Automatic plating selection method based on high-precision positioning and tracking

Abstract

The invention provides an automatic plating selection method based on high-precision positioning and tracking, belongs to the technical field of positioning, and realizes tracking of plating selection through high-precision positioning of A-IoT. The method comprises the steps that in the process that electroplating equipment executes selective plating, AI oTF receives AI oT equipment arrival time delays reported by four readers respectively, the total number of the AI oTF arrival time delays is four, and the four arrival time delays are the time needed by signals sent by the AI oT equipment at the first moment to reach the four readers respectively; the AI oT equipment is arranged on the electroplating equipment and moves along with the electroplating equipment in the plating selection process; the AI oTF determines the position of the AI oT equipment according to at least three arrival delays in the four arrival delays; and the AI oTF determines the moving track of the electroplating equipment for executing selective plating according to the position of the AI oT equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of Internet of Things, and in particular to an automatic selective plating method based on high-precision positioning and tracking. Background Art

[0002] Ambient IoT (A-IoT) is a branch of IoT technology that focuses on using energy in the environment to drive devices, thereby reducing dependence on external power sources. This technology allows devices to obtain energy through ambient energy such as radio waves, light, motion, and heat to achieve self-sufficiency. Specifically, ambient IoT devices are able to collect energy from the surrounding environment, such as through solar panels, thermoelectric generators, or vibration energy harvesters. These devices are usually designed to be low-power to maximize energy efficiency. For example, in a factory environment, A-IoT can inventory A-IoT devices (such as products, materials, and equipment) to locate A-IoT devices.

[0003] However, in the A-IoT scenario, how to ensure positioning accuracy is a current research issue. Summary of the invention

[0004] An embodiment of the present invention provides an automated selective plating method based on high-precision positioning and tracking, so as to achieve tracking of the selective plating through the high-precision positioning of A-IoT.

[0005] In order to achieve the above object, the present invention adopts the following technical scheme:

[0006] In a first aspect, an automated selective plating method based on high-precision positioning and tracking is provided, and the method is applied to AIoTF in AIoT, and the method includes: during the process of electroplating equipment performing selective plating, AIoTF receives the arrival delay of the AIoT device reported by four readers respectively, a total of four arrival delays, and the four arrival delays are the time required for the signal sent by the AIoT device at the first moment to reach the four readers respectively; the AIoT device is arranged on the electroplating equipment and moves with the electroplating equipment during the selective plating process; AIoTF determines the position of the AIoT device according to at least three of the four arrival delays; AIoTF determines the moving trajectory of the electroplating equipment to perform selective plating according to the position of the AIoT device.

[0007] Optionally, AIoTF determines the location of the AIoT device based on at least 3 of the 4 arrival delays, including: AIoTF determines the distances between the AIoT device and 4 readers at the first moment, respectively, for a total of 4 distances, based on the 4 arrival delays; AIoTF determines the location of the AIoT device based on at least 3 of the 4 distances and the positions of at least 3 readers corresponding to at least 3 of the 4 distances.

[0008] Optionally, AIoTF determines the location of the AIoT device based on at least 3 distances out of 4 distances and the positions of at least 3 readers corresponding to at least 3 distances out of 4 readers, including: AIoTF selects 3 distances with the top 3 largest distances from the 4 distances; AIoTF determines whether the AIoT device can be located based on the 3 distances and the positions of the top 3 readers corresponding to 3 distances out of 4 readers; if the AIoT device can be located, AIoTF determines the location of the AIoT device based on the 3 distances and the positions of the top 3 readers; if the AIoT device cannot be located, AIoTF determines the location of the AIoT device based on the 4 distances and the positions of the 4 readers.

[0009] Optionally, the first three readers include reader #1, reader #2, and reader #3, and the three distances include the distance d1 from the AIoT device to reader #1, the distance d2 from the AIoT device to reader #2, and the distance d3 from the AIoT device to reader #3; on this basis, AIoTF determines whether the AIoT device can be located based on the three distances and the positions of the first three readers corresponding to the three distances among the four readers, including: AIoTF determines circle #1 with the position w1 of reader #1 as the center and the distance d1 as the radius, circle #2 with the position w2 of reader #2 as the center and the distance d2 as the radius, and circle #3 with the position w3 of reader #3 as the center and the distance d3 as the radius; AIoTF determines whether the AIoT device can be located based on the positions of the intersections between circle #1, circle #2, and circle #3.

[0010] Optionally, the intersections between circle #1, circle #2 and circle #3 include: intersection #1 and intersection #2 between circle #1 and circle #2, intersection #3 and intersection #4 between circle #1 and circle #3, and intersection #5 and intersection #6 between circle #2 and circle #3; on this basis, AIoTF determines whether the AIoT device can be located according to the positions of the intersections between circle #1, circle #2 and circle #3, including: AIoTF determines that the three intersections closest to each other among intersections #1 to intersection #6 are intersection x1, intersection x2 and intersection x3 according to the distance between each two intersections among intersections #1 to intersection #6; if the distance between each two intersections among intersections x1, intersection x2 and intersection x3 If the distances between the three intersections are all greater than or equal to the distance threshold, AIoTF determines that the positions of intersection x1, intersection x2 and intersection x3 cannot be used to locate the AIoT device. If the distances between two of the intersections x1, intersection x2 and intersection x3 are less than the distance threshold, AIoTF determines that the positions of intersection x1, intersection x2 and intersection x3 can be used to locate the AIoT device. Correspondingly, when the positions of intersection x1, intersection x2 and intersection x3 can be used to locate the AIoT device, AIoTF determines the position of the AIoT device based on the three distances and the positions of the first three readers, including: AIoTF averages the positions of intersection x1, intersection x2 and intersection x3 to obtain the position of the AIoT device.

[0011] Optionally, the fourth reader among the four readers except the first three readers is reader #4, the fourth distance among the four distances except the three distances is the distance d4 from the AIoT device to reader #4, and AIoTF determines the position of the AIoT device according to the four distances and the positions of the four readers, including: AIoTF determines a circle #4 with the position w4 of reader #4 as the center and the distance d4 as the radius; wherein the intersection of circle #4 and circle #1 includes intersection #7 and intersection #1. #8, the intersection points of circle #4 and circle #2 include intersection points #9 and #10, and the intersection points of circle #4 and circle #3 include intersection points #11 and #12; AIoTF determines the three intersection points closest to each other from intersection points #1 to intersection points #12 as intersection points y1, y2, and y3 based on the distance between every two intersection points from intersection points #1 to intersection points #12; AIoTF averages the positions of intersection points y1, y2, and y3 to obtain the position of the AIoT device.

