Positioning method and device for electronic price tags

Abstract

The application discloses a positioning method and device of electronic price tags, wherein the method comprises the following steps: selecting AOA anchor points based on the map under the scene to be positioned and the angle of arrival positioning results of all electronic price tags; dividing the map under the scene to be positioned into trusted and untrusted areas; positioning all electronic price tags under the scene to be positioned based on the AOA anchor point information; repositioning the price tags whose neighbor positioning results are located in the untrusted area based on the angle of arrival positioning and neighbor positioning results; positioning the price tags whose neighbor positioning results are located in the untrusted area to the nearest shelf according to the position relationship between the angle of arrival positioning results of the price tags and the shelves; detecting the abnormal positioning shelves according to the number and feature information of the price tags on the shelves; and adjusting the positioning results of the electronic price tags on the abnormal positioning shelves according to the feature information and neighbor positioning results of the price tags on the abnormal positioning shelves. The application can improve the positioning accuracy of the electronic price tags.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electronic price tags, and in particular to a positioning method and device for electronic price tags. BACKGROUND

[0002] This section is intended to provide background or context to the embodiments of the application recited in the claims. The description herein does not constitute admission that the subject matter disclosed in this section is prior art to the present application.

[0003] Indoor positioning technology has played a great role in asset management, cargo tracking, warehouse management and other fields. Accurate positioning information is crucial to improving user experience. However, due to the diversification of the layout of indoor scenes, the signal propagation environment is relatively complex, and a single technical solution cannot effectively solve the positioning problem in the whole scene.

[0004] There is a positioning method based on AOA (Angle of Arrival) information in the prior art, which obtains the azimuth and elevation angles of the signal source by deploying base stations in a certain area. The azimuth and elevation angles of a single base station and the height information of the signal source, or the joint azimuth information of multiple base stations can be used to solve and obtain the position, thereby realizing the positioning of the target signal source. This positioning method needs to ensure that there is a direct view between the signal source to be positioned and the base station, which will further exacerbate the positioning challenge under this scheme, and the positioning accuracy will be biased.

[0005] There is also a positioning method based on fingerprint information in the prior art, which obtains the position information of a part of the signal source as anchor point information in advance, then collects the RSSI (Received Signal Strength Indicator) information of each target signal source, matches the RSSI information with the RSSI information of the anchor point, and determines the distance relationship according to the similarity, thereby realizing the positioning of the remaining target signal source. The relationship between the RSSI information and the distance is granular, which is easy to introduce a large positioning error.

[0006] Therefore, the existing indoor positioning method has the problems of insufficient positioning accuracy or large positioning error. SUMMARY

[0007] The embodiments of the present application provide a positioning method for electronic price tags to improve the positioning accuracy of electronic price tags, which comprises:

[0008] Obtaining the map, AOA base station position information and arrival angle positioning result of all electronic price tags in the scene to be positioned;

[0009] Based on the map and the arrival angle positioning result of all electronic price tags in the scene to be positioned, selecting electronic price tags with positioning position accuracy higher than a preset threshold as AOA anchor points;

[0010] based on the AOA base station position information in the to-be-positioned scene, divide a map in the to-be-positioned scene into a trusted area and an untrusted area;

[0011] based on the information of the selected AOA anchor point, perform all electronic price tag neighbor positioning in the to-be-positioned scene to obtain neighbor positioning results of all electronic price tags in the to-be-positioned scene;

[0012] for the electronic price tag whose neighbor positioning result is in the untrusted area, based on the angle of arrival positioning result and the neighbor positioning result, perform the following fusion and relocation steps: according to the position relationship between the angle of arrival positioning result of the electronic price tag and the shelf, position the electronic price tag whose neighbor positioning result is in the untrusted area to the nearest shelf; according to the number and feature information of the electronic price tags on the shelf, detect a positioning abnormal shelf; according to the feature information and the neighbor positioning result of the electronic price tags on the positioning abnormal shelf, adjust the positioning result of the electronic price tags on the positioning abnormal shelf to obtain a final positioning result of the electronic price tag.

[0013] The embodiment of the application also provides an electronic price tag positioning device for improving the positioning precision of the electronic price tag, which comprises:

[0014] an acquisition unit, configured to acquire a map in a to-be-positioned scene, AOA base station position information and angle of arrival positioning results of all electronic price tags;

[0015] an AOA anchor point determination unit, configured to select, based on the map in the to-be-positioned scene and the angle of arrival positioning results of all electronic price tags, an electronic price tag with a positioning position accuracy higher than a preset threshold as an AOA anchor point;

[0016] an area division unit, configured to divide, based on the AOA base station position information in the to-be-positioned scene, the map in the to-be-positioned scene into a trusted area and an untrusted area;

[0017] a neighbor positioning unit, configured to perform, based on the information of the selected AOA anchor point, all electronic price tag neighbor positioning in the to-be-positioned scene to obtain neighbor positioning results of all electronic price tags in the to-be-positioned scene;

[0018] a fusion and relocation unit, configured to, for the electronic price tag whose neighbor positioning result is in the untrusted area, based on the angle of arrival positioning result and the neighbor positioning result, perform the following fusion and relocation steps: according to the position relationship between the angle of arrival positioning result of the electronic price tag and the shelf, position the electronic price tag whose neighbor positioning result is in the untrusted area to the nearest shelf; according to the number and feature information of the electronic price tags on the shelf, detect a positioning abnormal shelf; according to the feature information and the neighbor positioning result of the electronic price tags on the positioning abnormal shelf, adjust the positioning result of the electronic price tags on the positioning abnormal shelf to obtain a final positioning result of the electronic price tag.

[0019] The embodiment of the present application also provides a computer device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the positioning method of the electronic price tag when executing the computer program.

[0020] The embodiment of the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the positioning method of the electronic price tag.

[0021] The embodiment of the present application also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the positioning method of the electronic price tag.

[0022] In the embodiment of the present application, the positioning scheme of the electronic price tag, compared with the technical scheme with insufficient positioning accuracy or large positioning error in the prior art, comprises the following steps: obtaining a map under a to-be-positioned scene, AOA base station position information and arrival angle positioning results of all electronic price tags; selecting electronic price tags with positioning position accuracy higher than a preset threshold as AOA anchor points based on the map under the to-be-positioned scene and the arrival angle positioning results of all electronic price tags; dividing the map under the to-be-positioned scene into a trusted area and an untrusted area based on the AOA base station position information under the to-be-positioned scene; performing neighbor positioning of all electronic price tags under the to-be-positioned scene based on information of the selected AOA anchor points to obtain neighbor positioning results of all electronic price tags under the to-be-positioned scene; and performing the following steps of fusion repositioning on electronic price tags whose neighbor positioning results are in the untrusted area based on the arrival angle positioning results and the neighbor positioning results: positioning the electronic price tags whose neighbor positioning results are in the untrusted area to the nearest shelf according to the position relationship between the arrival angle positioning results of the electronic price tags and the shelves; detecting abnormal positioning shelves according to the number and feature information of the electronic price tags on the shelves; and adjusting the positioning results of the electronic price tags on the abnormal positioning shelves according to the feature information and the neighbor positioning results of the electronic price tags on the abnormal positioning shelves to obtain final positioning results of the electronic price tags, which can realize full-scene high-precision positioning based on AOA and neighbor relationship information fusion and improve the positioning accuracy of the electronic price tags. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort. In the drawings:

[0024] Figure 1 It is a flowchart of the positioning method of the electronic price tag in the embodiment of the present application.

[0025] Figure 2 Flowchart of the positioning method of the electronic price tag in another embodiment of the present application;

[0026] Figure 3 Schematic diagram of the relationship between the stack head and the adjacent shelves in an embodiment of the present application;

[0027] Figure 4 Schematic diagram of the neighbor relationship weight table in an embodiment of the present application;

[0028] Figure 5 Structural schematic diagram of the positioning device of the electronic price tag in an embodiment of the present application;

[0029] Figure 6 Structural schematic diagram of the computer device in an embodiment of the present application.

[0030] Reference signs: 500, computer device; 510, memory; 520, processor; 530, computer program. DETAILED DESCRIPTION

[0031] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, further detailed description will be made to the embodiments of the present application with reference to the accompanying drawings. Herein, the illustrative embodiments of the present application and the description thereof are used to explain the present application, but not to limit the present application.

[0032] In the technical solutions of the present application, the acquisition, storage, use, processing and the like of data all comply with the relevant provisions of laws and regulations.

[0033] The embodiments of the present application provide a positioning scheme of an electronic price tag, which realizes full-scene positioning based on fusion of AOA and neighbor relationship information. The embodiments of the present application mainly realize automatic acquisition of anchor points by fusing neighbor relationship and AOA information, realize positioning by using AOA information in a well-covered area of AOA base stations, realize positioning by using neighbor relationship in an uncovered area, and fuse the information of both in a fuzzy-covered area, so as to achieve high-precision positioning in full scenes. The positioning scheme of the electronic price tag will be described in detail below.

