a signal reflection transmission distance is obtained in combination with the first change tag orientation, and a number of readers and antennas with the smallest signal reflection transmission distance are output as a second positioning reader group and a second positioning antenna group.

[0043] Specifically, a feature is randomly selected from the first change tag configuration feature set, and the first change tag orientation information in the selected feature is extracted. A group of readers and antennas are randomly selected from the RFID reader array and antenna array, and the location information of the selected readers and antennas is queried. A large amount of RFID positioning data is collected, including the distance between the tag and the reader, RSSI received signal strength indication, tag type, and environmental factors such as temperature, humidity, and metal objects. The location information of each reader and antenna, as well as the initial orientation of the tag on the goods, is recorded. Useful features are extracted from the collected data, and the features include distance, RSSI value, environmental factors, tag type, reader location information, and tag initial orientation. A suitable machine learning or deep learning model is selected, such as linear regression, support vector machine, neural network, etc. The model is trained using the collected data. During the training process, the model will learn how to predict the distance between the tag and the reader based on the input features to obtain a transmission distance calculation model. The transmission distance is calculated using the transmission distance calculation model in combination with the orientation information and the location information. Traverse and select readers and antennas in the RFID reader array and antenna array, and calculate the transmission distance for each selection. Compare the transmission distances calculated during the traversal process, and select several readers and antennas with the shortest transmission distance. Record the transmission distance calculated in each traversal, and select several readers and antennas with the shortest transmission distance.

[0044] In summary, the storage cargo positioning method based on RFID tag antenna provided by this application has the following technical effects:

[0045] By configuring RFID tags for goods in a warehouse, a tag configuration feature set is obtained, and RFID readers and RFID antennas are deployed in the warehouse to obtain an RFID reader array and an RFID antenna array; during the transportation of goods in the warehouse, warehouse images are collected, and changes in the tag configuration features of the goods in the warehouse images are identified to obtain a changed tag configuration feature set; target tag information of the target goods to be positioned is obtained; the RFID reader array and the RFID antenna array are used to search and position according to the target tag information to obtain the positioning result of the target goods, wherein, during the search and positioning process, a reader and an antenna that transmits a positioning radio frequency signal for positioning are selected according to the changed tag configuration feature set, which effectively solves the problem of signal attenuation such as reflection and occlusion of RFID signals in the warehouse in the prior art, which leads to difficulty in positioning, low positioning efficiency and insufficient positioning accuracy, further affecting the efficiency and accuracy of warehouse management, and realizing real-time tracking of goods, improving the accuracy and efficiency of positioning, and improving warehouse efficiency.

[0046] Embodiment 2: Based on the storage cargo positioning method based on RFID tag antenna in the previous embodiment, the present application also provides a storage cargo positioning device based on RFID tag antenna, please refer to the attached Figure 2 , the storage goods positioning device based on RFID tag antenna includes:

[0047] The feature set acquisition module 11 is used to configure RFID tags for the goods in the warehouse, obtain the tag configuration feature set, and deploy RFID readers and RFID antennas in the warehouse to obtain RFID reader arrays and RFID antenna arrays.

[0048] The feature change recognition module 12 is used to collect storage images during the cargo handling process in the warehouse, and to recognize changes in label configuration features of the cargo in the storage images to obtain a set of changed label configuration features.

[0049] The target tag information acquisition module 13 is used to acquire the target tag information of the target goods to be located.

[0050] The search and positioning module 14 is used to use the RFID reader array and the RFID antenna array to search and locate according to the target tag information to obtain the positioning result of the target goods. In the search and positioning process, the reader and antenna that transmit the positioning radio frequency signal for positioning are selected according to the changed tag configuration feature set.