[0012] Optionally, AIoTF receives the arrival delay of the AIoT device reported by each of the four readers, including: for the i-th reader among the four readers, i is an integer traversing from 1 to 4, AIoTF receives the identification information #i and random number #i reported by the i-th reader, and the random number #i is an integer randomly generated by the i-th reader within a preset interval; AIoTF extracts the delay indication information #i from the identification information #i based on the random number #i and the latest count value of the NAS counter of the i-th reader, and the delay indication information #i indicates the arrival delay of the signal arriving at the i-th reader.

[0013] Optionally, the value of random number #i is k1, the latest count value of the NAS counter of the i-th reader is j#i, j#i is an integer greater than or equal to 0, the length of identification information #i is M#i bits, M#i is an integer greater than or equal to 16; the length of delay indication information #i is fixed 8 bits, the length of delay indication information #i is fixed 8 bits, AIoTF extracts delay indication information #i from identification information #i according to random number #i and the latest count value of the NAS counter of the i-th reader, including: AIoTF extracts 8 consecutive bits after the N#i-th bit of identification information #i according to (k1+j#i)mod(M#i-8)=N#i, the consecutive 8 bits are the delay indication information #i, the remaining bits after the delay indication information #i is extracted from the identification information #i are the EPC of the AIoT device, and mod represents modulo operation.

[0014] Optionally, the signal sent by the AIoT device at the first moment carries the identification of the AIoT device, and each of the four readers is configured to determine the arrival delay of the signal to the reader based on the moment when the signal is received and the information indicating the first moment carried by the identification of the AIoT device, wherein the AIoT device constructs the information indicating the first moment into the EPC of the AIoT device to obtain the identification of the AIoT device.

[0015] On the second aspect, an automated selective plating system based on high-precision positioning and tracking is provided, the system includes AIoTF in AIoT, and the system is configured as follows: during the process of electroplating equipment performing selective plating, AIoTF receives the arrival delay of the AIoT device reported by four readers respectively, a total of four arrival delays, and the four arrival delays are the time required for the signal sent by the AIoT device at the first moment to reach the four readers respectively; the AIoT device is set on the electroplating equipment and moves with the electroplating equipment during the selective plating process; AIoTF determines the position of the AIoT device based on at least three of the four arrival delays; AIoTF determines the moving trajectory of the electroplating equipment to perform selective plating based on the position of the AIoT device.

[0016] Optionally, AIoTF determines the location of the AIoT device based on at least 3 of the 4 arrival delays, including: AIoTF determines the distances between the AIoT device and 4 readers at the first moment, respectively, for a total of 4 distances, based on the 4 arrival delays; AIoTF determines the location of the AIoT device based on at least 3 of the 4 distances and the positions of at least 3 readers corresponding to at least 3 of the 4 distances.

[0017] Optionally, AIoTF determines the location of the AIoT device based on at least 3 distances out of 4 distances and the positions of at least 3 readers corresponding to at least 3 distances out of 4 readers, including: AIoTF selects 3 distances with the top 3 largest distances from the 4 distances; AIoTF determines whether the AIoT device can be located based on the 3 distances and the positions of the top 3 readers corresponding to 3 distances out of 4 readers; if the AIoT device can be located, AIoTF determines the location of the AIoT device based on the 3 distances and the positions of the top 3 readers; if the AIoT device cannot be located, AIoTF determines the location of the AIoT device based on the 4 distances and the positions of the 4 readers.

[0018] Optionally, the first three readers include reader #1, reader #2, and reader #3, and the three distances include the distance d1 from the AIoT device to reader #1, the distance d2 from the AIoT device to reader #2, and the distance d3 from the AIoT device to reader #3; on this basis, AIoTF determines whether the AIoT device can be located based on the three distances and the positions of the first three readers corresponding to the three distances among the four readers, including: AIoTF determines circle #1 with the position w1 of reader #1 as the center and the distance d1 as the radius, circle #2 with the position w2 of reader #2 as the center and the distance d2 as the radius, and circle #3 with the position w3 of reader #3 as the center and the distance d3 as the radius; AIoTF determines whether the AIoT device can be located based on the positions of the intersections between circle #1, circle #2, and circle #3.

[0019] Optionally, the intersections between circle #1, circle #2 and circle #3 include: intersection #1 and intersection #2 between circle #1 and circle #2, intersection #3 and intersection #4 between circle #1 and circle #3, and intersection #5 and intersection #6 between circle #2 and circle #3; on this basis, AIoTF determines whether the AIoT device can be located according to the positions of the intersections between circle #1, circle #2 and circle #3, including: AIoTF determines that the three intersections closest to each other among intersections #1 to intersection #6 are intersection x1, intersection x2 and intersection x3 according to the distance between each two intersections among intersections #1 to intersection #6; if the distance between each two intersections among intersections x1, intersection x2 and intersection x3 If the distances between the three intersections are all greater than or equal to the distance threshold, AIoTF determines that the positions of intersection x1, intersection x2 and intersection x3 cannot be used to locate the AIoT device. If the distances between two of the intersections x1, intersection x2 and intersection x3 are less than the distance threshold, AIoTF determines that the positions of intersection x1, intersection x2 and intersection x3 can be used to locate the AIoT device. Correspondingly, when the positions of intersection x1, intersection x2 and intersection x3 can be used to locate the AIoT device, AIoTF determines the position of the AIoT device based on the three distances and the positions of the first three readers, including: AIoTF averages the positions of intersection x1, intersection x2 and intersection x3 to obtain the position of the AIoT device.

[0020] Optionally, the fourth reader among the four readers except the first three readers is reader #4, the fourth distance among the four distances except the three distances is the distance d4 from the AIoT device to reader #4, and AIoTF determines the position of the AIoT device according to the four distances and the positions of the four readers, including: AIoTF determines a circle #4 with the position w4 of reader #4 as the center and the distance d4 as the radius; wherein the intersection of circle #4 and circle #1 includes intersection #7 and intersection #1. #8, the intersection points of circle #4 and circle #2 include intersection points #9 and #10, and the intersection points of circle #4 and circle #3 include intersection points #11 and #12; AIoTF determines the three intersection points closest to each other from intersection points #1 to intersection points #12 as intersection points y1, y2, and y3 based on the distance between every two intersection points from intersection points #1 to intersection points #12; AIoTF averages the positions of intersection points y1, y2, and y3 to obtain the position of the AIoT device.