[0034] Figure 1 Flowchart of the positioning method of the electronic price tag in an embodiment of the present application, as shown in FIG. 1, the method comprises the following steps: Figure 1

[0035] Step 101: acquiring a map in a scene to be positioned, AOA base station position information and arrival angle positioning results of all electronic price tags;

[0036] ​Step 102: based on the map in the scene to be positioned and the arrival angle positioning result of all electronic price tags, select an electronic price tag with positioning position accuracy higher than a preset threshold as an AOA anchor point;

[0037] Step 103: based on the AOA base station position information in the scene to be positioned, divide the map in the scene to be positioned into a trusted area and an untrusted area;

[0038] Step 104: based on the information of the selected AOA anchor point, perform neighbor positioning of all electronic price tags in the scene to be positioned, to obtain neighbor positioning results of all electronic price tags in the scene to be positioned;

[0039] Step 105: for an electronic price tag with a neighbor positioning result located in the untrusted area, based on the arrival angle positioning result and the neighbor positioning result, perform the following fusion and relocation steps: according to the position relationship between the arrival angle positioning result of the electronic price tag and the shelf, position the electronic price tag with the neighbor positioning result located in the untrusted area to the nearest shelf; according to the number and feature information of the electronic price tags on the shelf, detect a positioning abnormal shelf; according to the feature information and the neighbor positioning result of the electronic price tag on the positioning abnormal shelf, adjust the positioning result of the electronic price tag on the positioning abnormal shelf, to obtain a final positioning result of the electronic price tag.

[0040] The positioning method of the electronic price tag provided in the embodiment of the application works as follows: a map in a scene to be positioned, AOA base station position information and arrival angle positioning results of all electronic price tags are acquired; based on the map in the scene to be positioned and the arrival angle positioning results of all electronic price tags, an electronic price tag with positioning position accuracy higher than a preset threshold is selected as an AOA anchor point; based on the AOA base station position information in the scene to be positioned, the map in the scene to be positioned is divided into a trusted area and an untrusted area; based on the information of the selected AOA anchor point, neighbor positioning of all electronic price tags in the scene to be positioned is performed, to obtain neighbor positioning results of all electronic price tags in the scene to be positioned; for an electronic price tag with a neighbor positioning result located in the untrusted area, based on the arrival angle positioning result and the neighbor positioning result, the following fusion and relocation steps are performed: according to the position relationship between the arrival angle positioning result of the electronic price tag and the shelf, the electronic price tag with the neighbor positioning result located in the untrusted area is positioned to the nearest shelf; according to the number and feature information of the electronic price tags on the shelf, a positioning abnormal shelf is detected; according to the feature information and the neighbor positioning result of the electronic price tag on the positioning abnormal shelf, the positioning result of the electronic price tag on the positioning abnormal shelf is adjusted, to obtain a final positioning result of the electronic price tag, so that full-scene high-precision positioning based on AOA and neighbor relationship information fusion can be realized.

[0041] Compared with existing technologies that suffer from insufficient positioning accuracy or large positioning errors, the positioning method for electronic shelf labels provided in this invention can achieve high-precision positioning across all scenarios based on AOA and neighbor relationship information fusion, thereby improving the positioning accuracy of electronic shelf labels. The positioning method for electronic shelf labels will be described in detail below.

[0042] This invention relates to the field of wireless positioning technology, and specifically to a positioning method for electronic price tags. This method is a full-scene positioning method based on the fusion of AOA and neighbor information. Figure 2 This is a flowchart illustrating the positioning method of an electronic price tag in another embodiment of the present invention. The following is a summary of the process. Figures 2 to 4 The positioning method for electronic price tags provided in this embodiment of the invention will be described in detail below:

[0043] In this embodiment of the invention, the key shelf can be a preset display location within the scene to be located, for example... Figure 3 The stack head M, stack head N, etc. in the diagram. The key coverage area of ​​the base station signal can be: the coverage area within the range of the base station's preset angle normal elevation angle, such as the coverage area within the range of the base station's 60-degree normal elevation angle, for example... Figure 3 The circle is centered on BS and has a radius equal to the area covered by the key coverage area.

[0044] First, such as Figure 2 As shown, the process involves obtaining the map of the scene to be located, the location information of the AOA base station, and the angle of arrival (AOA) positioning results of all electronic shelf labels. The scene to be located can be, for example, a supermarket or pharmacy, or a specific area within a scene, such as the rice, flour, and cooking oil section on the second basement floor of a supermarket, or the traditional Chinese medicine section of a pharmacy. The map can include the location and size of all shelves, as well as information such as identification of key shelves. This step is step 101 mentioned above.

[0045] Second, based on the map of the scene to be located and the angle-of-arrival results of all electronic price tags, such as Figure 2 As shown, the AOA anchor point selection strategy selects price tags with high position accuracy as anchor points, that is, selects electronic price tags with positioning accuracy higher than a preset threshold as AOA anchor points, i.e., the above step 102.

[0046] In one embodiment, based on the map of the scene to be located and the angle-of-arrival (AOA) positioning results of all electronic price tags, selecting electronic price tags with a positioning accuracy higher than a preset threshold as AOA anchor points may include:

[0047] Obtain the historical positioning information of each electronic price tag with an angle of arrival positioning result; the historical positioning information of each electronic price tag can be the historical positioning information of the angle of arrival of each electronic price tag. Of course, the historical positioning information can also be the positioning information obtained by other means, which is not limited here.

[0048] According to the historical positioning information of each electronic price tag, an average value of the historical positioning positions of each electronic price tag is obtained, and a variance of the historical positioning positions of each electronic price tag is obtained;

[0049] A minimum distance between the average value of the historical positioning positions of each electronic price tag and any edge position of the nearest key shelf is determined;

[0050] An electronic price tag with a variance of the historical positioning positions less than a first preset variance threshold, a number of AOA positioning results greater than a preset value, and a minimum distance less than a preset distance threshold is regarded as an AOA anchor point.

[0051] In a specific implementation, a plurality of historical positioning information of each electronic price tag with AOA positioning results is obtained. Further, an average position of each price tag historical positioning position and a variance of the positioning position are obtained. According to the average value of the historical positioning position of each price tag, a minimum distance to any edge of the nearest key shelf (which can also be a key shelf with more AOA positioning results) is calculated. If the average value of the historical positioning position of the price tag falls on the key shelf, the minimum distance between the average value and any edge of the key shelf is 0. A determination condition of the AOA anchor point is set: the variance of the price tag position (the sum of the variances of the horizontal coordinate and the vertical coordinate) needs to be less than a set threshold (a preset variance threshold, such as 500 cm 2 ), the number of AOA positioning results needs to be greater than a preset value, and the minimum distance needs to be less than a corresponding set threshold (a preset distance threshold, such as 20 cm), so as to obtain a preliminary selection result of the AOA anchor point, that is, the AOA anchor point, to realize automatic, efficient and high-precision selection of the AOA anchor point, and further improve the positioning precision of the electronic price tag. The following further implementation scheme for optimizing and screening the preliminary selected AOA anchor point is introduced.

[0052] In an embodiment, the positioning method of the electronic price tag can further include screening and processing a plurality of AOA anchor points according to the following method to obtain optimized AOA anchor points:

[0053] The plurality of AOA anchor points are grouped according to shelf information, and the AOA anchor points corresponding to each shelf are each group of AOA anchor points;

[0054] According to the size characteristic information of the electronic price tag, each group of AOA anchor points is screened to obtain AOA anchor points of the same size type and the largest number as the optimized AOA anchor points.

[0055] In a specific implementation, the initial selection result is grouped according to the shelf information, and is filtered according to the characteristic information such as the size of the electronic price tag, and only the size with the highest proportion is reserved, that is, according to the size characteristic information of the electronic price tag, each group of AOA anchor points is filtered, and the AOA anchor points with the same size type and the largest number are obtained as the optimized AOA anchor points, for example, in a group of AOA anchor points, there are 3 electronic price tags with a size of 7.2, and 1 electronic price tag with a size of 5.4, then the 3 electronic price tags with a size of 7.2 are taken as the optimized AOA anchor points. If there is one 7.2 size, one 5.4 size, and one 3.3 size, then a size type AOA anchor point is randomly selected as the optimized AOA anchor point. Here, it is not limited to filtering the anchor points according to the size information, but can also be filtered according to other characteristic information of the electronic price tag, such as category characteristic information, to obtain the optimized AOA anchor points, which can improve the selection accuracy of the AOA anchor points, and further improve the positioning accuracy of the electronic price tag.

[0056] In an embodiment, the positioning method of the electronic price tag can further include the following method for screening and processing a plurality of AOA anchor points to obtain optimized AOA anchor points:

[0057] The plurality of AOA anchor points are grouped according to the shelf information, and the AOA anchor points corresponding to each shelf are each group of AOA anchor points;

[0058] Each group of AOA anchor points is filtered according to the variance of the historical positioning position of the AOA anchor points, and the AOA anchor points with a variance of the historical positioning position less than a second preset variance threshold in each group are taken as the optimized AOA anchor points; wherein the second preset variance threshold is less than the first preset variance threshold.

