Material positioning method and system

Abstract

The invention is applicable to the technical field of manufacturing execution systems, and provides a material positioning method and system, the method is applied to a manufacturing execution system with an AR operation terminal, and the method comprises the steps: obtaining a signal of an intelligent electronic tag configured on a material unit through a multi-mode positioning base station network deployed in a material region, real-time position information of the material units is obtained through calculation; constructing and maintaining a digital map which is synchronous with the physical storage environment in real time, and updating the real-time position information of the material unit to the digital map; when a material demand from a manufacturing execution system is received, real-time position information of a needed target material unit is determined in the digital map according to the material demand, and a navigation path to the target material unit is planned; based on the real-time position information of the target material unit and the planned navigation path, visual navigation guidance is provided for an operator through the AR operation terminal. The problem that materials cannot be quickly and accurately positioned and found in the existing production process is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of manufacturing execution systems, and in particular to a material positioning method and system. Background Art

[0002] In modern manufacturing, efficient production line operation is a key factor in maintaining a company's competitiveness. As an integral component of the production process, the efficiency of material management directly impacts the smooth operation of the entire production system. However, traditional manufacturing execution systems (MES) and warehouse management systems (WMS) still face numerous challenges, particularly in material location and retrieval. These challenges not only hinder productivity improvements but can also negatively impact a company's overall operating costs and market responsiveness.

[0003] At present, the traditional material management method has the following shortcomings:

[0004] Limitations of traditional manual management: In many manufacturing environments, material storage and tracking still rely heavily on manual records, paper lists, or simple spreadsheets, along with physical labels for identification. When a specific material is needed, workers are forced to manually search for it within the vast warehouse or production floor based on this information. This approach is extremely inefficient when materials are numerous and numerous (for example, thousands of parts in a large automotive manufacturing plant) or when storage areas are vast. Searches can take hours, wasting valuable human resources and potentially delaying production schedules.

[0005] Complexity of the material storage environment: As enterprises expand and production needs diversify, the material storage environment is becoming increasingly complex. Materials may be stored in different warehouses, storage areas, shelf levels, and even across different factory locations. Even if records exist, the unstable storage locations, delayed record updates, unclear physical labels, and the need for specific materials (such as electronic components with strict temperature and humidity requirements) to be stored in complex dedicated warehouses (such as constant temperature and humidity warehouses) make accurate material location and quick search extremely difficult.

[0006] Dynamic changes in production demand present challenges: Modern manufacturing emphasizes rapid response to market changes and production flexibility. Order changes or urgent insertions can lead to frequent adjustments to production plans, placing higher demands on the timeliness and accuracy of material supply. Failure to quickly locate and obtain required materials (for example, in the apparel industry, where specific fabrics and accessories are urgently needed to meet changing trends) can severely hamper production plan adjustments, potentially leading companies to miss out on market opportunities.

[0007] Negative impact on production efficiency and costs: Inefficient material retrieval directly leads to wasted production time, reducing the effective man-hours actually dedicated to processing and production. This may require additional manpower or overtime to compensate for lost time, increasing labor costs. Furthermore, the inability to accurately track the real-time location and quantity of materials can lead companies to overstock to prevent shortages, increasing inventory costs and warehouse pressure. Conversely, if material shortages are discovered during the production process, emergency procurement is necessary, further driving up procurement and logistics costs.

[0008] In summary, the inability to quickly and accurately locate and find materials during the production process is a widespread and pressing issue facing the manufacturing industry. This issue not only directly impacts production efficiency and increases operating costs, but also weakens a company's flexibility and competitiveness in responding to market changes. Summary of the Invention

[0009] Based on this, the purpose of the present invention is to provide a material positioning method and system to fundamentally solve the problem that materials cannot be quickly and accurately positioned and found in the existing production process.

[0010] A material positioning method according to an embodiment of the present invention is applied to a manufacturing execution system having an AR operation terminal, and the method includes:

[0011] The multimodal positioning base station network deployed in the material area acquires the signal of the smart electronic tag configured on the material unit and calculates the real-time location information of the material unit;

[0012] Constructing and maintaining a digital map that is synchronized with the physical storage environment in real time, and updating the calculated real-time location information of the material unit to the digital map;

[0013] When a material demand is received from the manufacturing execution system, real-time location information of the required target material unit is determined in the digital map according to the material demand, and a navigation path is planned from the current location of the AR operation terminal currently worn or held by the operator to the target material unit;

[0014] Based on the determined real-time location information of the target material unit and the planned navigation path, the AR operation terminal provides visual navigation guidance to the operator to guide the operator to the physical location of the target material unit.

[0015] In addition, a material positioning method according to the above embodiment of the present invention may also have the following additional technical features:

[0016] Furthermore, the step of acquiring the signal of the smart electronic tag configured on the material unit by using the multimodal positioning base station network deployed in the material area and calculating the real-time location information of the material unit includes:

[0017] Through a multi-modal positioning base station network including at least two of ultra-high frequency RFID readers, low-power Bluetooth gateways, and ultra-wideband anchor points, the original signal data emitted or reflected by the smart electronic tags configured on the material units are detected and collected in real time;

[0018] Pre-process the raw signal data collected from different positioning technologies to extract the key parameters required for positioning solution;

[0019] The preprocessed multi-source key parameters are input into the preset positioning data fusion algorithm model, and combined with the historical motion trajectory data of the material unit for iterative calculation or state estimation, and the optimized real-time position information of the material unit in a unified coordinate system is output.

[0020] Furthermore, the step of inputting the pre-processed multi-source key parameters into a preset positioning data fusion algorithm model and performing iterative calculation or state estimation in combination with the historical motion trajectory data of the material unit includes:

[0021] Using Kalman filter or particle filter as the positioning data fusion algorithm model;

[0022] Initialize the state vector and covariance matrix of the filter using the historical motion trajectory data of the material unit;

[0023] At each time step, key parameters from different positioning technology sources are used as measurement inputs to the filter, and prediction and update steps are performed to recursively estimate and correct the three-dimensional coordinates and motion state of the material unit.

[0024] Furthermore, the step of constructing and maintaining a digital map synchronized with the physical storage environment in real time, and updating the calculated real-time location information of the material unit to the digital map includes:

[0025] Constructing a static 3D scene model with precise dimensions and spatial relationships based on 3D scan data or building information model data of the physical material storage area, including warehouses, workshops, shelves, storage locations, and aisles;

[0026] On the static three-dimensional scene model, for each located material unit, a corresponding dynamic virtual object is created. The dynamic virtual object is instantiated and visualized as a virtual material icon or model at the corresponding physical location in the static three-dimensional scene model, thereby forming the digital map. The dynamic virtual object is associated with a unique identifier and material attributes of the material unit.

[0027] When the real-time position information of the material unit changes, the spatial position and posture of the dynamic virtual object corresponding to the material unit in the static three-dimensional scene model are updated in real time.

[0028] Furthermore, the step of determining the real-time location information of the required target material unit in the digital map according to the material demand, and planning a navigation path from the current position of the AR operation terminal currently worn or held by the operator to the target material unit includes:

[0029] Receive material picking instructions containing material code and required quantity from the manufacturing execution system;

[0030] Searching for all available matching material unit instances in the digital map according to the material code, and selecting one or more target material unit instances from the matching material unit instances in combination with a preset picking strategy;

[0031] The real-time location coordinates determined by the AR operation terminal are obtained as the starting point of the path planning, and the real-time location information of the selected target material unit instance is used as the end point of the path planning;

[0032] Under the constraints of the channel network and obstacle avoidance rules defined in the digital map, one or more optimal or suboptimal navigation paths from the path planning starting point to the path planning end point are calculated and generated based on the feasible paths, picking order and real-time traffic conditions in the digital map. The navigation path at least includes a series of path node coordinates and direction guidance.