[0021] Optionally, AIoTF receives the arrival delay of the AIoT device reported by each of the four readers, including: for the i-th reader among the four readers, i is an integer traversing from 1 to 4, AIoTF receives the identification information #i and random number #i reported by the i-th reader, and the random number #i is an integer randomly generated by the i-th reader within a preset interval; AIoTF extracts the delay indication information #i from the identification information #i based on the random number #i and the latest count value of the NAS counter of the i-th reader, and the delay indication information #i indicates the arrival delay of the signal arriving at the i-th reader.

[0022] Optionally, the value of random number #i is k1, the latest count value of the NAS counter of the i-th reader is j#i, j#i is an integer greater than or equal to 0, the length of identification information #i is M#i bits, M#i is an integer greater than or equal to 16; the length of delay indication information #i is fixed 8 bits, the length of delay indication information #i is fixed 8 bits, AIoTF extracts delay indication information #i from identification information #i according to random number #i and the latest count value of the NAS counter of the i-th reader, including: AIoTF extracts 8 consecutive bits after the N#i-th bit of identification information #i according to (k1+j#i)mod(M#i-8)=N#i, the consecutive 8 bits are the delay indication information #i, the remaining bits after the delay indication information #i is extracted from the identification information #i are the EPC of the AIoT device, and mod represents modulo operation.

[0023] Optionally, the signal sent by the AIoT device at the first moment carries the identification of the AIoT device, and each of the four readers is configured to determine the arrival delay of the signal to the reader based on the moment when the signal is received and the information indicating the first moment carried by the identification of the AIoT device, wherein the AIoT device constructs the information indicating the first moment into the EPC of the AIoT device to obtain the identification of the AIoT device.

[0024] In a third aspect, an electronic device is provided, comprising: a processor and a memory; the memory is used to store a computer program, and when the processor executes the computer program, the electronic device executes the method described in the first aspect.

[0025] In a possible design solution, the electronic device described in the third aspect may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the electronic device described in the third aspect to communicate with other electronic devices.

[0026] In an embodiment of the present invention, the electronic device described in the third aspect may be a terminal, or a chip (system) or other parts or components that may be arranged in the terminal, or a system including the terminal.

[0027] In a fourth aspect, a computer-readable storage medium is provided, comprising: a computer program or instructions; when the computer program or instructions are executed on a computer, the computer is caused to execute the method described in the first aspect.

[0028] In summary, taking the electroplating scenario, such as selective plating, that is, the electroplating scenario with dynamic path planning rather than the full path as an example, in the electroplating scenario, the AIoT device can be set on the electroplating equipment and move with the electroplating equipment during the selective plating process. Therefore, during the process of the electroplating equipment performing selective plating, the AIoTF can receive the arrival delay of the AIoT device reported by each of the four readers, that is, four arrival delays, so that the AIoTF can determine the position of the AIoT device according to at least three of the four arrival delays, so as to achieve higher-precision positioning. Therefore, the AIoTF then determines the moving trajectory of the electroplating equipment performing selective plating according to the position of the AIoT device, thereby achieving more accurate tracking of the electroplating equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the architecture of an Internet of Things system provided by an embodiment of the present invention;

[0030] Figure 2 A schematic flow chart of an automated selective plating method based on high-precision positioning and tracking provided by an embodiment of the present invention;

[0031] Figure 3 A schematic diagram of a scenario of an automated selective plating method based on high-precision positioning and tracking provided by an embodiment of the present invention;

[0032] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The technical solution of the present invention will be described below in conjunction with the accompanying drawings.

[0034] In the embodiment of the present invention, "indication" may include direct indication and indirect indication, and may also include explicit indication and implicit indication. The information indicated by a certain information is called information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as but not limited to, the information to be indicated can be directly indicated, such as the information to be indicated itself or the index of the information to be indicated. The information to be indicated can also be indirectly indicated by indicating other information, wherein there is an association relationship between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance. For example, the indication of specific information can also be achieved by means of the arrangement order of each information agreed in advance (for example, specified by the protocol), thereby reducing the indication overhead to a certain extent. At the same time, the common parts of each information can also be identified and indicated uniformly to reduce the indication overhead caused by indicating the same information separately.

[0035] In addition, the specific indication method may also be various existing indication methods, such as but not limited to the above-mentioned indication methods and various combinations thereof. The specific details of the various indication methods can refer to the prior art and will not be repeated herein. As can be seen from the above, for example, when it is necessary to indicate multiple information of the same type, different indication methods may be used for different information. In the specific implementation process, the desired indication method can be selected according to specific needs. The embodiment of the present invention does not limit the selected indication method. In this way, the indication method involved in the embodiment of the present invention should be understood to cover various methods that can enable the party to be indicated to obtain the information to be indicated.

[0036] It should be understood that the information to be indicated can be sent as a whole or divided into multiple sub-information and sent separately, and the sending period and / or sending time of these sub-information can be the same or different. The specific sending method is not limited in the embodiment of the present invention. Among them, the sending period and / or sending time of these sub-information can be pre-defined, for example, pre-defined according to a protocol, or can be configured by the sending end device by sending configuration information to the receiving end device.

[0037] "Pre-definition" or "pre-configuration" can be implemented by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in the device, and the embodiments of the present invention do not limit the specific implementation method. Among them, "saving" can mean saving in one or more memories. The one or more memories can be set separately or integrated in an encoder or decoder, a processor, or an electronic device. The one or more memories can also be partially set separately and partially integrated in a decoder, a processor, or an electronic device. The type of memory can be any form of storage medium, which is not limited by the embodiments of the present invention.

[0038] The "protocol" involved in the embodiment of the present invention may refer to a protocol family in the communication field, a standard protocol with a similar protocol family frame structure, or a related protocol applied in future systems, and the embodiment of the present invention does not make any specific limitation on this.

[0039] In the embodiments of the present invention, descriptions such as "when...", "in the case of...", "if" and "if" all mean that the device will perform corresponding processing under certain objective circumstances, but do not limit the time, nor do they require the device to perform judgment actions when implementing, nor do they mean the existence of other limitations.

[0040] In the description of the embodiments of the present invention, unless otherwise specified, " / " indicates that the objects associated before and after are in an "or" relationship, for example, A / B can represent A or B; "and / or" in the embodiments of the present invention is only a kind of association relationship describing the associated objects, indicating that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In addition, in the description of the embodiments of the present invention, unless otherwise specified, "multiple" refers to two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple. In addition, in order to facilitate the clear description of the technical solution of the embodiments of the present invention, in the embodiments of the present invention, the words "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. Those skilled in the art will appreciate that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference. At the same time, in the embodiments of the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding.