[0051] Furthermore, the feature set acquisition module 11 in the storage cargo positioning device based on RFID tag antenna is also used for:

[0052] RFID tags are configured for the goods in the warehouse to obtain a tag information set and a tag orientation set, wherein each tag orientation includes the orientation of the RFID tag configured on the goods, and the initial multiple tag orientations are the same; the tag orientation set is used as a tag configuration feature set; RFID readers and RFID antennas are deployed in the warehouse to obtain the position information of multiple RFID readers and multiple RFID antennas, and the RFID reader array and RFID antenna array are constructed.

[0053] Furthermore, the feature change recognition module 12 in the storage cargo positioning device based on RFID tag antenna is also used for:

[0054] During the cargo handling process in the warehouse, a warehouse image is collected, wherein the warehouse image includes images of multiple cargoes; the images of the multiple cargoes in the warehouse image are segmented to obtain multiple cargo images; label configuration feature changes are identified for the multiple cargo images to obtain a set of changed label configuration features, wherein each changed label configuration feature includes a changed label orientation of an RFID tag after a change caused by handling.

[0055] Furthermore, the storage cargo positioning device based on RFID tag antenna also includes a change tag configuration feature set acquisition module, which is used to:

[0056] A set of sample cargo images is collected, and changed label configuration features in the cargo images are identified to obtain a set of sample changed label configuration features; a label configuration feature change identifier is trained based on a convolutional neural network using the set of sample cargo images and the set of sample changed label configuration features; and the label configuration feature change identifier is used to identify label configuration feature changes on the multiple cargo images to obtain a set of changed label configuration features.

[0057] Furthermore, the search and positioning module 14 in the storage cargo positioning device based on the RFID tag antenna is also used for:

[0058] In the RFID reader array and the RFID antenna array, a first positioning reader group and a first positioning antenna group are randomly selected to transmit a positioning radio frequency signal matching the target tag information, and a first positioning identification result is received and processed, wherein the first positioning identification result includes a first positioning area; the first positioning area is used to select the goods in the warehouse to obtain a first selected goods set, and the first changed label configuration feature set is indexed to obtain a first changed label configuration feature set; a first changed label configuration feature is randomly selected in the first changed label configuration feature set to obtain a first changed label configuration feature, and according to the first changed label configuration feature, a second positioning reader group and a second positioning antenna group are optimally selected in the RFID reader array and the RFID antenna array to obtain a second positioning reader group and a second positioning antenna group; the second positioning reader group and the second positioning antenna group are used to transmit the positioning radio frequency signal, and a second positioning identification result is received and processed, wherein the second positioning identification result includes a second positioning area; iterative positioning is continued until convergence, and multiple positioning areas in the iterative positioning process are superimposed to obtain an intersection area as a positioning result.

[0059] Furthermore, the storage cargo positioning device based on the RFID tag antenna also includes a first positioning area acquisition module, which is used to:

[0060] The RFID tag of the target cargo receives the target return signal returned after receiving the positioning radio frequency signal; the target return signal is subjected to signal strength attenuation analysis to obtain signal strength attenuation information, wherein a sample return signal set is collected, and a sample signal strength attenuation information set is collected, a signal strength attenuation analyzer is trained, and the target return signal is analyzed; the signal strength attenuation information is input into a label distance classification table, and the label distance is obtained by classification, wherein the label distance classification table is constructed by a sample signal strength attenuation information set and a sample label distance set; according to the label distance, a first positioning area is obtained by dividing as a first positioning identification result.

[0061] Furthermore, the storage cargo positioning device based on the RFID tag antenna also includes a signal reflection transmission distance acquisition module, which is used to:

[0062] A first change tag configuration feature is randomly selected in the first change tag configuration feature set to obtain a first change tag configuration feature, wherein the first change tag configuration feature includes a first change tag orientation; a reader and an antenna are randomly selected in the RFID reader array and the RFID antenna array, and based on the position information of the reader and the antenna, in combination with the first change tag orientation, a signal reflection transmission distance of a return signal emitted by the RFID tag corresponding to the first change tag orientation is obtained; a reader and an antenna are continuously traversed and selected in the RFID reader array and the RFID antenna array, and a signal reflection transmission distance is obtained in combination with the first change tag orientation, and a number of readers and antennas with the smallest signal reflection transmission distance are output as a second positioning reader group and a second positioning antenna group.