[0033] Furthermore, the step of providing visual navigation guidance to the operator through the AR operation terminal based on the determined real-time location information of the target material unit and the planned navigation path includes:

[0034] Acquire real-time spatial pose data of the AR operation terminal currently worn or held by the operator, wherein the spatial pose data includes at least the three-dimensional position coordinates and orientation angle of the AR operation terminal in a preset coordinate system;

[0035] Convert the planned navigation path coordinate sequence from the digital map coordinate system to the observation coordinate system of the AR operation terminal;

[0036] Based on the converted navigation path coordinate sequence, dynamic navigation instruction elements are superimposed, rendered, and displayed in the real physical environment field of view observed by the operator through the AR work terminal to guide the operator along the planned path. The navigation instruction elements include three-dimensional arrows, highlighted path lines, or ground indicator light strips.

[0037] Furthermore, the step of guiding the operator to move along the planned path further includes:

[0038] When it is determined based on the real-time spatial posture data of the AR operation terminal that the operator has reached the preset close-distance threshold range of the physical location of the target material unit, based on the location information of the target material unit in the digital map or the boundary information of the smallest storage unit in which it is located, a highlighted selection box, a flashing animation or a virtual label containing the material name is superimposed on the target material unit or the smallest storage unit in the operator's AR field of view to clearly indicate the specific location of the target material and assist the operator in accurately identifying and picking up the target material unit from multiple adjacent materials.

[0039] Furthermore, while or after providing visual navigation guidance to the operator through the AR operation terminal, the method further includes:

[0040] When the operator selects any physical material unit in the field of view through the AR operation terminal's gaze, gesture pointing, or voice command, the AR operation terminal captures and analyzes the image features of the selected material unit and confirms the identity of the selected material unit in combination with the signal of the smart electronic tag;

[0041] Retrieving detailed information associated with the target material unit from the digital map or an associated system database based on the confirmed identity of the selected material unit, the detailed information including at least the material code, material name, specification model, current inventory quantity, batch to which it belongs, or an associated production order number;

[0042] The retrieved detailed information is displayed in real time in the form of text, icons or three-dimensional information cards, superimposed on the operator's AR field of view near the selected material unit.

[0043] Furthermore, the method further comprises:

[0044] After guiding the operator to the physical location of the target material unit, the operator confirms that the target material unit has been picked through active operation of the AR operation terminal or automatic detection by the system through intelligent sensors;

[0045] The AR operation terminal sends the picking completion record including the operator ID, timestamp, unique identifier of the picked material and quantity to the manufacturing execution system via the wireless network;

[0046] After receiving and verifying the picking completion record, the manufacturing execution system updates the quantity and status of the corresponding materials in the inventory database in real time, and updates the material preparation progress of the relevant production tasks.

[0047] Another embodiment of the present invention is to provide a material positioning system for use in a manufacturing execution system having an AR operation terminal, the system comprising:

[0048] The material location information calculation module is used to obtain the signal of the smart electronic tag configured on the material unit through the multi-modal positioning base station network deployed in the material area, and calculate the real-time location information of the material unit;

[0049] A digital map construction and updating module is used to construct and maintain a digital map that is synchronized with the physical storage environment in real time, and to update the calculated real-time location information of the material unit to the digital map;

[0050] a navigation path planning module, configured to, upon receiving a material demand from the manufacturing execution system, determine the real-time location information of the required target material unit in the digital map based on the material demand, and plan a navigation path from the current location of the AR work terminal currently worn or held by the operator to the target material unit;

[0051] The navigation guidance module is used to provide visual navigation guidance to the operator through the AR operation terminal based on the determined real-time location information of the target material unit and the planned navigation path, so as to guide the operator to the physical location of the target material unit.

[0052] The material positioning method provided by the embodiment of the present invention configures intelligent electronic tags for material units and utilizes a multimodal positioning base station network to automatically and in real time acquire material signals. It then calculates accurate real-time location information, replacing inefficient manual recording and searching. Operators no longer need to rely on experience or paper maps to blindly search for materials in a vast warehouse or workshop, significantly improving the efficiency and accuracy of material information acquisition. By constructing a digital map that accurately corresponds to the physical storage environment, it not only contains static shelf and location information but also updates the dynamic position and posture of each material unit in real time, making the complex physical environment clear and transparent in the digital space. Operators can intuitively understand the storage structure and specific location of materials, effectively overcoming the problems caused by the complexity of the physical environment. At the same time, the material location information in the digital map is synchronized with the physical world in real time. When production requirements change, the system can immediately query the latest location of the required materials. This ensures the timeliness of material information, enabling enterprises to quickly respond to adjustments to production plans and obtain required materials in a timely manner, thereby improving production flexibility and agility. When the system issues a material request, it automatically locates the target material on a digital map and plans an optimal navigation path for the operator based on their current location. The AR work terminal provides intuitive visual guidance to the operator, eliminating the need for blindly searching through paper lists, avoiding detours and getting lost. This significantly reduces wasted travel and repetitive work, and improves the intelligence and responsiveness of material scheduling. The AR work terminal overlays the navigation path and target material location directly onto the operator's field of view as virtual information, enabling "what you see is what you get" guidance. This significantly reduces the operator's cognitive load and reliance on experience, significantly improves the accuracy and efficiency of material search, and reduces the likelihood of missed or missed items. As the operator approaches the target material, the AR work terminal highlights or flashes it in their field of view based on its location on the digital map or the boundaries of its smallest storage unit. This helps the operator quickly identify the target material among numerous similar materials or densely stored locations, shortening the time it takes to confirm and pick it up. This solves the existing problem of materials being difficult to quickly and accurately locate and find in production processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 Schematic diagram of the process of the material positioning method in the first embodiment of the present invention;

[0054] Figure 2 Schematic diagram of the structure of a material positioning system in a second embodiment of the present invention;

[0055] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0056] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The drawings illustrate several embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present invention.

[0057] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0059] Example 1

[0060] See also Figure 1 , which shows a material positioning method in a first embodiment of the present invention. For ease of description, only the parts related to the embodiment of the present invention are shown. The material positioning method provided by the embodiment of the present invention includes:

[0061] Step S10: acquiring signals from smart electronic tags on material units through a multimodal positioning base station network deployed in the material area, and calculating real-time location information of the material units;

[0062] Among them, in one embodiment of the present invention, the method is applied to a manufacturing execution system (MES) with an AR operation terminal, wherein the manufacturing execution system is a production information management system for the execution layer of the workshop of a manufacturing enterprise, which serves as a bridge and information hub between the upper-level planning management system (such as ERP-enterprise resource planning system) and the underlying industrial control system (such as PLC-programmable logic controller, SCADA-data acquisition and monitoring control system, etc.), and is used to optimize the entire production activity from order placement to product completion. The manufacturing execution system collects, transmits, processes and analyzes data in the production process in real time to monitor, control, manage and optimize production activities, thereby improving production efficiency, product quality, reducing costs, shortening delivery cycles, and enhancing the company's adaptability. The AR operation terminal has at least a camera, a display screen, an IMU (inertial measurement unit), SLAM (simultaneous positioning and mapping) capabilities, and a network communication module.

[0063] First, a multimodal positioning base station network consisting of base stations using multiple positioning technologies is pre-deployed in key material storage and flow areas, such as warehouses and production lines. This multimodal positioning base station network specifically includes at least two of the following: ultra-high frequency RFID (UHF RFID) readers, Bluetooth low energy (BLE) gateways, and ultra-wideband (UWB) anchors. For example, UWB anchors are deployed in key corridors and high-density storage areas, Bluetooth low energy gateways are deployed at shelf levels or in areas, and UWB readers are installed at entrances and exits or key path points. The UHF RFID readers detect RFID tags passing through or within their coverage area, enabling large-scale and rapid identification of material tags. The Bluetooth low energy gateways receive broadcast signals from BLE tags attached to material units, enabling regional positioning or auxiliary positioning. The UWB anchors provide high-precision three-dimensional coordinate positioning. This forms a positioning network covering the target area, requiring at least three to four UWB anchors to achieve two-dimensional / three-dimensional positioning. These base station devices are connected to a local positioning server or edge computing gateway via wired (e.g., Ethernet) or wireless (e.g., Wi-Fi, LoRa) connections.