[0041] The network architecture and business scenarios described in the embodiments of the present invention are intended to more clearly illustrate the technical solutions of the embodiments of the present invention, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention. A person of ordinary skill in the art can appreciate that with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present invention are equally applicable to similar technical problems.

[0042] To facilitate understanding of the embodiments of the present invention, first Figure 1 Taking the Internet of Things system shown in as an example, Figure 1 A schematic diagram of the architecture of an Internet of Things system applicable to an automated plating selection method based on high-precision positioning and tracking provided in an embodiment of the present invention.

[0043] like Figure 1 As shown, the IoT system may include: an ambient IoT function (Ambient IoT Function, AIoTF), a reader and an AIoT device.

[0044] AIoTMF is used for business operations indicated by the application party, instructing the reader to perform AIoT-related operations, such as inventory, reading, writing, etc. Alternatively, AIoTF can also be called Ambient IoT management Function (AIoTMF). This application does not restrict the naming of AIoTF. Any function deployed on the network side and realizing the management of the reader can be understood as AIoTF.

[0045] The reader can be a radio access network (RAN) device, such as a base station, pole station, micro base station, macro station, etc., or the reader can also be a terminal device, such as a mobile phone, IoT device, handheld reader and other devices. The reader can perform non-contact two-way data communication through wireless radio frequency, and read and write tags using wireless radio frequency, so as to achieve the purpose of identifying targets and exchanging data. For example, for passive tags, when they enter the effective identification range of the reader, they can receive the radio frequency signal emitted by the reader, and use the energy obtained by the induced current to emit the information stored in the chip, or, for semi-passive tags or active tags, they can actively send a signal of a certain frequency, and the reader receives and decodes the information and sends it to the central information system for relevant data processing.

[0046] A-IoT devices can be divided into three categories: device A, device B or device C. Device A or device 1a can be understood as similar to a passive A-IoT device. Passive A-IoT devices can be in the form of tags or any other terminal form without restriction. Device B or device 1b can be understood as similar to a semi-passive A-IoT device. Semi-passive A-IoT devices can obtain energy through solar energy, radio frequency, wind energy, hydropower or tidal energy, and there is no restriction on the way of obtaining energy. These nodes themselves are not equipped with or rely on power devices such as batteries, but obtain energy from the environment to support data perception, transmission and distributed computing. Device C or device 1c can be understood as similar to an active A-IoT device. For ease of understanding, A-IoT devices and tags can be interchanged in terms of expression. Alternatively, A-IoT devices can also be considered as A-IoT terminals or tags.

[0047] AIoT devices can be devices in the form of terminals, i.e., terminals. The terminal can be a terminal with transceiver functions, or a chip or chip system that can be set in the terminal. The terminal can also be called user equipment (UE), access terminal, subscriber unit, user station, mobile station (MS), mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device. The terminal in the embodiments of the present application can be a mobile phone, a cellular phone, a smart phone, a tablet computer, a wireless data card, a personal digital assistant (PDA), a wireless modem, a handset, a laptop computer, a machine type communication (MTC) terminal, a computer with wireless transceiver function, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, a vehicle-mounted terminal, a road side unit (RSU) with terminal function, etc. The terminal of the present application may also be a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip or a vehicle-mounted unit built into a vehicle as one or more components or units. Alternatively, the terminal may also be customer-premises equipment (CPE).

[0048] Figure 2 A flow chart of a method provided by an embodiment of the present invention. This automated plating selection method based on high-precision positioning and tracking is applicable to the above-mentioned Internet of Things system, and involves the interaction between devices in the above-mentioned Internet of Things system. The specific process is as follows:

[0049] S201, during the process of electroplating equipment performing selective plating, AIoTF receives the arrival delays of AIoT devices reported by four readers respectively, for a total of four arrival delays.

[0050] The AIoT device is set on the electroplating equipment and moves with the electroplating equipment during the plating process. The signal range of the four readers can cover the AIoT device. AIoTF can send an inventory instruction to the four readers in advance. The mask carried by the inventory instruction is the electronic device identification code (EPC) of the AIoT device to instruct the four readers to take inventory of the AIoT device. After receiving the inventory instruction, the four readers can trigger the AIoT device to perform random access. For example, the four readers first send a paging message carrying the above mask. After the AIoT device receives the paging message sent by each of the four readers, it sends RN16, i.e., a 16-bit random number, to the four readers respectively to resolve the competition. The RN16 sent by the AIoT device to each of the four readers is randomly generated by the AIoT device, rather than multiplexing the RN16 sent to a certain reader among the four readers. Afterwards, the four readers each return ACK to the reader based on the receipt of RN16 to complete the random access.

[0051] After completing random access, the AIoT device can send signals to the four readers at the first moment. The first moment can be a moment determined by the AIoT device itself, and there is no specific restriction. The signal sent at the first moment carries the identification of the AIoT device. The identification of the AIoT device is obtained by the AIoT device constructing the information indicating the first moment into the EPC of the AIoT device, that is, the AIoT device constructs the information indicating the first moment into the EPC of the AIoT device to obtain the identification of the AIoT device. For example, the information indicating the first moment is a fixed 8 bits. For the i-th reader among the four readers, i is an integer traversing from 1 to 4. The RN16 sent by the AIoT device to the i-th reader is recorded as RN16#i. The AIoT device uses the value of RN16#i to take the modulus of the length value of the EPC of the AIoT device (that is, the number of bits contained in the EPC, such as 16 bits, 32 bits, 64 bits, etc.), such as the result of the modulo is S1, and S1 is an integer greater than or equal to 0. Then, the AIoT device can embed the 8 bits of information indicating the first moment between the S1th and S1th+1th bits of the EPC to obtain the identification of the AIoT device sent to the i-th reader. Accordingly, each of the four readers is configured as follows: the reader determines the arrival delay (such as t1-t2) of the signal reaching the reader based on the moment when the above signal is received (such as t1) and the information indicating the first moment carried by the identification of the AIoT device (such as the first moment is t2), thereby obtaining 4 arrival delays, which are the time required for the signal sent by the AIoT device at the first moment to reach the 4 readers respectively.

[0052] Among them, taking the i-th reader as an example, the i-th reader can save RN16#i, and when obtaining the identification of the AIoT device from the received signal, it executes the inverse process of the processing logic of the above-mentioned AIoT device, and extracts the information indicating the first moment from the identification of the AIoT device, thereby determining the first moment. At this time, the remaining information in the identification of the AIoT device is the EPC of the AIoT device. In this way, the i-th reader also obtains the EPC of the AIoT device, and the inventory is realized.