[0059] In a specific implementation, the initial selection result is grouped according to the shelf information, and based on the shelf grouping result, each shelf is a group, and the price tags with a smaller variance are filtered according to the position variance, and only the top 50% (less than the second preset variance threshold, which can be dynamically adjusted according to the actual situation) of the price tags with a smaller variance in each group are reserved as the AOA anchor points, which can improve the selection accuracy of the AOA anchor points, and further improve the positioning accuracy of the electronic price tag.

[0060] In an embodiment, the positioning method of the electronic price tag can further include the following method for screening and processing a plurality of AOA anchor points to obtain optimized AOA anchor points:

[0061] The plurality of AOA anchor points are grouped according to the shelf information, and the AOA anchor points corresponding to each shelf are each group of AOA anchor points;

[0062] According to the received signal strength or pseudo signal noise ratio of the electronic price tag, each group of AOA anchor points is screened to obtain an AOA anchor point with a signal strength greater than a preset strength threshold or a pseudo signal noise ratio less than a preset pseudo signal noise ratio threshold in each group as an optimized AOA anchor point.

[0063] In specific implementation, the preliminary selection result is grouped according to the shelf information, and can be further screened according to characteristic information such as RSSI (received signal strength) and PSNR (pseudo signal noise ratio) of the price tag. The pseudo signal noise ratio can be obtained by performing eigenvalue decomposition on the covariance matrix of the received signal, and the corresponding price tag information is output as the AOA anchor point, which can improve the selection accuracy of the AOA anchor point.

[0064] In specific implementation, the embodiments of the present application can also be used in combination with a plurality of features (such as the size ratio of the electronic price tag to the shelf area, the variance of the historical positioning position of the AOA anchor point, the signal strength, the pseudo signal noise ratio, and the like) to select the corresponding anchor point more accurately.

[0065] In specific implementation, the embodiments of the present application can select anchor points with accurate positioning positions. Regarding the selected anchor points on each shelf, the possible cases are: one case is that there are anchor points on each shelf, and the number of anchor points on each shelf can be consistent or inconsistent; another case is that there are not necessarily anchor points on each shelf, and some shelves can have several anchor points, and some shelves can have no anchor point.

[0066] Third, as shown in Figure 2 , based on the AOA base station position information in the scene to be positioned, the map in the scene to be positioned is divided into a trusted area and an untrusted area, that is, the above-mentioned step 103.

[0067] In specific implementation, first, based on the AOA base station position information in the scene to be positioned, the corresponding base station coverage area and non-base station coverage area are divided, the base station coverage area is the untrusted area, and the non-base station coverage area is the trusted area. In order to further improve the positioning accuracy of the electronic price tag, the embodiments of the present application innovatively define the trusted area and the untrusted area. The trusted area and the untrusted area in the embodiments of the present application are described below with reference to Figure 3 .

[0068] In one embodiment, the untrusted area can be the key coverage area of the base station signal, the key shelf covered by the base station signal, and the shelf area adjacent to the preset number of shelves. In specific implementation, the untrusted area can be divided into two parts, one of which is: the key coverage area of the base station signal. The key coverage area of the base station signal can be: the coverage area within the AOA base station preset normal pitch angle range, for example, the coverage area within the 60-degree normal pitch angle range of the base station, that is, as shown in Figure 3 .Figure 3 This is a top-down plan view of the positioning scene, where: the shelf is located on the ground, and the base station (BS) can be set on the ceiling. The radius of a circle centered on the location of the base station (BS) is... The coverage area is defined as follows: h is the base station height, and the preset angle can also be other angles, such as 50 degrees, 55 degrees, etc. The other part is the key shelf area in the non-key coverage area of ​​the base station signal and its adjacent preset number of shelf sections. For example, it could be... Figure 3 The area shown as the key shelf M and its corresponding one-hop shelf (shelf E, shelf F) and two-hop shelf (shelf G, shelf H) may also include... Figure 3 The diagram shows the key shelf N and its corresponding one-hop shelf (shelf K, shelf L) and two-hop shelf (shelf O, shelf Q) areas. Of course, this is just an example; the three-hop shelf corresponding to the key shelf can also be an unreliable area. The specific number of adjacent shelf sections for the key shelf can be determined based on actual needs.

[0069] The trusted area can be divided into two parts: one part is the area covered by the base station, excluding the two parts mentioned above that are used to divide the untrusted area. The AOA signal in this area is weak and can be directly considered a trusted area. The other part is the area not covered by the base station, for example... Figure 3 Shelves I, J, R, and S are considered as trusted electronic price tags. The location of a trusted electronic price tag is determined by the location results of its neighbor.

[0070] In specific implementation, the embodiments of the present invention comprehensively use base station location information and map information to perform layered processing of the region, which can perform preliminary classification and reliable location output of the price tag to be located.

[0071] Fourth, based on the information of the selected AOA anchor points, perform neighbor location of all electronic price tags in the scene to be located, i.e. Figure 2 As shown, based on anchor point information, the entire neighborhood is located, i.e., in step 104 above. The price tag located in the trusted area is considered a trusted price tag, i.e., as shown... Figure 2 As shown, based on the trusted area division, price tags located within the trusted area after neighbor positioning are designated as trusted price tags, and their positions remain unchanged until the end of this full-site positioning. That is, in one embodiment, the above electronic price tag positioning method may further include: designating electronic price tags whose neighbor positioning results fall within the trusted area as trusted electronic price tags, using the neighbor positioning results for the location of the trusted electronic price tags, and maintaining the location of the trusted electronic price tags unchanged until the end of this positioning cycle. Of course, in step 104, the AOA anchor point information can also be as follows... Figure 2 The anchor point information obtained by manual positioning as described above, or the price tag information that has not been moved after initializing the store's markings.

[0072] In specific implementation, as shown in Figure 2 the anchor points in the AOA-uncovered area are manually acquired or the price tags that do not move after being initialized by the store are used as anchor points. Therefore, the anchor point information acquired manually and the AOA anchor point information can be combined to perform full-field neighbor positioning, further improving the accuracy of neighbor positioning and thus the accuracy of electronic price tag positioning.

[0073] Fifth, the electronic price tags whose neighbor positioning results are located in the untrusted area are repositioned, and high-precision fusion positioning is further achieved by combining neighbor information and AOA information, i.e., as shown in Figure 2 the price tags in the untrusted area are repositioned by fusing AOA and neighbor information, and the full-field positioning result is output, i.e., step 105.

[0074] In specific implementation, for the electronic price tags whose neighbor positioning results are located in the untrusted area: first, according to the position relationship between the angle-of-arrival positioning result and the shelf, the electronic price tags whose neighbor positioning results are located in the untrusted area are collected to the nearest shelf. Specifically, first, the electronic price tags whose neighbor positioning results are located in the untrusted area are found, and then, for these electronic price tags, according to the position relationship between the angle-of-arrival positioning result of each electronic price tag and the shelf, the electronic price tag is positioned on the shelf closest to the angle-of-arrival positioning result. For the price tags in this part that do not have AOA positioning results, the positioning position obtained according to the neighbor relationship is continued to be retained until the next neighbor positioning result is updated, which can improve the accuracy of electronic price tag positioning. Then, the abnormal situation that the electronic price tag positioning string on, for example, the shelf F is positioned to the key shelf M or the electronic price tag positioning string on the key shelf M is positioned to the shelf F is handled. Specifically, the positioning abnormal shelf can be detected according to the number and feature information of the electronic price tags on the shelf; the positioning result of the electronic price tag on the positioning abnormal shelf is adjusted according to the feature information and neighbor positioning result of the electronic price tag on the positioning abnormal shelf, to obtain the final positioning result of the electronic price tag. The steps of adjusting the positioning result of the electronic price tag on the positioning abnormal shelf are described in detail as follows.

[0075] In one embodiment, the positioning result of the electronic price tag on the positioning abnormal shelf is adjusted according to the feature information and neighbor positioning result of the electronic price tag on the positioning abnormal shelf to obtain the final positioning result of the electronic price tag, including:

[0076] The size information of the electronic price tags on the positioning abnormal shelf and the preset hop shelves (for example, one-hop shelves and two-hop shelves, and of course, three-hop, four-hop, and other multi-hop shelves) thereof is acquired;

[0077] According to the neighbor positioning result, the neighbor relationship between the electronic price tag on the positioning abnormal shelf and the electronic price tags on the preset hop shelves of the positioning abnormal shelf where the electronic price tag is located is determined.

[0078] Based on the size information and the neighbor relationship, determine the electronic shelf labels that should be excluded from the shelf with abnormal positioning and the shelf where the excluded electronic shelf labels should be placed, thus obtaining the final positioning result of the electronic shelf labels.