[0064] Furthermore, a corresponding smart electronic tag is configured for each material unit that needs to be tracked and located (such as a box containing specific parts, a pallet, or a high-value component), and the smart electronic tag stores the unique identifier of the material unit. The smart electronic tag can be a composite tag that integrates an ultra-wideband (UWB) tag, a low-power Bluetooth (BLE) beacon tag, and / or an ultra-high-frequency RFID (UHF RFID) tag, or a tag using a single technology, and the selection is based on cost, accuracy, and environmental requirements. Ultra-wideband tags are used for material units that require high-precision (centimeter-level) positioning; low-power Bluetooth beacon tags are used for regional or shelf-level positioning, with the advantages of low power consumption and moderate cost; and ultra-high-frequency RFID tags can be passive tags used for batch identification and regional positioning, and are particularly suitable for key nodes such as doorways and passages. It should be pointed out that a material unit does not usually refer to each independent, smallest physical component (such as a screw or a resistor), unless these components themselves are extremely valuable or critical to production. More commonly, the material unit is the smallest management unit that carries these materials, such as a box, a pallet, a single large or high-value component, or a reel / coil. The box contains multiple identical or different small parts. In this case, the material unit for tracking and positioning is the entire box, and the system records the type and quantity of the material in the box. The pallet mainly carries multiple boxes or large components, and single large or high-value components include engines, chassis, etc., while the reel / coil is used to load SMT patch components, etc.

[0065] When a material unit moves or the system performs periodic scanning, the multimodal positioning base station network captures signals emitted or reflected by nearby smart electronic tags. For example, an ultra-wideband anchor performs ranging communication with the ultra-wideband tag, a low-power Bluetooth gateway receives the broadcast signal strength (RSSI) of the low-power Bluetooth beacon tag, and an ultra-high frequency RFID reader reads the unique identifier of the ultra-high frequency RFID tag. After this raw signal data is collected, a central processing unit or edge computing node uses a specific positioning data fusion algorithm to perform calculations, ultimately outputting the three-dimensional coordinates of each material unit accurate to the centimeter or sub-meter level as its real-time location information.

[0066] Specifically, in one embodiment of the present invention, the step of acquiring a signal from a smart electronic tag configured on a material unit through a multimodal positioning base station network deployed in a material area and calculating the real-time location information of the material unit includes:

[0067] Through a multi-modal positioning base station network including at least two of ultra-high frequency RFID readers, low-power Bluetooth gateways, and ultra-wideband anchor points, the original signal data emitted or reflected by the smart electronic tags configured on the material units are detected and collected in real time;

[0068] Pre-process the raw signal data collected from different positioning technologies to extract the key parameters required for positioning solution;

[0069] The preprocessed multi-source key parameters are input into the preset positioning data fusion algorithm model, and combined with the historical motion trajectory data of the material unit for iterative calculation or state estimation, and the optimized real-time position information of the material unit in a unified coordinate system is output.

[0070] Specifically, when a material unit equipped with a corresponding smart electronic tag enters or exists within the coverage area of the multimodal positioning base station network, or when the system performs periodic scanning, the multimodal positioning base station network detects and collects raw signal data emitted or reflected by nearby smart electronic tags in real time. For example, an UHF RFID reader periodically transmits radio frequency signals to activate passive tags within range, or when a material unit enters or exits. The UHF RFID tag then reflects the signal, and the UHF RFID reader collects data such as the EPC code, signal strength indicator (RSSI), and phase information returned by all UHF RFID tags within its antenna coverage. Simultaneously, a Bluetooth Low Energy gateway continuously monitors the surrounding area, collecting Bluetooth signals broadcast periodically by Bluetooth Low Energy beacons, including their MAC addresses, transmit power, and possible sensor data, and recording the received signal strength indicator (RSSI). UWB anchor points receive the pulse signals actively transmitted by UWB tags. Multiple UWB anchor points receive the signals, enabling precise measurements of time difference of arrival (TDOA) or time of flight (TOF), obtaining nanosecond-level signal propagation time data. The raw signal data from these various sources is collected and transmitted to the central processing unit in real time. The collaborative operation of multiple positioning technologies ensures effective acquisition of positioning signals in diverse environments and material properties, improving the coverage and reliability of signal acquisition.

[0071] The collected raw signal data often contains noise and redundant information. Therefore, the collected raw signal data is first preprocessed, such as signal filtering (to remove noise and outliers), signal calibration (to compensate for hardware differences or environmental influences), multipath effect suppression algorithm (to reduce errors caused by signal reflections), timestamp synchronization (to ensure the timing consistency of data from different sources), and extraction of key parameters required for positioning solutions. The preprocessing step will clean and convert this data. For example, for RSSI data, filtering (such as mean filtering and Gaussian filtering) may be performed to reduce the impact of environmental fluctuations. For ultra-wideband flight time data, outlier removal and multipath effect compensation may be performed. For RFID data, tag collision processing and duplicate read filtering may be performed. At this time, preprocessing can extract key parameters that are more valuable for subsequent positioning solutions. For example, for RFID, the key parameters may be the tag ID, the reader ID that reads the tag, the RSSI value, phase information, etc.; for BLE, the key parameters may be the tag ID, the gateway ID that receives the signal, the RSSI value, and possible accelerometer data, etc.; for UWB, the key parameters may be the tag ID, the anchor point ID involved in the measurement, TOF, TDoA measurement value, etc.

[0072] Furthermore, the preprocessed key parameters from different positioning technology sources are input into a preset positioning data fusion algorithm model. This model aims to combine the advantages of multiple sources of information to improve the overall accuracy and robustness of positioning. To further enhance the continuity and accuracy of positioning, the algorithm also incorporates the historical motion trajectory data of the material unit (if the material unit has been tracked before, its historical position point sequence will be stored). Commonly used fusion algorithm models include Kalman filters or particle filters, which can perform iterative calculations or state estimation based on the material unit's motion model and current measurement data. Ultimately, the fusion algorithm model outputs optimized real-time position information of the material unit in a unified three-dimensional coordinate system. Therefore, using data fusion technology fully leverages the advantages of different positioning technologies, overcomes the shortcomings of individual technologies, and significantly improves the overall accuracy, stability, and adaptability of positioning to dynamic environments. For example, UWB provides high precision, BLE provides wide coverage and low power consumption, and RFID provides batch identification.

[0073] Specifically, in one embodiment of the present invention, the step of inputting the preprocessed multi-source key parameters into a preset positioning data fusion algorithm model and performing iterative calculation or state estimation in combination with the historical motion trajectory data of the material unit includes:

[0074] Use Kalman filter or particle filter as positioning data fusion algorithm model;

[0075] Initialize the state vector and covariance matrix of the filter using the historical motion trajectory data of the material unit;

[0076] At each time step, key parameters from different positioning technology sources are used as measurement inputs to the filter, and prediction and update steps are performed to recursively estimate and correct the three-dimensional coordinates and motion state of the material unit.

[0077] Specifically, the appropriate filter should be selected as the positioning data fusion algorithm model based on the complexity of the actual application scenario, the required positioning accuracy, and the limited computing resources. For example, if the system model is relatively linear and the noise conforms to a Gaussian distribution, a Kalman filter (KF) or its extended versions (EKF, UKF) can be selected. If the system model is highly nonlinear or the noise is non-Gaussian, a particle filter (PF) may be a better choice, although its computational complexity is generally higher.

[0078] Before using a Kalman filter or particle filter, it needs to be initialized. This involves setting an estimate of the initial state of the material unit (for example, initial position and velocity) and its uncertainty (i.e., the state covariance matrix). If the material unit has historical motion trajectory data, the most recent known position and motion trend can be used to more accurately initialize the state vector and covariance matrix, thereby accelerating the filter's convergence speed and improving positioning accuracy in the initial stage.

[0079] During each positioning cycle (time step), the filter performs two main steps:

[0080] The prediction step is to predict the state vector and covariance matrix of the material unit at the current moment based on the state estimation at the previous moment and the system's motion model (for example, a uniform velocity model, a uniform acceleration model, or a more complex model based on the behavior of the material handling equipment).