[0053] It can be understood that since the RN16 sent by the AIoT device to the four readers is different, the position of the information indicating the first moment constructed into the EPC may also be different, so that the identification of the AIoT device sent by the AIoT device to the four readers may also be different, thereby improving the security of the information.

[0054] Afterwards, continuing to take the i-th reader among the four readers as an example, the i-th reader can randomly generate a random number #i, that is, the random number #i is an integer randomly generated by the i-th reader within a preset interval, such as the preset interval is 0-100, 0-200, etc., without restriction. The arrival delay of the above signal to the i-th reader is recorded as arrival delay #i. The i-th reader can construct the delay indication information #i into the EPC of the AIoT device according to the latest count value of the NAS counter of the i-th reader and the random number #i, and obtain the identification information #i, and the delay indication information #i indicates the arrival delay #i. For example, the value of random number #i is k1, the latest count value of the non-access stratum (NAS) counter of the i-th reader is j#i, j#i is an integer greater than or equal to 0, the length of delay indication information #i is fixed to 8 bits, M#i is an integer greater than or equal to 16, the length of the EPC of the AIoT device is fixed to M#i-8 bits, and the i-th reader inserts the continuous 8 bits of delay indication information #i into the EPC of the AIoT device after the N#i-th bit according to (k1+j#i)mod(M#i-8)=N#i to obtain identification information #i. mod represents modulo operation, and the length of identification information #i is M#i bits. Afterwards, the i-th reader sends identification information #i and random number #i to AIoTF, and AIoTF receives identification information #i and random number #i reported by the i-th reader. AIoTF extracts delay indication information #i from identification information #i based on random number #i and the latest count value of the NAS counter of the i-th reader. For example, AIoTF also executes the logic of the i-th reader. For example, AIoTF extracts 8 consecutive bits after the N#i-th bit of identification information #i according to (k1+j#i)mod(M#i-8)=N#i. The consecutive 8 bits are the delay indication information #i. The remaining bits after extracting the delay indication information #i from the identification information #i are the EPC of the AIoT device, thus realizing inventory.

[0055] It can be understood that the NAS counter of the i-th reader is a counter configured for the NAS message exchange between the i-th reader and AIoTF. Different from the existing NAS messages, the NAS messages involved in the embodiments of the present application refer to messages specifically used for communication between AIoTF and readers. For example, the identification information #i and random number #i sent by the i-th reader are carried in the NAS message. The embodiments of the present application do not limit the specific types or names of these messages. With the interaction of NAS messages, the reader and AIoTF synchronously update the count value of the NAS counter of the reader. For example, the reader sends a NAS message to AIoTF, and AIoTF replies to the reader to confirm successful reception. Then, both the reader and AIoTF update the count value of the NAS counter of the reader by adding 1. When it is updated to a threshold, such as 16, if it is updated by 1 again, it will flip to 0 and then cycle.

[0056] It can also be understood that, similar to the logic reported by the AIoT device, since the latest count value of the NAS counter of each reader may be different, the position of the indication delay indication information constructed into the EPC may also be different, so that the identification information sent by each reader to the AIoTF may also be different, thereby improving the security of the information. Since the reader does not send the EPC directly to the AIoTF, but constructs the EPC, the risk of direct exposure of the EPC is reduced, especially in the scenario where the terminal acts as a reader, the effect is particularly obvious.

[0057] S202, AIoTF determines the location of the AIoT device based on at least 3 of the 4 arrival delays.

[0058] S1: AIoTF can determine the distance between the AIoT device and the four readers at the first moment based on the four arrival delays. For example, each arrival delay multiplied by the speed of light is the distance, for a total of four distances.

[0059] S2: AIoTF can determine the location of the AIoT device based on at least 3 of the 4 distances and the locations of at least 3 readers corresponding to at least 3 of the 4 distances.

[0060] Among them, AIoTF selects the top three distances from the four distances. AIoTF determines whether the AIoT device can be located based on the three distances and the positions of the first three readers corresponding to the three distances among the four readers. For example, the first three readers include reader #1, reader #2, and reader #3, and the three distances include the distance d1 from the AIoT device to reader #1, the distance d2 from the AIoT device to reader #2, and the distance d3 from the AIoT device to reader #3; AIoTF can determine circle #1 with the position w1 of reader #1 as the center and the distance d1 as the radius, circle #2 with the position w2 of reader #2 as the center and the distance d2 as the radius, and circle #3 with the position w3 of reader #3 as the center and the distance d3 as the radius. AIoTF determines whether the AIoT device can be located based on the positions of the intersections between circle #1, circle #2, and circle #3. For example, Figure 3 As shown in (a), the intersections between circle #1, circle #2 and circle #3 include: intersection #1 and intersection #2 between circle #1 and circle #2, intersection #3 and intersection #4 between circle #1 and circle #3, and intersection #5 and intersection #6 between circle #2 and circle #3.

[0061] It can be understood that, in theory, the above circles can be tangent to each other, that is, there is only one intersection point, but in practice, due to the existence of measurement errors, the above circles usually intersect with each other, that is, there are two intersection points.

[0062] AIoTF can determine that the three closest intersections among intersections #1 to #6 are intersection x1, intersection x2, and intersection x3 (i.e., intersection #1, intersection #3, and intersection #5) based on the distance between each two intersections among intersections #1 to #6. If the distance between each two intersections among intersections x1, intersection x2, and intersection x3 is greater than or equal to the distance threshold, then AIoTF determines that the positions of intersections x1, intersection x2, and intersection x3 cannot be used to locate the AIoT device, that is, the error of the arrival delay is large, resulting in a large distance, and if positioning is performed, the position error of the AIoT device will also be relatively large. If the distance between two intersections among intersections x1, intersection x2, and intersection x3 is less than the distance threshold, then AIoTF determines that the positions of intersections x1, intersection x2, and intersection x3 can be used to locate the AIoT device. If the AIoT device can be located, then AIoTF determines the position of the AIoT device based on the three distances and the positions of the first three readers. For example, when the positions of intersection x1, intersection x2, and intersection x3 can be used to locate the AIoT device, AIoTF averages the positions of intersection x1, intersection x2, and intersection x3 to obtain the position of the AIoT device.