[0079] In practical implementation, regarding the aforementioned pre-set number of hops for shelving, such as... Figure 3 As shown, taking the abnormally positioned shelf as stack head M as an example, the preset number of shelves can be: Figure 3 The stack head M shown corresponds to a one-hop rack (rack E, rack F) or a two-hop rack (rack G, rack H), and can also be... Figure 3 The stack N (one-hop shelf) and stack P (two-hop shelf) shown in the diagram are as follows: Figure 3 As shown, the preset number of shelves in M ​​can include shelves E, F, G, and H, as well as shelves N and P. Of course, the preset number of shelves can also include... Figure 3 The three-tiered shelving shown: Shelving I and Shelving J, can be configured according to actual needs. Based on the above, the method for determining whether a specific shelving unit is a single-tier or double-tier shelving unit is as follows: when the center line connecting two shelving units has no intersection with any other shelving unit, it is considered a single-tier shelving unit; when the center line connecting two shelving units intersects with one other shelving unit, it is defined as a double-tier shelving unit, and so on. Regarding... Figure 3 The shelves K and L in the diagram belong to which shelf M is a certain number of shelves. This can be determined based on the actual placement of the shelves in the scenario to be located, as well as whether the center line connecting the two shelves intersects with other shelves and how many intersections there are. This will not be elaborated further here.

[0080] In specific implementation, the abnormally positioned shelf in this embodiment of the invention can be any shelf in the scenario to be located. The following takes the abnormally positioned shelf as the stack head as an example to introduce the steps for detecting the abnormally positioned shelf in this embodiment of the invention. Figure 3 This is a schematic diagram illustrating the relationship between the stack head (key shelf) and adjacent shelves in an embodiment of the present invention. During the AOA positioning process, Figure 3The AOA positioning result of the one-hop and multi-hop shelves will also be offset to the aisle due to positioning errors. At the same time, the price tags on the one-hop or multi-hop shelves can be positioned on the stack head, which usually has differences in size and other characteristics, and different size price tags are mixed. For this situation, the stack head needs to be judged abnormally, and the specific judgment conditions need to meet the following two conditions: 1. More than the theoretical number of price tags (which can be converted according to the area) at least 2 (preset price tag threshold number) or more; 2. There are 2 or more size types of price tags on the stack head. That is, in an embodiment, the number of electronic price tags on the shelf and the characteristic information of the electronic price tags are detected to determine the abnormal positioning shelf, which can include: when the number of electronic price tags on the shelf exceeds the preset theoretical price tag number threshold, and the size type number of the electronic price tags on the shelf exceeds the preset type number threshold, it is determined that the shelf is an abnormal positioning shelf. The shelf abnormality judgment method based on size and quantity and other multi-feature fusion of the embodiment of the application converts the theoretical price tag number by the shelf area, and simultaneously superimposes the size number, sets the corresponding threshold based on two characteristics for binary classification, judges whether the shelf is abnormal, and improves the accuracy of the shelf abnormality judgment.

[0081] In specific implementation, for the stack head in an abnormal state, the price tags positioned on the stack head belonging to the preset hop number of shelves of the stack head need to be excluded, for example, as shown in Figure 3 , the stack head M contains four electronic price tags A1, A2, B1, and B2, and when the theoretical number of price tags (preset theoretical price tag number threshold) is 2, the number of price tags of the stack head is abnormal. If it is found that the one-hop shelf (such as the shelf E and the shelf F shown in Figure 4 ) is missing a price tag, and the size of the price tag on the shelf E and the shelf F is consistent with the size of a certain price tag on the stack head M, the electronic price tags on the abnormal positioning shelf can be moved to the one-hop shelf (shelf E and shelf F), and the position is updated. In order to improve the accuracy of the adjustment of the electronic price tags on the abnormal positioning shelf, the embodiment of the application needs to consider the following when excluding: first, the size of the electronic price tags on the preset hop number of shelves adjacent to the abnormal positioning shelf, and second, the neighbor relationship between each electronic price tag on the abnormal positioning shelf and the electronic price tags on the preset hop number of shelves corresponding to the abnormal positioning shelf. Specifically:

[0082] 1. The size of the price tags on the preset hop number of shelves. When considering the exclusion operation based on the size information of the price tags, the size of the electronic price tags on the preset hop number of shelves of the key shelf where the price tags are located should be calculated, which is used to determine which size of price tag should be excluded subsequently. It should be noted that the size feature here can also be replaced by other features such as category, which also belongs to the protection scope of the embodiment of the application.

[0083] 2. The neighbor relationship between the electronic price tag and the electronic price tags on the preset hop number of shelves of the key shelf where the electronic price tag is located.

[0084] In one embodiment, based on the size information and the neighbor relationship, the electronic shelf labels that should be excluded from the shelf with abnormal positioning and the shelf where the excluded electronic shelf labels should be placed are determined to obtain the final positioning result of the electronic shelf labels, including:

[0085] Based on the size information of the electronic shelf labels on the shelves with location issues, group the electronic shelf labels on the shelves according to their size type, for example, Figure 4 As shown, the shelf with the abnormal location includes two size types grouped: one group is electronic shelf labels of size 10.2: A1 and A2; the other group is electronic shelf labels of size 5.8: B1 and B2;

[0086] Based on size type grouping information and the neighbor relationships, a neighbor relationship weight table is established for each electronic shelf label on the shelf with abnormal positioning, comparing it with all electronic shelf labels on shelves with a preset number of jumps. Figure 4 As shown (theoretically, the relationships between "A1 and shelves G and H", "A2 and shelves E and F", "B1 and shelves G and H", and "B2 and shelves E and F" should also be established), for ease of description, Figure 4 (For example only); the neighbor relationship weight table includes the total weight corresponding to each size type group on the abnormally located shelf (e.g., Figure 4 The total weight corresponding to size type grouping in section 10.2 is 0.9), and the total shelf weight corresponding to each electronic price tag on the shelf with abnormal positioning for each shelf in the preset number of shelves; where the total weight corresponding to each size type group (e.g., Figure 4 (0.9) Based on the location anomaly, each electronic price tag on the shelf corresponds to a preset number of shelves (e.g., each shelf in the shelf with the most jumps). Figure 4 The total shelf weight (e.g., shelf ID-E) of the shelf corresponding to electronic price tag A1 in the shelf unit. Figure 4 The value is calculated from 0.3 corresponding to the ID-E of the middle shelf; of course, it can also be calculated based on, for example... Figure 4 The average total weight corresponding to each electronic price tag shown for each shelf in a preset number of shelves (e.g.) Figure 4 The shelf ID - total weight / number of price tags: 0.3 / 4 = 0.075), or the total weight corresponding to each size type group, calculate the average weight corresponding to each size type group (e.g., Figure 4 The shelf ID in the data is calculated as follows: total weight / total number of price tags: 0.9 / 8 / 2. Subsequently, based on this average weight, it is also possible to determine which electronic price tags should be excluded from the shelf with abnormal positioning and which shelf the excluded electronic price tags should be placed on.

[0087] Based on the size information of the electronic shelf labels on the shelf with the preset number of jumps, and the total weight of each size type group on the shelf with abnormal positioning, determine the electronic shelf labels that should be excluded from the shelf with abnormal positioning.

[0088] According to the total weight of each shelf in the preset number of shelves corresponding to each electronic price tag on the abnormal shelf, the shelf to which the excluded electronic price tag should be placed is determined, and the final positioning result of the electronic price tag is obtained.

[0089] In specific implementation, the electronic price tags on the abnormal shelf are grouped according to the size information, and a plurality of groups of electronic price tags are obtained. Each group of electronic price tags has the same size type. A neighbor relationship weight table is established for each electronic price tag on the abnormal shelf based on the size type grouping information and the neighbor relationship. It is determined which size should be excluded, and then it is determined which shelf each excluded price tag should be placed on, that is, the electronic price tag to be excluded from the abnormal shelf and the shelf to which the excluded electronic price tag should be placed are determined. For example, the theoretical number of price tags on a certain stack head is 2, but there are 4 price tags on it at this time, and there are 2 sizes of price tags, so it is determined to be an abnormal shelf. The electronic price tags on it are grouped and the neighbor relationship weight table is established. As shown in Figure 4 Figure 4 FIG. 1 is a schematic diagram of a neighbor relationship weight table in an embodiment of the present application.

[0090] In specific implementation, the neighbor weight can be calculated according to the received neighbor signal strength in the embodiment of the present application. The embodiment of the present application dynamically establishes a neighbor relationship weight table, which can quickly determine the price tag to be excluded and the target position after exclusion through table lookup, thereby improving the positioning accuracy of the electronic price tag.