[0081] The update step uses the preprocessed key parameters obtained from different positioning technology sources (such as UWB, BLE, and RFID) at the current moment as measurement input. The filter compares these actual measurement values with the expected measurement values calculated based on the predicted state, calculates the Kalman gain (or particle weight), and uses this gain (or weight) to correct the predicted state to obtain a better state estimate at the current moment (including the corrected three-dimensional coordinates and motion state). The state covariance matrix is then updated to reflect the uncertainty of the new state estimate. This process is recursive, that is, the output at the current moment serves as the input for the prediction step at the next moment. By repeatedly predicting and updating the steps, the filter can recursively estimate and correct the three-dimensional coordinates and motion state of the material unit, thereby outputting smooth and highly accurate real-time position information.

[0082] Therefore, through a recursive cycle of prediction and update, the filter can continuously track the dynamic changes of the material unit, effectively suppress measurement noise, and fuse multi-source information to achieve continuous and accurate estimation and correction of the material unit's 3D coordinates and motion state. UWB provides high-precision point positioning, BLE provides regional presence verification or auxiliary positioning, and RFID confirms passage through key areas. Therefore, the fusion algorithm effectively combines the advantages of each technology to improve positioning robustness and accuracy.

[0083] Step S20: construct and maintain a digital map that is synchronized with the physical storage environment in real time, and update the calculated real-time location information of the material unit to the digital map;

[0084] In one embodiment of the present invention, the steps of constructing and maintaining a digital map that is synchronized with the physical storage environment in real time, and updating the calculated real-time location information of the material unit to the digital map include:

[0085] Build a static 3D scene model with precise dimensions and spatial relationships based on 3D scan data or building information model data of the physical material storage area, including warehouses, workshops, shelves, storage locations, and aisles;

[0086] On the static 3D scene model, a corresponding dynamic virtual object is created for each located material unit. The corresponding physical location of the dynamic virtual object in the static 3D scene model is instantiated and visualized as a virtual material icon or model, thereby forming a digital map. The dynamic virtual object is associated with a unique identifier and material attributes of the material unit.

[0087] When the real-time position information of the material unit changes, the spatial position and posture of the dynamic virtual object corresponding to the material unit in the static three-dimensional scene model are updated in real time.

[0088] Specifically, first, a digital 3D model of the physical material storage area (including the overall warehouse structure, workshop layout, precise location and size of shelves, numbering and boundaries of each storage location, and accessible aisle network) needs to be created. This can be achieved through the following methods:

[0089] 3D scanning data: Use a 3D laser scanner or structured light scanner to scan the existing physical environment (warehouse floor, shelves, aisles, machinery and equipment) to generate high-precision point cloud data. Professional point cloud processing and modeling software then converts this point cloud data into a static 3D scene model with precise dimensions and spatial topology (such as aisle connectivity and shelf hierarchy). This static 3D scene model accurately reproduces the physical environment, including the warehouse and workshop layout, shelf size and location, storage location division, and aisle network.

[0090] Building Information Model (BIM) data: If you already have a BIM model of a factory or warehouse (such as a Revit file), you can directly import it and perform necessary conversion and optimization to meet the needs of the digital map.

[0091] Furthermore, a corresponding dynamic virtual object is created for each material unit located by the smart electronic tag within the static 3D scene model. This virtual object can be a simplified geometric object (such as a cube representing a box or a flat plate representing a pallet) or a more detailed 3D model or icon that resembles the actual material. This virtual object is assigned a unique identifier for the material unit (corresponding to the smart electronic tag ID) and can be associated with its material attribute information (such as material code, name, specification, batch, quantity, and status, which can be synchronized from the MES system). Then, based on the 3D coordinates calculated in real time for the material unit, the corresponding dynamic virtual object is precisely placed (instantiated) at the corresponding physical location in the static 3D scene model and visualized using a graphics rendering engine. All these static 3D scene models and dynamically instantiated and visualized virtual material objects together constitute a digital map. When the positioning system detects a change in the real-time location information (i.e., 3D coordinates) of a physical material unit (for example, when the material moves from one shelf to another or moves along a production line), the system immediately or within a set, minimal delay updates the spatial position of the corresponding dynamic virtual object in the digital map. The system can also obtain the material unit's posture information (for example, through AoA technology using UWB tags or gesture sensors on the material unit), and the posture (such as rotation angle) of the dynamic virtual object will be updated accordingly. This update is real-time or near real-time, ensuring that the virtual material state in the digital map remains highly synchronized with the actual state in the physical world.

[0092] Step S30: When a material requirement is received from the manufacturing execution system, the real-time location information of the required target material unit is determined in the digital map based on the material requirement, and a navigation path is planned from the current location of the AR operation terminal currently worn or held by the operator to the target material unit;

[0093] In one embodiment of the present invention, the steps of determining the real-time location information of the required target material unit in the digital map according to the material demand and planning a navigation path from the current location of the AR operation terminal currently worn or held by the operator to the target material unit include:

[0094] Receive material picking instructions containing material code and required quantity from the manufacturing execution system;

[0095] Search all available matching material unit instances in the digital map according to the material code, and select one or more target material unit instances from the matching material unit instances in combination with the preset picking strategy;

[0096] The real-time location coordinates determined by the AR operation terminal are obtained as the starting point of the path planning, and the real-time location information of the selected target material unit instance is used as the end point of the path planning;

[0097] Under the constraints of the channel network and obstacle avoidance rules defined in the digital map, one or more optimal or suboptimal navigation paths from the path planning starting point to the path planning end point are calculated and generated based on the feasible paths, picking order and real-time traffic conditions in the digital map. The navigation path at least includes a series of path node coordinates and direction guidance.

[0098] Specifically, a manufacturing execution system (MES) generates a material picking task based on production plans, work order schedules, or inventory replenishment strategies. This task typically includes detailed information about the material to be picked, such as the material code (which uniquely identifies the material type), the required quantity, the target workstation or production line (i.e., the destination of the material), the expected delivery window, and any possible priority. This information is transmitted in a standardized data format (e.g., JSON, XML) through system interfaces (e.g., API calls, message queues).

[0099] When an AR work terminal or its connected backend system receives a material picking instruction from the manufacturing execution system, it searches the digital map (or its associated database) for all matching material unit instances with an "available" status (i.e., ready to be picked, not locked or damaged) based on the received material code. If multiple matching material unit instances are found (for example, the same material stored in different locations or from different batches), the system uses a preset picking strategy to select one or more of these matching instances as the target material unit instances for this task and obtains the real-time three-dimensional coordinates of these target material units in the digital map. Picking strategies can include first-in, first-out (FIFO), last-in, first-out (LIFO), nearest picking, and batch priority. FIFO prioritizes the material unit with the earliest entry date; LIFO prioritizes the material unit with the most recent entry date; nearest picking prioritizes the material unit closest to the current operator's location or target workstation; and batch priority prioritizes the material unit from a specific batch.

[0100] At the same time, the system communicates with the AR work terminal worn or held by the operator to obtain the real-time three-dimensional position coordinates of the AR terminal in the digital map coordinate system. This can be achieved through the AR terminal's own SLAM (simultaneous localization and mapping) function, or in combination with other indoor positioning technologies deployed in the environment (such as Wi-Fi fingerprints, Bluetooth beacon arrays, or linkage with UWB systems). At this time, the operator's real-time three-dimensional position is set as the starting point of the path planning for this navigation path. The real-time three-dimensional coordinates of the one or more target material unit instances selected above are set as the end point of the path planning (if there are multiple targets, multi-point path planning or sequential planning may be required).

[0101] After determining the starting and ending points for path planning, the system applies a path planning algorithm to calculate a navigation path within the network of permitted paths defined in the digital map (e.g., aisles within a warehouse, corridors within a workshop, and areas where obstacles and prohibited areas have been removed) and obstacle avoidance rules (e.g., avoiding temporary obstacles). Commonly used algorithms include the A* (A-star) algorithm, the Dijkstra algorithm, or their variants. These algorithms are based on feasible path data in the digital map (e.g., aisle widths, turning radii), the pre-set picking sequence (if multiple items are being picked at once), and possible real-time traffic conditions (e.g., the movement paths of other personnel or other automated guided vehicles (AGVs)). Ultimately, the system calculates and generates one or more optimal (e.g., shortest time, shortest distance) or suboptimal navigation paths (e.g., providing a primary recommended path and alternative paths) from the starting point to the ending point. The generated navigation path consists of at least a series of ordered 3D coordinates of path nodes and directional guidance information at each node (e.g., "Go X meters," "Turn left," "Turn right").