[0063] If the AIoT device cannot be located, AIoTF determines the location of the AIoT device based on the 4 distances and the locations of the 4 readers. Figure 3 As shown in (b), the fourth reader among the four readers except the first three readers is reader #4, and the fourth distance among the four distances except the three distances is the distance d4 from the AIoT device to reader #4. AIoTF determines circle #4 with the position w4 of reader #4 as the center and the distance d4 as the radius. Among them, the intersections of circle #4 and circle #1 include intersection #7 and intersection #8, the intersections of circle #4 and circle #2 include intersection #9 and intersection #10, and the intersections of circle #4 and circle #3 include intersection #11 and intersection #12. AIoTF determines the three intersections closest to each other among intersections #1 to #12 as intersection y1, intersection y2 and intersection y3 (i.e., intersection #3, intersection #7, and intersection #11) based on the distance between each two intersections among intersections #1 to #12. AIoTF averages the positions of intersection points y1, y2, and y3 to obtain the position of the AIoT device.

[0064] It is understandable that the longer the distance, the greater the error of the arrival delay. Therefore, the error of the arrival delay of the shortest distance d4 is most suitable for correcting the error and improving the positioning accuracy. Therefore, AIoTF can first try to use three distances with slightly larger errors, such as distance d1, distance d2, and distance d3 for positioning. If the positioning error meets the requirements at this time, there is no need to use distance d4 for correction. Otherwise, use distance d4 for correction to ensure that the positioning accuracy meets the high-precision requirements.

[0065] S203, AIoTF determines the moving trajectory of the electroplating equipment to perform selective plating based on the location of the AIoT device.

[0066] The movement trajectory of the electroplating equipment performing selective plating includes the position of the AIoT device determined last time. AIoTF can connect the position of the AIoT device determined last time with the position of the AIoT device determined this time to update the movement trajectory of the electroplating equipment performing selective plating. If the position of the AIoT device determined this time is the first time, AIoTF can connect the preset starting position of the electroplating equipment performing selective plating with the position of the AIoT device determined this time to update the movement trajectory of the electroplating equipment performing selective plating. During the process of the electroplating equipment performing selective plating, the above method can be executed multiple times in the whole process. At this time, AIoTF can determine whether the movement trajectory of the electroplating equipment performing selective plating determined by it is consistent with the dynamically set movement trajectory to achieve tracking.

[0067] In summary, taking the electroplating scenario, such as selective plating, that is, the electroplating scenario with dynamic path planning rather than the full path as an example, in the electroplating scenario, the AIoT device can be set on the electroplating equipment and move with the electroplating equipment during the selective plating process. Therefore, during the process of the electroplating equipment performing selective plating, the AIoTF can receive the arrival delay of the AIoT device reported by each of the four readers, that is, four arrival delays, so that the AIoTF can determine the position of the AIoT device according to at least three of the four arrival delays, so as to achieve higher-precision positioning. Therefore, the AIoTF then determines the moving trajectory of the electroplating equipment performing selective plating according to the position of the AIoT device, thereby achieving more accurate tracking of the electroplating equipment.

[0068] Combination of the above Figure 2 The method provided by the embodiment of the present invention is described in detail. The following is a detailed description of an automated selective plating system based on high-precision positioning and tracking for executing the method provided by the embodiment of the present invention, the system includes AIoTF in AIoT, and the system is configured as follows: during the process of electroplating equipment performing selective plating, AIoTF receives the arrival delay of the AIoT device reported by each of the four readers, a total of four arrival delays, and the four arrival delays are the time required for the signal sent by the AIoT device at the first moment to reach the four readers respectively; the AIoT device is set on the electroplating equipment and moves with the electroplating equipment during the selective plating process; AIoTF determines the position of the AIoT device based on at least three of the four arrival delays; AIoTF determines the moving trajectory of the electroplating equipment performing selective plating based on the position of the AIoT device.

[0069] Optionally, AIoTF determines the location of the AIoT device based on at least 3 of the 4 arrival delays, including: AIoTF determines the distances between the AIoT device and 4 readers at the first moment, respectively, for a total of 4 distances, based on the 4 arrival delays; AIoTF determines the location of the AIoT device based on at least 3 of the 4 distances and the positions of at least 3 readers corresponding to at least 3 of the 4 distances.

[0070] Optionally, AIoTF determines the location of the AIoT device based on at least 3 distances out of 4 distances and the positions of at least 3 readers corresponding to at least 3 distances out of 4 readers, including: AIoTF selects 3 distances with the top 3 largest distances from the 4 distances; AIoTF determines whether the AIoT device can be located based on the 3 distances and the positions of the top 3 readers corresponding to 3 distances out of 4 readers; if the AIoT device can be located, AIoTF determines the location of the AIoT device based on the 3 distances and the positions of the top 3 readers; if the AIoT device cannot be located, AIoTF determines the location of the AIoT device based on the 4 distances and the positions of the 4 readers.

[0071] Optionally, the first three readers include reader #1, reader #2, and reader #3, and the three distances include the distance d1 from the AIoT device to reader #1, the distance d2 from the AIoT device to reader #2, and the distance d3 from the AIoT device to reader #3; on this basis, AIoTF determines whether the AIoT device can be located based on the three distances and the positions of the first three readers corresponding to the three distances among the four readers, including: AIoTF determines circle #1 with the position w1 of reader #1 as the center and the distance d1 as the radius, circle #2 with the position w2 of reader #2 as the center and the distance d2 as the radius, and circle #3 with the position w3 of reader #3 as the center and the distance d3 as the radius; AIoTF determines whether the AIoT device can be located based on the positions of the intersections between circle #1, circle #2, and circle #3.

[0072] Optionally, the intersections between circle #1, circle #2 and circle #3 include: intersection #1 and intersection #2 between circle #1 and circle #2, intersection #3 and intersection #4 between circle #1 and circle #3, and intersection #5 and intersection #6 between circle #2 and circle #3; on this basis, AIoTF determines whether the AIoT device can be located according to the positions of the intersections between circle #1, circle #2 and circle #3, including: AIoTF determines that the three intersections closest to each other among intersections #1 to intersection #6 are intersection x1, intersection x2 and intersection x3 according to the distance between each two intersections among intersections #1 to intersection #6; if the distance between each two intersections among intersections x1, intersection x2 and intersection x3 If the distances between the three intersections are all greater than or equal to the distance threshold, AIoTF determines that the positions of intersection x1, intersection x2 and intersection x3 cannot be used to locate the AIoT device. If the distances between two of the intersections x1, intersection x2 and intersection x3 are less than the distance threshold, AIoTF determines that the positions of intersection x1, intersection x2 and intersection x3 can be used to locate the AIoT device. Correspondingly, when the positions of intersection x1, intersection x2 and intersection x3 can be used to locate the AIoT device, AIoTF determines the position of the AIoT device based on the three distances and the positions of the first three readers, including: AIoTF averages the positions of intersection x1, intersection x2 and intersection x3 to obtain the position of the AIoT device.