[0091] The method for determining the excluded size group and the repositioned price tag (that is, determining the electronic price tag to be excluded from the abnormal shelf and the shelf to which the electronic price tag to be excluded from the abnormal shelf should be placed according to the neighbor relationship weight table) is as follows: as shown in Figure 4 ​As shown, a neighbor relationship table is established for each price tag on the pile head (at this time the pile head is the positioning abnormal shelf) and all price tags of the preset skip shelf, and the total weight or average weight of each shelf is calculated for each price tag, and the total weight or average weight of each size type grouping is further calculated according to the size. The average weight also needs to consider the number of price tags of each size in the size grouping to prevent misjudgment due to the large number of a certain group. First, according to the size proportion and the size category total weight (total weight corresponding to the size type grouping) or average weight, it is determined which size type of price tag should be removed. For example, the preset skip shelf includes one skip and two skips of the positioning abnormal shelf, and among all the price tags on the one skip and two skips, if the proportion of the 5.8 size type price tag is above the first preset proportion (for example, 80%), then the whole group of 5.8 price tags is directly determined to be removed. If the proportion of the 5.8 size type price tag is between the second preset proportion (for example, 50%) and the first preset proportion (for example, 80%), then the size category (size type grouping corresponding) total weight or average weight needs to be further compared. For example, if the proportion of the 5.8 size type price tag is 60% on the one skip and two skips, and the total weight (1.9) or average weight of the 5.8 size type grouping is the largest, as shown in the middle red area in FIG. 8B, then the 5.8 price tag can be removed at this time. Then, for each 5.8 size price tag, it is determined which shelf it is located on, that is, according to the total weight of each shelf corresponding to each electronic price tag on the positioning abnormal shelf, it is determined that the electronic price tag of the excluded size type should be located on the shelf, and the determined electronic price tag of the excluded size type is positioned on the shelf, for example, as shown in FIG. 8C, the total weight (0.7) or average weight of the B2 price tag of the 5.8 size type and the shelf H is the largest, which means that B2 is closest to the shelf H, that is, the neighbor relationship with the shelf H is the closest, so B2 needs to be positioned on the shelf H, and B1 is the same. Figure 4 Figure 5 Figure 5

[0092] As can be seen from the above, in an embodiment, according to the size information of the electronic price tag on the preset skip shelf and the total weight corresponding to each size type grouping on the positioning abnormal shelf, the electronic price tag to be excluded from the positioning abnormal shelf is determined, including: when it is determined that the size type of the electronic price tag below the first preset proportion and above the second preset proportion on the preset skip shelf is the same size type on the positioning abnormal shelf according to the size information of the electronic price tag on the preset skip shelf, and the total weight corresponding to the same size type grouping on the positioning abnormal shelf is the largest according to the neighbor relationship weight table, it is determined that the electronic price tag of the same size type should be excluded from the positioning abnormal shelf; wherein the first preset proportion is greater than the second preset proportion;

[0093] ​​​According to the total weight of each shelf corresponding to each electronic price tag on the abnormal shelf for each shelf in the preset hop shelf, the shelf to which the excluded electronic price tag should be placed is determined, including: adjusting the positioning of the excluded electronic price tag to the shelf with the largest total weight corresponding thereto.

[0094] As can be seen from the above, in an embodiment, according to the size information and the neighbor relationship, the electronic price tag to be excluded from the abnormal shelf and the shelf to which the excluded electronic price tag should be placed are determined, and a final positioning result of the electronic price tag is obtained, including:

[0095] According to the size information of the electronic price tag on the abnormal shelf, the electronic price tags on the abnormal shelf are grouped by size type;

[0096] Based on the size type grouping information and the neighbor relationship, a neighbor relationship weight table of all electronic price tags on the preset hop shelf is established for each electronic price tag on the abnormal shelf; the neighbor relationship weight table includes the total weight of each shelf corresponding to each electronic price tag on the abnormal shelf for each shelf in the preset hop shelf;

[0097] According to the size information of the electronic price tag on the abnormal shelf, the electronic price tag to be excluded from the abnormal shelf is determined;

[0098] According to the total weight of each shelf corresponding to each electronic price tag on the abnormal shelf for each shelf in the preset hop shelf, the shelf to which the excluded electronic price tag should be placed is determined, including: adjusting the positioning of the excluded electronic price tag to the shelf with the largest total weight corresponding thereto.

[0099] As can be seen from the above, in an embodiment, according to the size information of the electronic price tag on the abnormal shelf, the electronic price tag to be excluded from the abnormal shelf is determined, including:

[0100] When it is determined according to the size information of the electronic price tag on the preset hop shelf that the size type of more than a first preset proportion of the electronic price tags on the preset hop shelf is the same size type as that on the abnormal shelf, the electronic price tags of the same size type are excluded from the abnormal shelf;

[0101] According to the total weight of each shelf corresponding to each electronic price tag on the abnormal shelf for each shelf in the preset hop shelf, the shelf to which the excluded electronic price tag should be placed is determined, including: adjusting the positioning of the excluded electronic price tag to the shelf with the largest total weight corresponding thereto.

[0102] In an embodiment, the above electronic price tag positioning method can further include: adjusting the electronic price tag collection result on the key shelf according to the following method using the characteristic information of the shelf:

[0103] Detect whether there is an abnormal situation of redundant electronic price tags on the key shelf;

[0104] For the key shelf with abnormal situation, detect whether there is a lack of electronic price tag in the remaining key shelves within one hop range;

[0105] If so, for each redundant price tag, find the target key shelf with the closest missing electronic price tag to the corrected position;

[0106] Detect whether there is an electronic price tag with the same size as the redundant electronic price tag on the target key shelf;

[0107] If so, move the redundant electronic price tag to the target key shelf.

[0108] In specific implementation, then continue to use the area and other characteristic information of the shelf to adjust the price tag collection result on the key shelf. Check whether there is an abnormal situation of the number of price tags on the key shelf, that is, the number of price tags exceeds the theoretical number of price tags by 2 or more (adjustable), and for such a stack head, query whether there is a lack of price tags (that is, less than the theoretical number of price tags) in the remaining key shelves within one hop range. If so, for each redundant price tag, find the closest (edge closest) stack head with a missing price tag to the corrected position (or original AOA positioning position), and check whether the target stack head exists a price tag with the same size. If so, move it to the stack head to achieve the purpose of uniformly placing the price tags on the key shelf. Therefore, according to the remaining amount of price tags after regional division and the empty space of the shelf in the region, the position of the price tag is dynamically and uniformly adjusted.

[0109] In a further preferred embodiment of the present application, considering the dynamic characteristics of positioning in actual scenarios and the efficiency requirements of system operation, only the electronic price tags with neighbor positioning results located in the untrusted region and the position moved are repositioned.

[0110] In one embodiment, after obtaining the neighbor positioning results of all electronic price tags in the to-be-positioned scene based on the information of the selected AOA anchor points, the method further comprises:

[0111] Periodically monitoring all electronic price tags;

[0112] Determining whether the position of the electronic price tag has moved according to the change of the neighbor relationship in the whole field;

[0113] For the electronic price tag whose neighbor positioning result is in the untrusted area, based on the angle of arrival positioning result and the neighbor positioning result, the following fusion relocation steps are performed, including: for the electronic price tag whose neighbor positioning result is in the untrusted area and whose position has moved, based on the angle of arrival positioning result and the neighbor positioning result, the following fusion relocation steps are performed.

[0114] In specific implementation, considering the dynamic characteristics of positioning in actual scenarios and the efficiency requirement of system operation, after obtaining the initial full-field neighbor positioning result, the neighbor positioning and the AOA positioning are periodically performed respectively, and in the fusion positioning stage, only the electronic price tag that is likely to move needs to be relocated, and the electronic price tag that does not move retains the last full-field positioning result as the current positioning result, thereby improving the efficiency of electronic price tag positioning.

[0115] In addition, in an embodiment, when the electronic price tag on the non-positioning abnormal shelf in the untrusted area is less than or equal to a preset distance from the AOA anchor point, the angle of arrival positioning result is used as the positioning result of the electronic price tag. That is, when the electronic price tag in the untrusted area is less than or equal to a preset distance from the AOA anchor point, it is determined that the area less than the preset distance from the AOA anchor point is a good AOA base station coverage area, the AOA information is used for positioning in the good AOA base station coverage area, it is considered that the electronic price tag in the good AOA base station coverage area does not exist positioning deviation, and the angle of arrival positioning result is used as the positioning result of the electronic price tag in the good AOA base station coverage area, thereby improving the positioning accuracy of the electronic price tag.

[0116] In addition, in an embodiment, when the electronic price tag on the non-positioning abnormal shelf in the untrusted area is greater than a preset distance from the AOA anchor point, the neighbor positioning result is used as the positioning result of the electronic price tag.

[0117] In specific implementation, for the electronic price tag on the non-positioning abnormal shelf and greater than a preset distance from the AOA anchor point, the neighbor positioning result thereof needs to be returned, that is, the neighbor positioning result is used as the positioning result of the electronic price tag.

[0118] In an embodiment, the above positioning method of the electronic price tag can further include: for the electronic price tag on the non-key shelf in the untrusted area according to the AOA positioning result, using the neighbor positioning result thereof as the positioning result thereof.

[0119] In specific implementation, for the electronic price tag on the non-key shelf in the untrusted area according to the AOA positioning result, the neighbor positioning result thereof can be used as the positioning result thereof, thereby improving the positioning accuracy of the electronic price tag.

[0120] In summary, the positioning method of the electronic price tag provided by the embodiment of the present application is a full-scene positioning method of the electronic price tag. The method combines the neighbor relationship positioning result of the electronic price tag in the local area and the AOA positioning result in the local area, and finally realizes the acquisition of the positioning result of the electronic price tag in the full scene. The positioning result of different positioning methods in the multiple scenes is complementary, and finally the fusion positioning in the full scene can be realized, and the positioning accuracy of the electronic price tag is improved.