[0102] Step S40: Based on the determined real-time location information of the target material unit and the planned navigation path, a visual navigation guide is provided to the operator via the AR operation terminal to guide the operator to the physical location of the target material unit;

[0103] In one embodiment of the present invention, the steps of providing visual navigation guidance to an operator through an AR operation terminal based on the determined real-time location information of the target material unit and the planned navigation path include:

[0104] Acquire real-time spatial pose data of the AR operating terminal currently worn or held by the operator, where the spatial pose data includes at least the three-dimensional position coordinates and orientation angle of the AR operating terminal in a preset coordinate system;

[0105] Convert the planned navigation path coordinate sequence from the digital map coordinate system to the observation coordinate system of the AR operation terminal;

[0106] Based on the converted navigation path coordinate sequence, dynamic navigation instruction elements are superimposed, rendered, and displayed in the real physical environment field of view observed by the operator through the AR work terminal to guide the operator along the planned path. Navigation instruction elements include three-dimensional arrows, highlighted path lines, or ground indicator light strips.

[0107] Specifically, the AR work terminal (such as AR glasses, AR tablet) currently worn or held by the operator continuously obtains its own real-time spatial posture data in the preset world coordinate system through its built-in sensors (such as cameras, IMU inertial measurement units, depth sensors) and SLAM algorithms, or through cooperation with external positioning systems (such as repositioning using UWB or visual markers in the workshop). The spatial posture data obtained includes at least the three-dimensional position coordinates (x, y, z) and orientation angles (such as pitch, yaw, and roll represented by Euler angles or quaternions) of the AR work terminal in the preset global coordinate system (usually consistent with the coordinate system of the three-dimensional digital twin map). It is usually achieved through a combination of one or more of the following technologies:

[0108] Visual SLAM: Utilizes the AR terminal's camera to capture the visual features of the surrounding environment in real time, and combines this with IMU (inertial measurement unit, including accelerometers and gyroscopes) data for real-time positioning and map construction, thereby calculating the terminal's position in a pre-built or real-time environmental map.

[0109] IMU tracking: Mainly used for short-term or auxiliary tracking, especially when visual information is insufficient.

[0110] Fusion with external positioning systems: If a UWB, high-precision Wi-Fi, or Bluetooth positioning system is deployed in the environment, the AR terminal can receive positioning signals from these systems and fuse them with its own sensor data to improve positioning accuracy and robustness. Accurately acquiring the real-time position of the AR terminal is a key prerequisite for accurately overlaying AR content (such as navigation guidance) with the real world, ensuring the stability and realism of the AR experience.

[0111] Furthermore, the navigation path coordinate sequence generated by the aforementioned planning steps is defined in a global coordinate system (i.e., the coordinate system of the digital map). In order to be correctly displayed in the field of view of the AR work terminal, these navigation path coordinate sequences need to be converted (transformed) from the coordinate system of the digital map to the current observation coordinate system of the AR terminal (i.e., the local coordinate system with the camera of the AR work terminal as the origin and reference direction). This conversion process involves a series of matrix operations, including converting the global coordinates to the camera coordinate system through the inverse matrix of the world transformation matrix of the AR work terminal, and then converting it to the screen clipping space through the projection matrix, and finally mapping it to the screen pixel coordinates. It should be pointed out that since the posture of the AR work terminal is constantly changing, this conversion needs to be performed in real time. At this time, the conversion of the navigation path coordinate system ensures that the virtual elements of the navigation path can be correctly displayed on the screen of the AR work terminal according to the operator's perspective and position changes.

[0112] Furthermore, based on the navigation path coordinate sequence converted to the AR terminal's observation coordinate system, the AR work terminal's rendering engine will overlay and render dynamic navigation instructions in real time in the operator's view of the real physical environment through their screen (AR glasses lenses or tablet display) to guide the operator along the planned path. These navigation instructions may include:

[0113] 3D Arrow: Floating in the field of view, pointing to the next path node or direction of travel. The size, color, and transparency of the arrow can be adjusted dynamically.

[0114] Highlight Path Line: Draw a virtual, highlighted line on the ground or in space to mark the planned path.

[0115] Ground indicator light strips or animated light spots: simulate lighting effects to form a continuous light strip or a series of flashing light spots on the ground to guide the direction of travel.

[0116] The color, size, transparency, and even animation effects (such as flashing and flowing) of these navigation indicator elements can be dynamically adjusted based on the distance from the target point (the end point of the path planning), the importance of the path, or the user's preferences, to provide clear, unobtrusive, and effective guidance, helping operators to easily follow the planned path. Therefore, by superimposing and displaying dynamic navigation indicator elements, a highly intuitive and immersive navigation experience is provided, simplifying complex path information into easy-to-understand visual cues. Operators do not need to frequently check maps or memorize routes, but only need to follow AR instructions, which greatly reduces cognitive load and improves navigation efficiency and accuracy.

[0117] In one embodiment of the present invention, the step of guiding the operator to move along the planned path further includes:

[0118] When it is determined based on the real-time spatial posture data of the AR operation terminal that the operator has reached the preset close-range threshold range of the physical location of the target material unit, based on the location information of the target material unit in the digital map or the boundary information of the smallest storage unit in which it is located, a highlighted selection box, a flashing animation or a virtual label containing the material name is superimposed on the target material unit or the smallest storage unit in the operator's AR field of view to clearly indicate the specific location of the target material and assist the operator in accurately identifying and picking up the target material unit from multiple adjacent materials.

[0119] Specifically, when the AR work terminal determines through its continuously updated real-time spatial pose data that the operator has moved within a preset close distance threshold range from the physical location of the target material unit (for example, within 1-2 meters, or has reached the front of the target shelf), the system will automatically switch from the conventional path navigation mode to the close distance precision guidance mode. In this mode, in order to help the operator quickly and accurately identify and pick up the correct target material unit from multiple adjacent materials that may be densely placed, the system will perform the following operations:

[0120] Based on the precise location information of the target material unit in the digital map (which may be accurate to a specific level and storage location on the shelf) or the precise geometric boundary information (such as size, shape, and precise coordinates on the shelf) of its smallest storage unit (such as a specific material box, a compartment on a pallet, or a specific storage grid on the shelf), the AR operation terminal will superimpose one or more eye-catching visual prompts on the target material unit itself (if it can be accurately located to an individual) or its smallest storage unit (i.e., its precise storage location) in the operator's AR field of view. These prompts may include:

[0121] Highlight selection box: Use a bright, semi-transparent virtual box to circle the target material unit or its storage unit.

[0122] Flashing animation: Make the virtual overlay effect of the target material unit or its storage unit flash regularly to attract attention.

[0123] Virtual label containing material name: A virtual label containing its material name, code or other key identification information is displayed next to the target material unit or its storage unit.

[0124] Outline stroke or color fill: Highlight the outline of the target material unit or its storage unit, or fill it with a semi-transparent color.

[0125] These visual enhancements are precisely attached to the target object and remain stable as the operator's perspective moves, clearly and unambiguously indicating the specific location of the target material, greatly reducing the risk of misplacing. This precise indication effectively assists operators in accurately identifying and picking the correct target material unit from multiple similar-looking or closely arranged adjacent materials, significantly improving picking accuracy and efficiency and avoiding production delays or quality issues caused by misplacing materials.

[0126] In one embodiment of the present invention, while or after providing visual navigation guidance to the operator through the AR operation terminal, the method further includes:

[0127] When the operator selects any physical material unit in the field of view through the AR operation terminal's gaze, gesture pointing, or voice command, the AR operation terminal captures and analyzes the image features of the selected material unit and confirms the identity of the selected material unit in combination with the signal of the smart electronic tag;

[0128] According to the confirmed identity of the selected material unit, detailed information associated with the target material unit is retrieved from the digital map or the associated system database, and the detailed information at least includes the material code, material name, specification model, current inventory quantity, batch to which it belongs or the associated production order number;

[0129] The retrieved detailed information is displayed in real time in the form of text, icons or three-dimensional information cards, superimposed on the operator's AR field of view near the selected material unit.