[0073] Optionally, the fourth reader among the four readers except the first three readers is reader #4, the fourth distance among the four distances except the three distances is the distance d4 from the AIoT device to reader #4, and AIoTF determines the position of the AIoT device according to the four distances and the positions of the four readers, including: AIoTF determines a circle #4 with the position w4 of reader #4 as the center and the distance d4 as the radius; wherein the intersection of circle #4 and circle #1 includes intersection #7 and intersection #1. #8, the intersection points of circle #4 and circle #2 include intersection points #9 and #10, and the intersection points of circle #4 and circle #3 include intersection points #11 and #12; AIoTF determines the three intersection points closest to each other from intersection points #1 to intersection points #12 as intersection points y1, y2, and y3 based on the distance between every two intersection points from intersection points #1 to intersection points #12; AIoTF averages the positions of intersection points y1, y2, and y3 to obtain the position of the AIoT device.

[0074] Optionally, AIoTF receives the arrival delay of the AIoT device reported by each of the four readers, including: for the i-th reader among the four readers, i is an integer traversing from 1 to 4, AIoTF receives the identification information #i and random number #i reported by the i-th reader, and the random number #i is an integer randomly generated by the i-th reader within a preset interval; AIoTF extracts the delay indication information #i from the identification information #i based on the random number #i and the latest count value of the NAS counter of the i-th reader, and the delay indication information #i indicates the arrival delay of the signal arriving at the i-th reader.

[0075] Optionally, the value of random number #i is k1, the latest count value of the NAS counter of the i-th reader is j#i, j#i is an integer greater than or equal to 0, the length of identification information #i is M#i bits, M#i is an integer greater than or equal to 16; the length of delay indication information #i is fixed 8 bits, the length of delay indication information #i is fixed 8 bits, AIoTF extracts delay indication information #i from identification information #i according to random number #i and the latest count value of the NAS counter of the i-th reader, including: AIoTF extracts 8 consecutive bits after the N#i-th bit of identification information #i according to (k1+j#i)mod(M#i-8)=N#i, the consecutive 8 bits are the delay indication information #i, the remaining bits after the delay indication information #i is extracted from the identification information #i are the EPC of the AIoT device, and mod represents modulo operation.

[0076] Optionally, the signal sent by the AIoT device at the first moment carries the identification of the AIoT device, and each of the four readers is configured to determine the arrival delay of the signal to the reader based on the moment when the signal is received and the information indicating the first moment carried by the identification of the AIoT device, wherein the AIoT device constructs the information indicating the first moment into the EPC of the AIoT device to obtain the identification of the AIoT device.

[0077] Figure 4 The electronic device provided in the embodiment of the present invention is a schematic diagram of the structure of the electronic device. For example, the electronic device may be a network device, or a chip (system) or other components or assemblies that can be set in the network device. Figure 4 As shown, the electronic device 400 may include a processor 401. Optionally, the electronic device 400 may further include a memory 402 and / or a transceiver 403. The processor 401 is coupled with the memory 402 and the transceiver 403, such as being connected via a communication bus.

[0078] Combine the following Figure 4 The components of the electronic device 400 are described in detail:

[0079] The processor 401 is the control center of the electronic device 400, and may be a processor or a general term for multiple processing elements. For example, the processor 401 is one or more central processing units (CPUs), or may be application specific integrated circuits (ASICs), or may be one or more integrated circuits configured to implement the embodiments of the present invention, such as one or more microprocessors (digital signal processors, DSPs), or one or more field programmable gate arrays (FPGAs).

[0080] Optionally, the processor 401 can execute various functions of the electronic device 400 by running or executing the software program stored in the memory 402 and calling the data stored in the memory 402, such as executing the above Figure 2 An automated plating selection method based on high-precision positioning and tracking is shown.

[0081] In a specific implementation, as an embodiment, the processor 401 may include one or more CPUs, such as Figure 4 CPU0 and CPU1 are shown in FIG.

[0082] In a specific implementation, as an embodiment, the electronic device 400 may also include multiple processors. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0083] The memory 402 is used to store the software program for executing the solution of the present invention, and the execution is controlled by the processor 401. The specific implementation method can refer to the above method embodiment, which will not be repeated here.

[0084] Optionally, the memory 402 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 402 may be integrated with the processor 401, or may exist independently and access the computer through the interface circuit ( Figure 4 (not shown) is coupled to the processor 401, which is not specifically limited in this embodiment of the present invention.

[0085] The transceiver 403 is used for communication with other electronic devices. For example, if the electronic device 400 is a terminal, the transceiver 403 can be used to communicate with a network device, or with another terminal device. For another example, if the electronic device 400 is a network device, the transceiver 403 can be used to communicate with a terminal, or with another network device.

[0086] Optionally, the transceiver 403 may include a receiver and a transmitter ( Figure 4 The receiver is used to implement a receiving function, and the transmitter is used to implement a sending function.

[0087] Optionally, the transceiver 403 may be integrated with the processor 401, or may exist independently and communicate with the electronic device 400 through an interface circuit ( Figure 4 (not shown) is coupled to the processor 401, which is not specifically limited in this embodiment of the present invention.

[0088] Understandably, Figure 4 The structure of the electronic device 400 shown in the figure does not constitute a limitation on the electronic device, and the actual electronic device may include more or fewer components than those shown in the figure, or combine certain components, or arrange the components differently.

[0089] In addition, the technical effects of the electronic device 400 can refer to the technical effects of the methods described in the above method embodiments, which will not be repeated here.

[0090] It should be understood that the processor in the embodiment of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0091] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0092] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0093] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0094] In the present invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0095] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0096] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0097] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0098] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0099] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0100] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0101] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0102] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An automated plating method based on high-precision positioning and tracking, characterized in that: The method is applied to AIoTF in AIoT, and the method includes: During the process of selective plating performed by the electroplating equipment, the AIoTF receives the arrival delays of the AIoT devices reported by the four readers, a total of four arrival delays, and the four arrival delays are the time required for the signal sent by the AIoT device at the first moment to reach the four readers respectively; the AIoT device is arranged on the electroplating equipment and moves with the electroplating equipment during the selective plating process; The AIoTF determines the location of the AIoT device according to at least three of the four arrival delays; The AIoTF determines the moving trajectory of the electroplating equipment for performing selective plating based on the position of the AIoT device.