[0121] The embodiment of the present application also provides a positioning device of the electronic price tag, as described in the following embodiment. Since the problem solving principle of the device is similar to the positioning method of the electronic price tag, the implementation of the device can be referred to the implementation of the method, and the repeated parts will not be described again.

[0122] Figure 6 The structural schematic diagram of the positioning device of the electronic price tag in the embodiment of the present application is shown in FIG. 1. Figure 1 As shown in the figure, the device comprises:

[0123] The acquisition unit 01 is configured to acquire a map in a scene to be positioned, AOA base station position information, and an angle of arrival positioning result of all electronic price tags.

[0124] The AOA anchor point determination unit 02 is configured to select an electronic price tag with a positioning position accuracy higher than a preset threshold as an AOA anchor point based on the map in the scene to be positioned and the angle of arrival positioning result of all electronic price tags.

[0125] The region division unit 03 is configured to divide the map in the scene to be positioned into a trusted region and an untrusted region based on the AOA base station position information in the scene to be positioned.

[0126] The neighbor positioning unit 04 is configured to perform neighbor positioning of all electronic price tags in the scene to be positioned based on the information of the selected AOA anchor point, and obtain a neighbor positioning result of all electronic price tags in the scene to be positioned.

[0127] The fusion repositioning unit 05 is configured to perform the following fusion repositioning steps on the electronic price tag whose neighbor positioning result is located in the untrusted region based on the angle of arrival positioning result and the neighbor positioning result: positioning the electronic price tag whose neighbor positioning result is located in the untrusted region to the nearest shelf according to the position relationship between the angle of arrival positioning result of the electronic price tag and the shelf; detecting an abnormal positioning shelf according to the number and feature information of the electronic price tags on the shelf; adjusting the positioning result of the electronic price tag on the abnormal positioning shelf according to the feature information and the neighbor positioning result of the electronic price tag on the abnormal positioning shelf, and obtaining the final positioning result of the electronic price tag.

[0128] In one embodiment, the AOA anchor point determination unit is specifically configured to:

[0129] acquire historical positioning information of each electronic price tag with the AOA positioning result;

[0130] calculate the mean value of the historical positioning positions of each electronic price tag and the variance of the historical positioning positions of each electronic price tag according to the historical positioning information of each electronic price tag;

[0131] determine the minimum distance between the mean value of the historical positioning positions of each electronic price tag and any edge position of the recent key shelf;

[0132] regard the electronic price tag with the variance of the historical positioning positions less than a first preset variance threshold, the number of AOA positioning results greater than a preset value, and the minimum distance less than a preset distance threshold as an AOA anchor point.

[0133] In an embodiment, the electronic price tag positioning method described above can further include an optimization unit for screening the plurality of AOA anchor points to obtain optimized AOA anchor points according to the following method:

[0134] group the plurality of AOA anchor points according to the shelf information, and the AOA anchor points corresponding to each shelf as each group of AOA anchor points;

[0135] screen each group of AOA anchor points according to the size characteristic information of the electronic price tag to obtain the AOA anchor points of the same size type and the largest number as the optimized AOA anchor points.

[0136] In an embodiment, the electronic price tag positioning method described above can further include an optimization unit for screening the plurality of AOA anchor points to obtain optimized AOA anchor points according to the following method:

[0137] group the plurality of AOA anchor points according to the shelf information, and the AOA anchor points corresponding to each shelf as each group of AOA anchor points;

[0138] screen each group of AOA anchor points according to the variance of the historical positioning positions of the AOA anchor points to obtain the AOA anchor points with the variance of the historical positioning positions less than a second preset variance threshold in each group as the optimized AOA anchor points; wherein the second preset variance threshold is less than the first preset variance threshold.

[0139] In an embodiment, the electronic price tag positioning method described above can further include an optimization unit for screening the plurality of AOA anchor points to obtain optimized AOA anchor points according to the following method:

[0140] group the plurality of AOA anchor points according to the shelf information, and the AOA anchor points corresponding to each shelf as each group of AOA anchor points;

[0141] According to the received signal strength or pseudo signal noise ratio of the electronic price tag, each group of AOA anchor points is screened to obtain an AOA anchor point in each group with a signal strength greater than a preset strength threshold or a pseudo signal noise ratio less than a preset pseudo signal noise ratio threshold as an optimized AOA anchor point.

[0142] In one embodiment, a positioning abnormality shelf is detected according to the number and feature information of the electronic price tags on the shelf, including:

[0143] When the number of the electronic price tags on the shelf exceeds a preset theoretical tag number threshold and the number of the size types of the electronic price tags on the shelf exceeds a preset type number threshold, the shelf is determined as the positioning abnormality shelf.

[0144] In one embodiment, the positioning result of the electronic price tag on the positioning abnormality shelf is adjusted according to the feature information of the electronic price tag on the positioning abnormality shelf and the neighbor positioning result to obtain a final positioning result of the electronic price tag, including:

[0145] The size information of the electronic price tags on the positioning abnormality shelf and the preset hop number shelves thereof is obtained.

[0146] According to the neighbor positioning result, the neighbor relationship between the electronic price tag on the positioning abnormality shelf and the electronic price tag on the preset hop number shelf of the positioning abnormality shelf is determined.

[0147] According to the size information and the neighbor relationship, the electronic price tag that should be excluded from the positioning abnormality shelf and the shelf to which the excluded electronic price tag should be placed are determined to obtain the final positioning result of the electronic price tag.

[0148] In one embodiment, according to the size information and the neighbor relationship, the electronic price tag that should be excluded from the positioning abnormality shelf and the shelf to which the excluded electronic price tag should be placed are determined to obtain the final positioning result of the electronic price tag, including:

[0149] According to the size information of the electronic price tag on the positioning abnormality shelf, the electronic price tags on the positioning abnormality shelf are grouped by size type.

[0150] Based on the size type grouping information and the neighbor relationship, a neighbor relationship weight table of all the electronic price tags on the preset hop number shelves is established for each electronic price tag on the positioning abnormality shelf; the neighbor relationship weight table includes the total weight corresponding to each size type grouping on the positioning abnormality shelf and the shelf total weight of each electronic price tag on the positioning abnormality shelf for each shelf in the preset hop number shelves.

[0151] According to the size information of the electronic price tags on the preset hop number shelves and the total weight corresponding to each size type grouping on the positioning abnormality shelf, the electronic price tag that should be excluded from the positioning abnormality shelf is determined.

[0152] According to the total weight of each shelf in the preset skip number shelf corresponding to each electronic price tag on the abnormal positioning shelf, the shelf to which the excluded electronic price tag should be placed is determined, and a final positioning result of the electronic price tag is obtained.

[0153] In one embodiment, according to the size information of the electronic price tags on the preset skip number shelf and the total weight corresponding to each size type group on the abnormal positioning shelf, the electronic price tag to be excluded from the abnormal positioning shelf is determined, including: when it is determined according to the size information of the electronic price tags on the preset skip number shelf that the size types of the electronic price tags lower than a first preset proportion and higher than a second preset proportion on the preset skip number shelf are all the same size type on the abnormal positioning shelf, and it is determined according to the neighbor relationship weight table that the total weight corresponding to the same size type group on the abnormal positioning shelf is the largest, it is determined that the electronic price tag of the same size type should be excluded from the abnormal positioning shelf; wherein the first preset proportion is greater than the second preset proportion.

[0154] According to the total weight of each shelf in the preset skip number shelf corresponding to each electronic price tag on the abnormal positioning shelf, the shelf to which the excluded electronic price tag should be placed is determined, including: adjusting the positioning of the excluded electronic price tag to the shelf with the largest total weight corresponding thereto.

[0155] In one embodiment, according to the size information and the neighbor relationship, the electronic price tag to be excluded from the abnormal positioning shelf and the shelf to which the excluded electronic price tag should be placed are determined, and a final positioning result of the electronic price tag is obtained, including:

[0156] According to the size information of the electronic price tags on the abnormal positioning shelf, the electronic price tags on the abnormal positioning shelf are grouped by size type;

[0157] Based on the size type grouping information and the neighbor relationship, a neighbor relationship weight table of all electronic price tags on the preset skip number shelf is established for each electronic price tag on the abnormal positioning shelf; the neighbor relationship weight table includes the total weight of each shelf in the preset skip number shelf corresponding to each electronic price tag on the abnormal positioning shelf;

[0158] According to the size information of the electronic price tags on the preset skip number shelf, the electronic price tag to be excluded from the abnormal positioning shelf is determined;

[0159] According to the total weight of each shelf in the preset skip number shelf corresponding to each electronic price tag on the abnormal positioning shelf, the shelf to which the excluded electronic price tag should be placed is determined, and a final positioning result of the electronic price tag is obtained.

[0160] In one embodiment, according to the size information of the electronic price tags on the preset skip number shelf, the electronic price tag to be excluded from the abnormal positioning shelf is determined, which can include:

[0161] In a case where the size information of the electronic price tags on the preset number of shelves is determined to be of the same size type on the preset number of shelves, the electronic price tags of the same size type are excluded from the abnormal positioning shelf.