[0130] Specifically, when an operator is navigating using an AR terminal, or viewing materials on a shelf, the operator can actively select any physical material unit of interest in their field of view through the natural interaction of the AR terminal. The selection method may include:

[0131] Eye gaze: If the AR work terminal is equipped with an eye tracking module, when it detects that the operator's eyes stay on a certain material for more than a preset time (such as 1-2 seconds), the material is considered to be selected.

[0132] Gesture pointing: The camera of the AR work terminal captures and recognizes the operator's specific pointing gestures (such as pointing, circling), and determines the selected material based on the gesture direction and objects in the field of view.

[0133] Voice command: The operator issues a voice command such as "view this material information" or "scan it", and the AR work terminal combines the current center of the field of view or the most recently identified object as the selected target.

[0134] Touch screen selection (for AR tablets): Directly tap the image of the material in the field of view on the screen.

[0135] AR interface interaction: Use the virtual button or crosshairs on the AR interface to aim and click to confirm.

[0136] Once the material is selected, the AR operation terminal will use its built-in camera to capture the image of the selected material unit in the current field of view. Then, the system will run an image feature analysis algorithm (such as an object recognition model based on deep learning, feature point matching algorithms such as SIFT / SURF) to identify the visual features of the material unit, or try to read the physical label information attached to its surface (such as a barcode, QR code, or text label). At the same time, if the material is equipped with a smart electronic tag, the AR operation terminal will try to read the signal of the smart electronic tag through its integrated reader or request a nearby multimodal positioning base station network to obtain its unique identifier. The image recognition result is then matched and verified with the unique identifier of the smart electronic tag to more accurately confirm the unique identity of the selected material unit, especially when the materials are similar in appearance or the label is easily stained.

[0137] Among them, after confirming the unique identity of the selected material unit, the AR operation terminal or the system to which it is connected will initiate a query request to the database of the digital map that stores the material information or directly to the associated MES system database. The system will retrieve all detailed information associated with the selected material unit based on this unique identity. These detailed information include at least the material code, material name, specification model, current inventory quantity (at this location or total inventory), the batch or associated production work order number, customer order number, purchase order number, production date, validity period, supplier information, quality status (such as qualified, pending inspection, unqualified), whether it is locked or reserved, SOP (standard operating procedure) link, quality inspection status, etc. It ensures that the operator obtains comprehensive, accurate and real-time material information, providing sufficient data support for on-site decision-making and operations.

[0138] Furthermore, the retrieved detailed information is formatted and displayed in real time via the AR work terminal in an easy-to-read and understand format, such as text, icons, charts, or 3D information cards, overlaid on the operator's AR field of view. This information is typically displayed near the selected physical material unit or as a floating window in an appropriate area of the field of view. The information card hovers stably next to or above the queried material unit, intelligently adjusting its position and orientation as the operator's viewpoint shifts to maintain optimal visibility. Operators can even interact with this virtual information panel through voice or gestures, scrolling to view more information or expanding detailed items. Without leaving their current workstation, manually searching for information, or using additional scanning devices, operators can quickly access detailed information about any material in front of them through natural AR interaction. This significantly improves the convenience and efficiency of information acquisition and reduces operational errors caused by information asymmetry or cumbersome search. Furthermore, real-time access to accurate material information (such as batch, specification, and expiration date) on-site helps operators make quick decisions, avoid using the wrong material, and reduce production errors and waste. At the same time, digital information and physical entities are closely integrated in space, which enhances the operator's understanding of the current working environment and material status.

[0139] Furthermore, in one embodiment of the present invention, the method further includes:

[0140] After guiding the operator to the physical location of the target material unit, the operator confirms that the target material unit has been picked through active operation of the AR operation terminal or automatic detection by the system through intelligent sensors;

[0141] The AR operation terminal sends the picking completion record containing the operator ID, timestamp, unique identifier of the picked material and quantity to the manufacturing execution system via the wireless network;

[0142] After the manufacturing execution system receives and verifies the picking completion record, it updates the quantity and status of the corresponding materials in the inventory database in real time, and updates the material preparation progress of related production tasks.

[0143] Specifically, after the operator accurately reaches the physical location of the target material unit according to the AR navigation guidance and actually completes the picking action (such as removing a material box from a shelf), a confirmation link is required to inform the system that the material has been picked. The confirmation method can be:

[0144] Active operator confirmation: The operator confirms the operation by clicking a virtual button on the AR work terminal to confirm the selection, issuing a voice command saying "selection completed," or performing a specific AR gesture (such as simulating the action of placing an item in a virtual shopping cart). The system may also require the operator to enter the quantity picked or scan a barcode or QR code on the item as a secondary verification.

[0145] Automatic system detection and confirmation: This includes detection and confirmation based on smart sensors, computer vision, or smart electronic tag status. For example, if the shelf or storage location where the target material unit is located is equipped with a smart sensor (such as a pressure sensor, infrared sensor, or RFID reader array), when the sensor detects that the material has been removed (e.g., weight change, removal of an obstruction, or the RFID tag leaving the sensing area), the system can automatically determine that the material has been picked based on changes in the sensor signal. For example, when an operator removes an item from a smart shelf, the shelf sensor reports a status change. The system automatically confirms that the item has been picked based on the current AR navigation task. For example, if the picking area is covered by a camera, image analysis algorithms can be used to identify the operator's picking action and the material's movement. For example, if the smart electronic tag on the material unit has a motion sensor or its signal characteristics change significantly due to being picked (e.g., a change in the height of a UWB tag), the system can automatically determine based on these changes. The system often incorporates the context of the AR navigation task (i.e., the material the operator is currently picking) to improve the accuracy of automatic detection. At this time, picking confirmation ensures that each picking operation has a clear completion record, providing a reliable trigger signal for subsequent inventory updates and business process advancement.

[0146] Furthermore, once the picking operation is confirmed to be completed, the AR operation terminal will immediately generate a picking completion record. The picking completion record contains at least the following information: the operator ID who performed the picking (identifying the person who performed the operation), the timestamp of the operation completion (recording the exact time when the picking was completed), the unique identifier of the picked material (such as the ID of the smart electronic tag or the material code and its batch number), the actual picked quantity (the operator can enter or the system can determine based on the preset loading quantity), and the original warehouse location information where the material was picked. This record is encapsulated into a standardized data format (such as JSON) and sent to the background server or corresponding interface of the manufacturing execution system via a secure wireless network (such as Wi-Fi, 5G).

[0147] After receiving the picking completion record from the AR work terminal, the MES's backend server first verifies it (e.g., checking the data format, operator permissions, and task compatibility (whether the picked materials and quantities match the original instructions)). Once verified, the MES updates the quantity and status of the corresponding material in its inventory database in real time. For example, based on the material identifier and picked quantity in the record, it accurately deducts the book inventory quantity of the corresponding material at the corresponding location. Simultaneously, the status of the material unit may be updated, for example, from "in stock" to "out stock," "pending delivery," or "collected at the workstation." The MES also updates the material preparation progress of the production task (e.g., a production work order) associated with the material requirement. For example, the MES may update the material completeness status or the consumed material record for the work order, providing real-time data for production scheduling and progress tracking. The MES may also provide feedback (e.g., "update successful" or an error message) to the AR work terminal for the operator's information. Therefore, through the synchronization and update of manufacturing execution system data, a high degree of synchronization between the physical flow of materials and the information flow is achieved, ensuring the real-time and accuracy of inventory data and production data in the manufacturing execution system, providing a reliable data foundation for lean production, just-in-time supply and intelligent decision-making, and reducing the risk of inventory backlogs or production material shortages caused by information lags.