[0063] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. Figure 1 The storage cargo positioning method based on RFID tag antenna and the specific examples in the first embodiment are also applicable to the storage cargo positioning device based on RFID tag antenna in this embodiment. Through the above detailed description of the storage cargo positioning method based on RFID tag antenna, those skilled in the art can clearly know the storage cargo positioning device based on RFID tag antenna in this embodiment, so for the sake of brevity of the specification, it will not be described in detail here. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method description.

[0064] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0065] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the present application and its equivalent technology, the present application is also intended to include these modifications and variations.

Claims

1. A method for locating stored goods based on RFID tag antennas, characterized in that: The storage cargo positioning method based on RFID tag antenna includes: Configure RFID tags for the goods in the warehouse to obtain a tag configuration feature set, and deploy RFID readers and RFID antennas in the warehouse to obtain an RFID reader array and an RFID antenna array; During the cargo handling process in the warehouse, the warehouse image is collected, and the changes in the label configuration features of the cargo in the warehouse image are identified to obtain a set of changed label configuration features; Obtain target tag information of the target goods to be located; The RFID reader array and the RFID antenna array are used to search and locate the target goods according to the target tag information, and obtain the location result of the target goods, wherein, during the search and location process, the reader and the antenna that transmit the positioning radio frequency signal for positioning are selected according to the changed tag configuration feature set; Configure RFID tags for goods in the warehouse, obtain a tag configuration feature set, and deploy RFID readers and RFID antennas in the warehouse to obtain an RFID reader array and an RFID antenna array, including: RFID tags are configured for the goods in the warehouse to obtain a tag information set and a tag position set, wherein each tag position includes a position where the RFID tag is configured on the goods, and the initial multiple tag positions are the same; Using the tag orientation set as a tag configuration feature set; RFID readers and RFID antennas are deployed in the warehouse, the position information of multiple RFID readers and multiple RFID antennas is obtained, and the RFID reader array and RFID antenna array are constructed.

2. The method for locating stored goods based on RFID tag antenna according to claim 1, characterized in that: During the cargo handling process in the warehouse, the warehouse image is collected, and the label configuration feature changes of the cargo in the warehouse image are identified to obtain the changed label configuration feature set, including: During the cargo handling process in the warehouse, a storage image is collected, wherein the storage image includes images of a plurality of cargoes; Segmenting the images of the multiple goods in the storage image to obtain multiple goods images; The label configuration feature changes are identified for the multiple cargo images to obtain a set of changed label configuration features, wherein each changed label configuration feature includes a changed label orientation of the RFID label after the change due to the handling effect.

3. The method for locating stored goods based on RFID tag antenna according to claim 2, characterized in that: Performing label configuration feature change identification on the multiple cargo images to obtain a changed label configuration feature set includes: Collecting a set of sample cargo images, identifying the changed label configuration features in the cargo images, and obtaining a set of sample changed label configuration features; Using the sample cargo image set and the sample change label configuration feature set, based on a convolutional neural network, a label configuration feature change identifier is trained; The label configuration feature change identifier is used to identify label configuration feature changes on the multiple cargo images to obtain a set of changed label configuration features.