[0162] According to the total weight of each shelf corresponding to each electronic price tag on the abnormal positioning shelf, the shelf to which the excluded electronic price tag should be positioned is determined, including: adjusting the positioning of the excluded electronic price tag to the shelf with the largest total weight corresponding to the electronic price tag.

[0163] In an embodiment, the positioning device of the electronic price tag can further include a homogenization processing unit for adjusting the collection result of the electronic price tags on the key shelf using the feature information of the shelf.

[0164] Detecting whether there is an abnormal situation of excess electronic price tags on the key shelf;

[0165] For the key shelf with an abnormal situation, detecting whether there is a situation of lacking electronic price tags in the remaining key shelves within one hop range;

[0166] If so, for each excess price tag, find the target key shelf with a lack of electronic price tags closest to the position after correction;

[0167] Detecting whether there is an electronic price tag of the same size as the excess electronic price tag on the target key shelf;

[0168] If so, move the excess electronic price tag to the target key shelf.

[0169] In an embodiment, the untrusted area is a key coverage area of a base station signal, a key shelf covered by the base station signal, and a shelf area adjacent to the key shelf by a preset number of shelves.

[0170] In an embodiment, the key coverage area is a coverage area within a preset angle normal pitch angle range of an AOA base station.

[0171] In an embodiment, the positioning unit is further configured to take an electronic price tag with a neighbor positioning result located in the trusted area as a trusted electronic price tag, and the positioning position of the trusted electronic price tag adopts the neighbor positioning result, and the positioning position of the trusted electronic price tag remains unchanged before the end of the current positioning cycle.

[0172] In an embodiment, the fusion repositioning unit is further configured to: in a case where an electronic price tag on a non-abnormal positioning shelf in an untrusted area is less than or equal to a preset distance from an AOA anchor point, adopt an angle of arrival positioning result as the positioning result of the electronic price tag.

[0173] In one embodiment, the fusion repositioning unit is further configured to: when the electronic price tag on the non-positioning abnormal shelf in the untrusted area is farther than a preset distance from the AOA anchor point, use the neighbor positioning result as the positioning result of the electronic price tag.

[0174] In one embodiment, the fusion repositioning unit is further configured to: when the electronic price tag on the non-positioning abnormal shelf in the untrusted area is farther than a preset distance from the AOA anchor point, use the neighbor positioning result as the positioning result of the electronic price tag.

[0175] In one embodiment, the electronic price tag positioning device can further include a monitoring unit configured to: after obtaining the neighbor positioning results of all electronic price tags in the to-be-positioned scene based on the information of the selected AOA anchor points, periodically monitor all electronic price tags.

[0176] a movement detection unit configured to: determine whether the position of the electronic price tag has moved according to the change of the neighbor relationship in the entire field.

[0177] The fusion repositioning steps based on the AOA positioning result and the neighbor positioning result for the electronic price tag in the untrusted area can include: for the electronic price tag in the untrusted area whose position has moved, the fusion repositioning steps based on the AOA positioning result and the neighbor positioning result.

[0178] Based on the foregoing inventive concept, as shown in Figure 1 The present application also provides a computer device 500, which includes a memory 510, a processor 520, and a computer program 530 stored in the memory 510 and executable on the processor 520, wherein the processor 520 implements the foregoing electronic price tag positioning method when executing the computer program 530.

[0179] The present application also provides a computer readable storage medium, which stores a computer program, wherein the computer program is executable on a processor to implement the foregoing electronic price tag positioning method.

[0180] The present application also provides a computer program product, which includes a computer program, wherein the computer program is executable on a processor to implement the foregoing electronic price tag positioning method.

[0181] Compared with the technical solutions with insufficient positioning accuracy or large positioning error in the prior art, the positioning scheme of the electronic price tag in the embodiment of the present application comprises the following steps: acquiring a map under a to-be-positioned scene, AOA base station position information, and angle of arrival positioning results of all electronic price tags; selecting electronic price tags with positioning position accuracy higher than a preset threshold as AOA anchors based on the map under the to-be-positioned scene and the angle of arrival positioning results of all electronic price tags; dividing the map under the to-be-positioned scene into a trusted area and an untrusted area based on the AOA base station position information under the to-be-positioned scene; performing neighbor positioning of all electronic price tags under the to-be-positioned scene based on information of the selected AOA anchors to obtain neighbor positioning results of all electronic price tags under the to-be-positioned scene; and performing the following steps of fusion repositioning on electronic price tags whose neighbor positioning results are located in the untrusted area based on the angle of arrival positioning results and the neighbor positioning results: positioning the electronic price tags whose neighbor positioning results are located in the untrusted area to the nearest shelf according to the position relationship between the angle of arrival positioning results of the electronic price tags and the shelves; detecting abnormal positioning shelves according to the number and feature information of electronic price tags on the shelves; and adjusting the positioning results of electronic price tags on the abnormal positioning shelves according to the feature information and the neighbor positioning results of the electronic price tags on the abnormal positioning shelves to obtain final positioning results of the electronic price tags, so that full-scene high-precision positioning based on AOA and neighbor relationship information fusion can be realized, and the positioning accuracy of the electronic price tags is improved.

[0182] Those skilled in the art will understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0183] The present application is described with reference to flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices generate a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocks Figure 1 The functions specified in one flow or multiple flows and / or blocks

[0184] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flow Figure 1 The functions of a flow or multiple flows and / or a block or multiple blocks in conjunction with the disclosed aspects can be implemented on practitioners' computers in an interactive mode or in a batch mode. Figure 1

[0185] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flow ​ The functions of a flow or multiple flows and / or a block or multiple blocks in conjunction with the disclosed aspects can be implemented on practitioners' computers in an interactive mode or in a batch mode. ​

[0186] The above detailed description merely describes specific embodiments of the application, and the technical solutions, and advantages of the present application are further described in detail. It should be understood that the above description is only a specific embodiment of the present application, and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.​​

Claims

1. A method of locating an electronic price tag, characterized by, The method comprises the following steps: Obtaining a map of a scene to be positioned, AOA base station position information and the arrival angle positioning results of all electronic price tags; Selecting electronic price tags with positioning accuracy higher than a preset threshold as AOA anchors based on the map of the scene to be positioned and the arrival angle positioning results of all electronic price tags; Dividing the map of the scene to be positioned into a trusted area and an untrusted area based on the AOA base station position information of the scene to be positioned; Performing neighbor positioning of all electronic price tags in the scene to be positioned based on the information of the selected AOA anchors to obtain neighbor positioning results of all electronic price tags in the scene to be positioned; For electronic price tags with neighbor positioning results in the untrusted area, performing the following steps of fusion and relocation based on the arrival angle positioning results and the neighbor positioning results: positioning the electronic price tags with neighbor positioning results in the untrusted area to the nearest shelf according to the position relationship between the arrival angle positioning results of the electronic price tags and the shelves; detecting abnormal positioning shelves according to the number and feature information of electronic price tags on the shelves; adjusting the positioning results of electronic price tags on the abnormal positioning shelves according to the feature information and neighbor positioning results of the electronic price tags on the abnormal positioning shelves to obtain the final positioning results of the electronic price tags.

2. The method of claim 1, wherein, Selecting electronic price tags with positioning accuracy higher than a preset threshold as AOA anchors based on the map of the scene to be positioned and the arrival angle positioning results of all electronic price tags, which comprises the following steps: Obtaining historical positioning information of each electronic price tag with arrival angle positioning results; Calculating the average value of the historical positioning positions of each electronic price tag and the variance of the historical positioning positions of each electronic price tag according to the historical positioning information of each electronic price tag; Determining the minimum distance between the average value of the historical positioning positions of each electronic price tag and any edge position of the nearest key shelf; Selecting electronic price tags with a variance of historical positioning positions smaller than a first preset variance threshold, a number of arrival angle positioning results greater than a preset value and a minimum distance smaller than a preset distance threshold as AOA anchors.

3. The method of claim 2, wherein, The method further comprises screening a plurality of AOA anchors to obtain optimized AOA anchors according to the following method: Grouping the plurality of AOA anchors according to shelf information, and each group of AOA anchors corresponds to AOA anchors corresponding to each shelf; Screening each group of AOA anchors according to the size feature information of electronic price tags to obtain AOA anchors of the same size type and the largest number as optimized AOA anchors.

4. The method of claim 2, wherein, The method further comprises screening a plurality of AOA anchors to obtain optimized AOA anchors according to the following method: Grouping the plurality of AOA anchors according to shelf information, and each group of AOA anchors corresponds to AOA anchors corresponding to each shelf; Screening each group of AOA anchors according to the variance of the historical positioning positions of the AOA anchors to obtain AOA anchors with a variance of historical positioning positions smaller than a second preset variance threshold in each group as optimized AOA anchors; wherein the second preset variance threshold is smaller than the first preset variance threshold.

5. The method of claim 2, wherein, The method further comprises screening a plurality of AOA anchors to obtain optimized AOA anchors according to the following method: Grouping a plurality of AOA anchor points according to shelf information, and each shelf corresponding AOA anchor point is each group of AOA anchor points; According to the received signal strength or pseudo signal noise ratio of the electronic price tag, each group of AOA anchor points is screened to obtain the AOA anchor point in each group with signal strength greater than a preset strength threshold or pseudo signal noise ratio less than a preset pseudo signal noise ratio threshold as an optimized AOA anchor point.