[0148] In summary, the material positioning method in the above embodiment of the present invention configures intelligent electronic tags for material units and uses a multimodal positioning base station network to automatically and in real time obtain material signals, and then calculates accurate real-time location information, thereby replacing inefficient manual recording and searching. Operators no longer need to rely on experience or paper maps to blindly search for materials in a vast warehouse or workshop, which significantly improves the efficiency and accuracy of material information acquisition. By constructing a digital map that accurately corresponds to the physical storage environment, it not only contains static shelf and storage location information, but also can update the dynamic position and posture of each material unit in real time, making the complex physical environment clear and transparent in the digital space. Operators can intuitively understand the storage structure and specific location of materials, effectively overcoming the problems caused by the complexity of the physical environment. At the same time, the material location information in the digital map is synchronized with the physical world in real time. When production requirements change, the system can immediately query the latest location of the required materials. This ensures the timeliness of material information, allowing enterprises to quickly respond to adjustments to production plans and obtain required materials in a timely manner, thereby improving the flexibility and agility of production. When the manufacturing execution system issues a material request, it automatically locates the target material on a digital map and plans an optimal navigation path for the operator based on their current location. The AR work terminal provides intuitive visual guidance to the operator, eliminating the need for blindly searching through paper lists, avoiding detours and getting lost. This significantly reduces wasted travel and repetitive work, and improves the intelligence and responsiveness of material scheduling. The AR work terminal overlays the navigation path and target material location directly into the operator's field of view as virtual information, enabling "what you see is what you get" guidance. This significantly reduces the operator's cognitive load and reliance on experience, significantly improves the accuracy and efficiency of material search, and reduces the number of missed or missed items. As the operator approaches the target material, the AR work terminal highlights or flashes the target material in their field of view based on its location on the digital map or the boundaries of its smallest storage unit. This helps the operator quickly identify the target material among numerous similar materials or densely stored locations, shortening the time it takes to confirm and pick it up. This solves the existing problem of materials being difficult to quickly and accurately locate and find in production processes.

[0149] Example 2

[0150] See also Figure 2 , is a schematic structural diagram of a material positioning system provided by a second embodiment of the present invention. For ease of explanation, only portions related to the embodiment of the present invention are shown. The system is applied to a manufacturing execution system having an AR operation terminal, and the system includes:

[0151] The material location information calculation module 11 is used to obtain the signal of the smart electronic tag configured on the material unit through the multi-modal positioning base station network deployed in the material area, and calculate the real-time location information of the material unit;

[0152] A digital map construction and updating module 12 is configured to construct and maintain a digital map that is synchronized with the physical storage environment in real time, and to update the calculated real-time location information of the material unit to the digital map;

[0153] a navigation path planning module 13 for, upon receiving a material demand from the manufacturing execution system, determining the real-time location information of the required target material unit in the digital map according to the material demand, and planning a navigation path from the current location of the AR operation terminal currently worn or held by the operator to the target material unit;

[0154] The navigation guidance module 14 is used to provide visual navigation guidance to the operator through the AR operation terminal based on the determined real-time location information of the target material unit and the planned navigation path, so as to guide the operator to the physical location of the target material unit.

[0155] Furthermore, in one embodiment of the present invention, the material location information calculation module 11 includes:

[0156] A data collection unit is configured to detect and collect, in real time, raw signal data emitted or reflected by smart electronic tags configured on material units through a multimodal positioning base station network comprising at least two of an ultra-high frequency RFID reader / writer, a low-power Bluetooth gateway, and an ultra-wideband anchor point;

[0157] Parameter extraction unit, used to pre-process the raw signal data collected from different positioning technologies and extract the key parameters required for positioning solution;

[0158] The material position information calculation unit is used to input the preprocessed multi-source key parameters into the preset positioning data fusion algorithm model, and perform iterative calculation or state estimation in combination with the historical motion trajectory data of the material unit, and output the optimized real-time position information of the material unit in a unified coordinate system.

[0159] Furthermore, in one embodiment of the present invention, the material position information calculation unit is used to:

[0160] Using Kalman filter or particle filter as the positioning data fusion algorithm model;

[0161] Initialize the state vector and covariance matrix of the filter using the historical motion trajectory data of the material unit;

[0162] At each time step, key parameters from different positioning technology sources are used as measurement inputs to the filter, and prediction and update steps are performed to recursively estimate and correct the three-dimensional coordinates and motion state of the material unit.

[0163] Furthermore, in one embodiment of the present invention, the digital map construction and updating module 12 includes:

[0164] A model construction unit, configured to construct a static three-dimensional scene model containing precise dimensions and spatial relationships based on three-dimensional scanning data or building information model data of a physical material storage area, wherein the physical material storage area includes a warehouse, a workshop, shelves, storage locations, and aisles;

[0165] a digital map generation unit, configured to create a corresponding dynamic virtual object for each located material unit on the static three-dimensional scene model, wherein the dynamic virtual object is instantiated and visualized as a virtual material icon or model at the corresponding physical location in the static three-dimensional scene model, thereby forming the digital map, and the dynamic virtual object is associated with a unique identifier and material attributes of the material unit;

[0166] The digital map updating unit is used to update the spatial position and posture of the dynamic virtual object corresponding to the material unit in the static three-dimensional scene model in real time when the real-time position information of the material unit changes.

[0167] Furthermore, in one embodiment of the present invention, the navigation path planning module 13 includes:

[0168] An instruction acquisition unit, configured to receive a material picking instruction including a material code and a required quantity from a manufacturing execution system;

[0169] an instance selection unit, configured to search for all available matching material unit instances in the digital map according to the material code, and select one or more target material unit instances from the matching material unit instances in combination with a preset picking strategy;

[0170] A path acquisition unit is used to obtain the real-time position coordinates determined by the AR operation terminal as the starting point of the path planning, and the real-time position information of the selected target material unit instance as the end point of the path planning;

[0171] A path planning unit is configured to calculate and generate one or more optimal or suboptimal navigation paths from a path planning starting point to a path planning end point, subject to the channel network and obstacle avoidance rules defined in the digital map, according to feasible paths, picking order, and real-time traffic conditions in the digital map, wherein the navigation path comprises at least a series of path node coordinates and direction guidance.

[0172] Furthermore, in one embodiment of the present invention, the navigation guidance module 14 includes:

[0173] A spatial posture data acquisition unit is used to acquire real-time spatial posture data of the AR operation terminal currently worn or held by the operator, wherein the spatial posture data at least includes the three-dimensional position coordinates and orientation angle of the AR operation terminal in a preset coordinate system;

[0174] A coordinate system conversion unit, used to convert the planned navigation path coordinate sequence from the digital map coordinate system to the observation coordinate system of the AR operation terminal;

[0175] The rendering unit is used to overlay rendering and display dynamic navigation instruction elements in the real physical environment field of view observed by the operator through the AR work terminal based on the converted navigation path coordinate sequence to guide the operator to move along the planned path. The navigation instruction elements include three-dimensional arrows, highlighted path lines or ground indicator light strips.

[0176] Furthermore, in one embodiment of the present invention, the rendering unit includes:

[0177] The indication subunit is used to, when it is determined based on the real-time spatial posture data of the AR operation terminal that the operator has reached a preset close-range threshold range of the physical location of the target material unit, overlay a highlighted selection box, a flashing animation, or a virtual label containing the material name on the target material unit or the smallest storage unit in which it is located in the operator's AR field of view based on the location information of the target material unit in the digital map or the boundary information of the smallest storage unit in which it is located, so as to clearly indicate the specific location of the target material and assist the operator in accurately identifying and picking up the target material unit from multiple adjacent materials.

[0178] Furthermore, in one embodiment of the present invention, the system further includes:

[0179] The identity confirmation module is used when the operator selects any physical material unit in the field of view through the AR operation terminal's gaze, gesture pointing, or voice command. The AR operation terminal captures and analyzes the image features of the selected material unit and combines the signal of the smart electronic tag to confirm the identity of the selected material unit;

[0180] an information retrieval module, configured to retrieve detailed information associated with the target material unit from the digital map or an associated system database based on the confirmed identity of the selected material unit, the detailed information including at least the material code, material name, specification model, current inventory quantity, batch to which it belongs, or an associated production order number;

[0181] The overlay display module is used to display the retrieved detailed information in the form of text, icons or three-dimensional information cards in real time in the operator's AR field of view near the selected material unit.