2. The method according to claim 1, characterized in that The AIoTF determines the location of the AIoT device according to at least three of the four arrival delays, including: The AIoTF determines the distances between the AIoT device and the four readers at the first moment, respectively, according to the four arrival delays, for a total of four distances; The AIoTF determines the location of the AIoT device based on at least three of the four distances and the locations of at least three readers corresponding to the at least three distances of the four readers.

3. The method according to claim 2, characterized in that The AIoTF determines the position of the AIoT device according to at least three of the four distances and the positions of at least three readers corresponding to the at least three of the four readers, including: The AIoTF selects the top three largest distances from the four distances; The AIoTF determines whether the AIoT device can be located according to the three distances and the positions of the first three readers corresponding to the three distances among the four readers; If the AIoT device can be located, the AIoTF determines the location of the AIoT device based on the three distances and the positions of the first three readers; if the AIoT device cannot be located, the AIoTF determines the location of the AIoT device based on the four distances and the positions of the four readers.

4. The method according to claim 3, characterized in that The first three readers include reader #1, reader #2, and reader #3, and the three distances include the distance d1 from the AIoT device to reader #1, the distance d2 from the AIoT device to reader #2, and the distance d3 from the AIoT device to reader #3; on this basis, the AIoTF determines whether the AIoT device can be located according to the three distances and the positions of the first three readers corresponding to the three distances among the four readers, including: The AIoTF determines a circle #1 with the position w1 of the reader #1 as the center and the distance d1 as the radius, a circle #2 with the position w2 of the reader #2 as the center and the distance d2 as the radius, and a circle #3 with the position w3 of the reader #3 as the center and the distance d3 as the radius; The AIoTF determines whether the AIoT device can be located based on the position of the intersection between the circle #1, the circle #2, and the circle #3.

5. The method according to claim 4, characterized in that The intersections between the circle #1, the circle #2 and the circle #3 include: the intersection #1 and the intersection #2 between the circle #1 and the circle #2, the intersection #3 and the intersection #4 between the circle #1 and the circle #3, and the intersection #5 and the intersection #6 between the circle #2 and the circle #3; on this basis, the AIoTF determines whether the AIoT device can be located according to the positions of the intersections between the circle #1, the circle #2 and the circle #3, including: The AIoTF determines, based on the distance between every two intersections from the intersection #1 to the intersection #6, that the three intersections that are closest to each other are intersection x1, intersection x2, and intersection x3; If the distance between each two intersection points among the intersection points x1, the intersection points x2 and the intersection points x3 is greater than or equal to the distance threshold, the AIoTF determines that the positions of the intersection points x1, the intersection points x2 and the intersection points x3 cannot be used to locate the AIoT device; if the distance between two intersection points among the intersection points x1, the intersection points x2 and the intersection points x3 is less than the distance threshold, the AIoTF determines that the positions of the intersection points x1, the intersection points x2 and the intersection points x3 can be used to locate the AIoT device; Correspondingly, when the positions of the intersection x1, the intersection x2, and the intersection x3 can be used to locate the AIoT device, the AIoTF determines the position of the AIoT device according to the three distances and the positions of the first three readers, including: The AIoTF averages the positions of the intersection x1, the intersection x2, and the intersection x3 to obtain the position of the AIoT device.

6. The method according to claim 5, characterized in that The fourth reader among the four readers except the first three readers is reader #4, the fourth distance among the four distances except the three distances is the distance d4 from the AIoT device to reader #4, and the AIoTF determines the position of the AIoT device according to the four distances and the positions of the four readers, including: The AIoTF determines a circle #4 with the position w4 of the reader #4 as the center and the distance d4 as the radius; The intersections of the circle #4 and the circle #1 include intersections #7 and #8, the intersections of the circle #4 and the circle #2 include intersections #9 and #10, and the intersections of the circle #4 and the circle #3 include intersections #11 and #12. The AIoTF determines, based on the distance between every two intersections from the intersection #1 to the intersection #12, that the three intersections that are closest to each other from the intersection #1 to the intersection #12 are intersection y1, intersection y2, and intersection y3; The AIoTF averages the positions of the intersection point y1, the intersection point y2, and the intersection point y3 to obtain the position of the AIoT device.

7. The method according to any one of claims 1 to 6, characterized in that The AIoTF receives the arrival delay of the AIoT devices reported by the four readers, including: For the i-th reader among the four readers, i is an integer traversing from 1 to 4, the AIoTF receives the identification information #i and the random number #i reported by the i-th reader, and the random number #i is an integer randomly generated by the i-th reader within a preset interval; The AIoTF extracts delay indication information #i from the identification information #i based on the random number #i and the latest count value of the NAS counter of the i-th reader, and the delay indication information #i indicates the arrival delay of the signal reaching the i-th reader.

8. The method according to claim 7, characterized in that The value of the random number #i is k1, the latest count value of the NAS counter of the i-th reader is j#i, j#i is an integer greater than or equal to 0, the length of the identification information #i is M#i bits, M#i is an integer greater than or equal to 16; the length of the delay indication information #i is a fixed 8 bits, and the AIoTF extracts the delay indication information #i from the identification information #i according to the random number #i and the latest count value of the NAS counter of the i-th reader, including: The AIoTF extracts 8 consecutive bits after the N#i-th bit of the identification information #i according to (k1+j#i)mod(M#i-8)=N#i, and the 8 consecutive bits are the delay indication information #i. The remaining bits after the delay indication information #i is extracted from the identification information #i are the EPC of the AIoT device, and mod represents the modulo operation.

9. The method according to claim 8, characterized in that The signal sent by the AIoT device at the first moment carries the identification of the AIoT device, and each of the four readers is configured to: determine the arrival delay of the signal to the reader according to the moment when the signal is received and the information indicating the first moment carried by the identification of the AIoT device, wherein the AIoT device constructs the information indicating the first moment into the EPC of the AIoT device to obtain the identification of the AIoT device.

10. An automated plating system based on high-precision positioning and tracking, characterized in that: The system includes AIoTF in AIoT, and the system is configured as follows: During the process of selective plating performed by the electroplating equipment, the AIoTF receives the arrival delays of the AIoT devices reported by the four readers, a total of four arrival delays, and the four arrival delays are the time required for the signal sent by the AIoT device at the first moment to reach the four readers respectively; the AIoT device is arranged on the electroplating equipment and moves with the electroplating equipment during the selective plating process; The AIoTF determines the location of the AIoT device according to at least three of the four arrival delays; The AIoTF determines the moving trajectory of the electroplating equipment for performing selective plating based on the position of the AIoT device.

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