6. The method of claim 1, wherein, According to the number and characteristic information of the electronic price tag on the shelf, a positioning abnormal shelf is detected, including: When the number of electronic price tags on the shelf exceeds a preset theoretical tag number threshold, and the number of size types of electronic price tags on the shelf exceeds a preset type number threshold, the shelf is determined as a positioning abnormal shelf.

7. The method of claim 1, wherein, According to the characteristic information of the electronic price tag on the positioning abnormal shelf and the neighbor positioning result, the positioning result of the electronic price tag on the positioning abnormal shelf is adjusted to obtain the final positioning result of the electronic price tag, including: Obtaining the size information of the electronic price tag on the positioning abnormal shelf and its preset hop shelf; According to the neighbor positioning result, the neighbor relationship between the electronic price tag on the positioning abnormal shelf and the electronic price tag on the preset hop shelf of the positioning abnormal shelf is determined; According to the size information and the neighbor relationship, the electronic price tag that should be excluded from the positioning abnormal shelf and the shelf where the excluded electronic price tag should be placed are determined to obtain the final positioning result of the electronic price tag.

8. The method of claim 7, wherein, According to the size information and the neighbor relationship, the electronic price tag that should be excluded from the positioning abnormal shelf and the shelf where the excluded electronic price tag should be placed are determined to obtain the final positioning result of the electronic price tag, including: According to the size information of the electronic price tag on the positioning abnormal shelf, the electronic price tag on the positioning abnormal shelf is grouped by size type; Based on the size type grouping information and the neighbor relationship, a neighbor relationship weight table of all electronic price tags on the preset hop shelf is established for each electronic price tag on the positioning abnormal shelf; the neighbor relationship weight table includes the total weight corresponding to each size type grouping on the positioning abnormal shelf and the shelf total weight corresponding to each electronic price tag on the positioning abnormal shelf for each shelf in the preset hop shelf; According to the size information of the electronic price tag on the preset hop shelf and the total weight corresponding to each size type grouping on the positioning abnormal shelf, the electronic price tag that should be excluded from the positioning abnormal shelf is determined; According to the shelf total weight corresponding to each electronic price tag on the positioning abnormal shelf for each shelf in the preset hop shelf, the shelf where the excluded electronic price tag should be placed is determined to obtain the final positioning result of the electronic price tag.

9. The method of claim 8, wherein, According to the size information of the electronic price tags on the preset number of shelves and the total weight corresponding to each size type group on the abnormally positioned shelf, the electronic price tags to be excluded from the abnormally positioned shelf are determined, including: when it is determined according to the size information of the electronic price tags on the preset number of shelves that the size types of the electronic price tags on the preset number of shelves that are lower than a first preset proportion and higher than a second preset proportion are all the same size type on the abnormally positioned shelf, and it is determined according to the neighbor relationship weight table that the total weight corresponding to the same size type group on the abnormally positioned shelf is the maximum, it is determined that the electronic price tags of the same size type should be excluded from the abnormally positioned shelf; wherein the first preset proportion is greater than the second preset proportion; According to the total weight corresponding to each electronic price tag on the abnormally positioned shelf for each shelf in the preset number of shelves, the shelf to which the excluded electronic price tags should be placed is determined, including: adjusting the positioning of the excluded electronic price tags to the shelf corresponding to the maximum total weight.

10. The method of claim 7, wherein, According to the size information and the neighbor relationship, the electronic price tags to be excluded from the abnormally positioned shelf and the shelf to which the excluded electronic price tags should be placed are determined, and a final positioning result of the electronic price tags is obtained, including: According to the size information of the electronic price tags on the abnormally positioned shelf, the electronic price tags on the abnormally positioned shelf are grouped by size type; Based on the size type grouping information and the neighbor relationship, a neighbor relationship weight table of all electronic price tags on the preset number of shelves is established for each electronic price tag on the abnormally positioned shelf; the neighbor relationship weight table includes the total weight corresponding to each electronic price tag on the abnormally positioned shelf for each shelf in the preset number of shelves; According to the size information of the electronic price tags on the preset number of shelves, the electronic price tags to be excluded from the abnormally positioned shelf are determined; According to the total weight corresponding to each electronic price tag on the abnormally positioned shelf for each shelf in the preset number of shelves, the shelf to which the excluded electronic price tags should be placed is determined, and a final positioning result of the electronic price tags is obtained.

11. The method of claim 10, wherein, According to the size information of the electronic price tags on the preset number of shelves, the electronic price tags to be excluded from the abnormally positioned shelf are determined, including: When it is determined according to the size information of the electronic price tags on the preset number of shelves that the size types of the electronic price tags on the preset number of shelves that exceed a first preset proportion are all the same size type on the abnormally positioned shelf, the electronic price tags of the same size type are excluded from the abnormally positioned shelf; According to the total weight corresponding to each electronic price tag on the abnormally positioned shelf for each shelf in the preset number of shelves, the shelf to which the excluded electronic price tags should be placed is determined, including: adjusting the positioning of the excluded electronic price tags to the shelf corresponding to the maximum total weight.

12. The method of claim 1, wherein, The untrusted area is a key coverage area of a base station signal, a key shelf covered by a base station signal, and a shelf area adjacent to a preset number of shelves.

13. The method of claim 12, wherein, The key coverage area is a coverage area within a preset angle normal pitch angle range of an AOA base station.

14. The method of claim 1, wherein, Further comprising: The electronic price tag whose neighbor positioning result is located in the trusted area is regarded as a trusted electronic price tag, the positioning location of the trusted electronic price tag adopts the neighbor positioning result, and the positioning location of the trusted electronic price tag remains unchanged before the end of the current cycle positioning.

15. The method of claim 1, wherein, Further comprising: When the electronic price tag on the non-positioning abnormal shelf in the untrusted area is less than or equal to a preset distance from the AOA anchor point, the angle of arrival positioning result is adopted as the positioning result of the electronic price tag.

16. The method of claim 1, wherein, Further comprising: When the electronic price tag on the non-positioning abnormal shelf in the untrusted area is greater than the preset distance from the AOA anchor point, the neighbor positioning result is adopted as the positioning result of the electronic price tag.

17. The method of claim 1, wherein, Further comprising: The electronic price tag in the untrusted area is collected on the non-key shelf according to the AOA positioning result, and the neighbor positioning result thereof is used as the positioning result thereof.

18. The method of claim 1, wherein, After the neighbor positioning of all electronic price tags in the to-be-positioned scene is performed based on the information of the selected AOA anchor points, the neighbor positioning result of all electronic price tags in the to-be-positioned scene is obtained, further comprising: Periodically monitoring all electronic price tags; Determining whether the position of the electronic price tag moves according to the change of the neighbor relationship in the whole field; For the electronic price tag whose neighbor positioning result is located in the untrusted area, based on the angle of arrival positioning result and the neighbor positioning result, the following fusion relocation steps are performed, including: for the electronic price tag whose neighbor positioning result is located in the untrusted area and whose position moves, based on the angle of arrival positioning result and the neighbor positioning result, the following fusion relocation steps are performed.

19. A positioning device for an electronic price label, characterized by Comprising: An acquisition unit is configured to acquire a map in a to-be-positioned scene, AOA base station position information, and an angle of arrival positioning result of all electronic price tags; An AOA anchor point determination unit is configured to select, based on the map in the to-be-positioned scene and the angle of arrival positioning result of all electronic price tags, an electronic price tag whose positioning location accuracy is higher than a preset threshold as an AOA anchor point; A region division unit is configured to divide, based on the AOA base station position information in the to-be-positioned scene, the map in the to-be-positioned scene into a trusted area and an untrusted area; A neighbor positioning unit is configured to perform neighbor positioning of all electronic price tags in the to-be-positioned scene based on information of the selected AOA anchor points, to obtain a neighbor positioning result of all electronic price tags in the to-be-positioned scene; A fusion relocation unit is configured to, for an electronic price tag whose neighbor positioning result is located in the untrusted area, based on an angle of arrival positioning result and a neighbor positioning result, perform the following fusion relocation steps: positioning the electronic price tag whose neighbor positioning result is located in the untrusted area to the nearest shelf according to the position relationship between the electronic price tag and the shelf based on the angle of arrival positioning result; detecting a positioning abnormal shelf according to the number and feature information of electronic price tags on the shelf; adjusting the positioning result of the electronic price tag on the positioning abnormal shelf according to the feature information and the neighbor positioning result of the electronic price tag on the positioning abnormal shelf, to obtain a final positioning result of the electronic price tag.

20. A computer device comprising a memory (510), a processor (520) and a computer program (530) stored on the memory (510) and loadable on the processor (520), characterized in that, The processor (520) implements the method in any of claims 1 to 18 when executing the computer program (530).

21. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1 to 18.

22. A computer program product, characterised in that, The computer program product comprises a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1 to 18.

Images