4. The method for locating stored goods based on RFID tag antenna according to claim 1, characterized in that: Using the RFID reader array and the RFID antenna array, searching and locating according to the target tag information to obtain the positioning result of the target goods includes: In the RFID reader / writer array and the RFID antenna array, a first positioning reader / writer group and a first positioning antenna group are randomly selected to transmit a positioning radio frequency signal matching the target tag information, and receive and process to obtain a first positioning identification result, wherein the first positioning identification result includes a first positioning area; The first positioning area is used to select the goods in the warehouse to obtain a first selected goods set, and the change label configuration feature set is indexed to obtain a first change label configuration feature set; Randomly select a first change tag configuration feature from the first change tag configuration feature set, and optimize and select a second positioning reader group and a second positioning antenna group from the RFID reader array and the RFID antenna array according to the first change tag configuration feature; The second positioning reader / writer group and the second positioning antenna group are used to transmit the positioning radio frequency signal, and receive and process to obtain a second positioning identification result, wherein the second positioning identification result includes a second positioning area; Continue iterative positioning until convergence, superimpose multiple positioning areas in the iterative positioning process, and obtain the intersection area as the positioning result.

5. The method for locating stored goods based on RFID tag antenna according to claim 4, characterized in that: Receiving and processing to obtain a first positioning and identification result, including: Receive a target return signal returned by the RFID tag of the target cargo after receiving the positioning radio frequency signal; Performing a signal strength attenuation analysis on the target return signal to obtain signal strength attenuation information, wherein a sample return signal set is collected, and a sample signal strength attenuation information set is collected, a signal strength attenuation analyzer is trained, and the target return signal is analyzed; Input the signal strength attenuation information into a label distance classification table, and classify to obtain label distances, wherein the label distance classification table is constructed by a sample signal strength attenuation information set and a sample label distance set; According to the tag distance, a first positioning area is obtained by division as a first positioning identification result.

6. The method for locating stored goods based on RFID tag antenna according to claim 4, characterized in that: Randomly selecting a first change tag configuration feature from the first change tag configuration feature set, and optimizing and selecting a second positioning reader group and a second positioning antenna group from the RFID reader array and the RFID antenna array according to the first change tag configuration feature, including: Randomly select a first change label configuration feature from the first change label configuration feature set, wherein the first change label configuration feature includes a first change label orientation; Randomly select a reader and an antenna in the RFID reader array and the RFID antenna array, and obtain a signal reflection transmission distance of a return signal emitted by the RFID tag corresponding to the first change tag orientation according to the position information of the reader and the antenna and the first change tag orientation; Continue to traverse and select readers and antennas in the RFID reader array and RFID antenna array, and obtain the signal reflection transmission distance in combination with the first changed tag orientation, and output several readers and antennas with the shortest signal reflection transmission distance as the second positioning reader group and the second positioning antenna group.

7. A storage cargo positioning device based on RFID tag antenna, characterized in that: The steps for implementing the method for locating stored goods based on RFID tag antennas as described in any one of claims 1 to 6, wherein the device for locating stored goods based on RFID tag antennas comprises: The feature set acquisition module is used to configure RFID tags for the goods in the warehouse, obtain the tag configuration feature set, and deploy RFID readers and RFID antennas in the warehouse to obtain RFID reader arrays and RFID antenna arrays; The feature change recognition module is used to collect storage images during the cargo handling process in the warehouse, and to identify the changes in the label configuration features of the cargo in the storage images to obtain a set of changed label configuration features; A target tag information acquisition module is used to acquire target tag information of target goods to be located; A search and positioning module is used to use the RFID reader array and the RFID antenna array to search and locate according to the target tag information to obtain the positioning result of the target goods, wherein, during the search and positioning process, the reader and antenna that transmit the positioning radio frequency signal for positioning are selected according to the changed tag configuration feature set; The feature set acquisition module in the storage cargo positioning device based on RFID tag antenna is also used for: RFID tags are configured for the goods in the warehouse to obtain a tag information set and a tag orientation set, wherein each tag orientation includes the orientation of the RFID tag configured on the goods, and the initial multiple tag orientations are the same; the tag orientation set is used as a tag configuration feature set; RFID readers and RFID antennas are deployed in the warehouse to obtain the position information of multiple RFID readers and multiple RFID antennas, and the RFID reader array and RFID antenna array are constructed.

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