[0182] Furthermore, in one embodiment of the present invention, the system further includes:

[0183] The material picking confirmation module is used to guide the operator to the physical location of the target material unit, and then the operator confirms that the target material unit has been picked through active operation of the AR operation terminal or automatic detection by the system through intelligent sensors;

[0184] A picking record sending module is used for the AR operation terminal to send the picking completion record containing the operator ID, timestamp, unique identifier of the picked material and quantity to the manufacturing execution system via a wireless network;

[0185] The data update module is used to update the quantity and status of the corresponding materials in the inventory database in real time after the manufacturing execution system receives and verifies the picking completion record, and updates the material preparation progress of the relevant production tasks.

[0186] The material positioning system provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding content in the aforementioned method embodiment.

[0187] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0188] The above-described embodiments merely illustrate several embodiments of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A material positioning method, characterized in that: Applied to a manufacturing execution system having an AR operation terminal, the method includes: The multimodal positioning base station network deployed in the material area acquires the signal of the smart electronic tag configured on the material unit and calculates the real-time location information of the material unit; Constructing and maintaining a digital map that is synchronized with the physical storage environment in real time, and updating the calculated real-time location information of the material unit to the digital map; When a material demand is received from the manufacturing execution system, real-time location information of the required target material unit is determined in the digital map according to the material demand, and a navigation path is planned from the current location of the AR operation terminal currently worn or held by the operator to the target material unit; Based on the determined real-time location information of the target material unit and the planned navigation path, the AR operation terminal provides visual navigation guidance to the operator to guide the operator to the physical location of the target material unit.

2. The material positioning method according to claim 1, characterized in that: The step of acquiring a signal from a smart electronic tag configured on a material unit through a multimodal positioning base station network deployed in a material area and calculating the real-time location information of the material unit includes: Through a multi-modal positioning base station network including at least two of ultra-high frequency RFID readers, low-power Bluetooth gateways, and ultra-wideband anchor points, the original signal data emitted or reflected by the smart electronic tags configured on the material units are detected and collected in real time; Pre-process the raw signal data collected from different positioning technologies to extract the key parameters required for positioning solution; The preprocessed multi-source key parameters are input into the preset positioning data fusion algorithm model, and combined with the historical motion trajectory data of the material unit for iterative calculation or state estimation, and the optimized real-time position information of the material unit in a unified coordinate system is output.

3. The material positioning method according to claim 2, characterized in that: The step of inputting the pre-processed multi-source key parameters into a preset positioning data fusion algorithm model and performing iterative calculation or state estimation in combination with the historical motion trajectory data of the material unit includes: Using Kalman filter or particle filter as the positioning data fusion algorithm model; Initialize the state vector and covariance matrix of the filter using the historical motion trajectory data of the material unit; At each time step, key parameters from different positioning technology sources are used as measurement inputs to the filter, and prediction and update steps are performed to recursively estimate and correct the three-dimensional coordinates and motion state of the material unit.

4. The material positioning method according to claim 1, characterized in that: The steps of constructing and maintaining a digital map synchronized with the physical storage environment in real time, and updating the calculated real-time location information of the material unit to the digital map include: Constructing a static 3D scene model with precise dimensions and spatial relationships based on 3D scan data or building information model data of the physical material storage area, including warehouses, workshops, shelves, storage locations, and aisles; On the static three-dimensional scene model, for each located material unit, a corresponding dynamic virtual object is created. The dynamic virtual object is instantiated and visualized as a virtual material icon or model at the corresponding physical location in the static three-dimensional scene model, thereby forming the digital map. The dynamic virtual object is associated with a unique identifier and material attributes of the material unit. When the real-time position information of the material unit changes, the spatial position and posture of the dynamic virtual object corresponding to the material unit in the static three-dimensional scene model are updated in real time.

5. The material positioning method according to claim 1, characterized in that: The steps of determining the real-time location information of the required target material unit in the digital map according to the material demand and planning a navigation path from the current location of the AR operation terminal currently worn or held by the operator to the target material unit include: Receive material picking instructions containing material code and required quantity from the manufacturing execution system; Searching for all available matching material unit instances in the digital map according to the material code, and selecting one or more target material unit instances from the matching material unit instances in combination with a preset picking strategy; The real-time location coordinates determined by the AR operation terminal are obtained as the starting point of the path planning, and the real-time location information of the selected target material unit instance is used as the end point of the path planning; Under the constraints of the channel network and obstacle avoidance rules defined in the digital map, one or more optimal or suboptimal navigation paths from the path planning starting point to the path planning end point are calculated and generated based on the feasible paths, picking order and real-time traffic conditions in the digital map. The navigation path at least includes a series of path node coordinates and direction guidance.

6. The material positioning method according to claim 1, characterized in that: The step of providing visual navigation guidance to the operator through the AR operation terminal based on the determined real-time location information of the target material unit and the planned navigation path includes: Acquire real-time spatial pose data of the AR operation terminal currently worn or held by the operator, wherein the spatial pose data includes at least the three-dimensional position coordinates and orientation angle of the AR operation terminal in a preset coordinate system; Convert the planned navigation path coordinate sequence from the digital map coordinate system to the observation coordinate system of the AR operation terminal; Based on the converted navigation path coordinate sequence, dynamic navigation instruction elements are superimposed, rendered, and displayed in the real physical environment field of view observed by the operator through the AR work terminal to guide the operator along the planned path. The navigation instruction elements include three-dimensional arrows, highlighted path lines, or ground indicator light strips.

7. The material positioning method according to claim 6, characterized in that: The step of guiding the operator to travel along the planned path further comprises: When it is determined based on the real-time spatial posture data of the AR operation terminal that the operator has reached the preset close-distance threshold range of the physical location of the target material unit, based on the location information of the target material unit in the digital map or the boundary information of the smallest storage unit in which it is located, a highlighted selection box, a flashing animation or a virtual label containing the material name is superimposed on the target material unit or the smallest storage unit in the operator's AR field of view to clearly indicate the specific location of the target material and assist the operator in accurately identifying and picking up the target material unit from multiple adjacent materials.

8. The material positioning method according to claim 1, characterized in that: While or after providing visual navigation guidance to the operator through the AR operation terminal, the method further includes: When the operator selects any physical material unit in the field of view through the AR operation terminal's gaze, gesture pointing, or voice command, the AR operation terminal captures and analyzes the image features of the selected material unit and confirms the identity of the selected material unit in combination with the signal of the smart electronic tag; Retrieving detailed information associated with the target material unit from the digital map or an associated system database based on the confirmed identity of the selected material unit, the detailed information including at least the material code, material name, specification model, current inventory quantity, batch to which it belongs, or an associated production order number; The retrieved detailed information is displayed in real time in the form of text, icons or three-dimensional information cards, superimposed on the operator's AR field of view near the selected material unit.

9. The material positioning method according to claim 1, characterized in that: The method further comprises: After guiding the operator to the physical location of the target material unit, the operator confirms that the target material unit has been picked through active operation of the AR operation terminal or automatic detection by the system through intelligent sensors; The AR operation terminal sends the picking completion record including the operator ID, timestamp, unique identifier of the picked material and quantity to the manufacturing execution system via the wireless network; After receiving and verifying the picking completion record, the manufacturing execution system updates the quantity and status of the corresponding materials in the inventory database in real time, and updates the material preparation progress of the relevant production tasks.

10. A material positioning system, characterized in that: A manufacturing execution system having an AR operation terminal is applied, the system comprising: The material location information calculation module is used to obtain the signal of the smart electronic tag configured on the material unit through the multi-modal positioning base station network deployed in the material area, and calculate the real-time location information of the material unit; A digital map construction and updating module is used to construct and maintain a digital map that is synchronized with the physical storage environment in real time, and to update the calculated real-time location information of the material unit to the digital map; a navigation path planning module, configured to, upon receiving a material demand from the manufacturing execution system, determine the real-time location information of the required target material unit in the digital map based on the material demand, and plan a navigation path from the current location of the AR work terminal currently worn or held by the operator to the target material unit; The navigation guidance module is used to provide visual navigation guidance to the operator through the AR operation terminal based on the determined real-time location information of the target material unit and the planned navigation path, so as to guide the operator to the physical location of the target material unit.

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