Positioning method and device, equipment, storage medium and program product

Abstract

The invention discloses a positioning method, device and equipment, a storage medium and a program product, a detection device is provided with a reader-writer, a to-be-positioned article is provided with a first label, and when the detection device moves according to a set direction, phase information of the first label corresponding to the to-be-positioned article is acquired; according to the method, the acquisition coordinates, namely horizontal direction coordinates, of the detection device when the detection device is closest to the to-be-positioned articles are determined through the phase information, then the sorting height of the to-be-positioned articles in the same column in the vertical direction is determined based on the acquisition coordinates, and the position information of the to-be-positioned articles is obtained based on the sorting height and the reference data. The mode of first horizontal positioning and second vertical positioning can effectively distinguish the position relation of multiple layers of goods in the vertical direction, compared with a traditional mode, key positioning points can be more accurately captured, the positioning accuracy is improved, the method is particularly suitable for multi-layer storage scenes such as goods shelves, and ordered positioning of the goods of the same column and different heights is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of passive Internet of Things, and in particular to a positioning method, device, equipment, storage medium and program product. BACKGROUND

[0002] A passive Internet of Things system is composed of a reader and a tag. The reader sends out a signal of a certain frequency through an antenna, and the tag within the coverage of the antenna is activated after receiving the signal. The tag reflects the signal with its own ID information to the reader through backscattering. After the reader modulates and decodes the signal transmitted by the tag, the signal is sent to the system for corresponding instruction execution. The existing passive positioning technology adopts a combination of object navigation and a passive Internet of Things system. Object navigation is one of the core tasks of intelligent robots. In a stereoscopic shelf environment, the robot needs to identify the position of an object and determine the level thereof, and then perform effective path planning.

[0003] The conventional method used in the existing passive positioning technology is mainly based on a fingerprint algorithm and a distance model algorithm. The precision of parameters such as RSSI (Received Signal Strength Indication) and phase collected by the device has a high impact on the positioning result. In addition, in the environment of a stereoscopic shelf, since the tag needs to be positioned in the horizontal and vertical directions at the same time, the error of data collection will be superimposed in two dimensions, and therefore, there is a higher requirement for the precision of passive positioning. However, due to the passive nature of the tag, the data collection precision is greatly challenged, resulting in low positioning precision of the conventional method. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a positioning method, device, equipment, storage medium and program product, which can effectively improve the positioning precision of the tag.

[0005] To achieve the above-mentioned purpose, the embodiments of the present application provide a positioning method, comprising:

[0006] obtaining a first phase sequence of at least one first tag; wherein each first tag corresponds to an article to be positioned, and the first phase sequence comprises at least one first phase;

[0007] For each first tag, finding a minimum phase value from the first phase sequence, and obtaining the collection coordinates of a detection device corresponding to the minimum phase value;

[0008] taking the first tag with the same collection coordinates of the minimum phase value as a target tag, and determining the sorting height of the target tag according to the first phase sequence corresponding to the target tag;

[0009] According to the sorting height and the reference data, position information of the to-be-positioned article is obtained.

[0010] As an improvement of the above scheme, before the first phase sequence of the at least one first tag is obtained, the method further comprises:

[0011] In the case that the detection device moves in a set direction, an initial phase of the first tag collected at a current time is obtained;

[0012] The initial phase is unwrapped to obtain a first phase;

[0013] In the case that the movement stop condition is met, all the first phases are integrated to obtain a first phase sequence.

[0014] As an improvement of the above scheme, the movement stop condition is that there is a minimum phase value in the initial phases collected at historical time, and a phase difference value between the initial phase value collected at the current time and the minimum phase value is greater than a preset difference threshold value.

[0015] As an improvement of the above scheme, the sorting height of the target tag is determined according to the first phase sequence corresponding to the target tag, comprising:

[0016] For all collection points in the first phase sequence corresponding to each target tag, the first phase corresponding to each collection point is differentiated to obtain a phase derivative of each collection point;

[0017] The phase derivatives of all collection points are summed to obtain a derivative sum of each target tag;

[0018] According to the size relationship of the derivative sum of each target tag, the sorting height of all target tags is obtained.

[0019] As an improvement of the above scheme, the reference data is a second phase of a second tag corresponding to each bin in the storage device, and the position information of the to-be-positioned article is obtained according to the sorting height and the reference data, comprising:

[0020] For each target tag, a reference likelihood value of the first phase with respect to the second phase corresponding to different bins is calculated;

[0021] From the reference likelihood value, a target likelihood value satisfying a matching condition is selected, and a bin corresponding to the target likelihood value is a target bin; wherein one target tag corresponds to one target bin;

[0022] The sorting height of the target bin is obtained, and the sorting height of the to-be-positioned article is matched with the sorting height of the target bin to obtain the position information of the to-be-positioned article.

[0023] As an improvement to the above solution, the second phase is obtained by the detection device simultaneously acquiring the initial phase of the second tag when acquiring the initial phase of the first tag, and then unwinding the initial phase of the second tag; or, the second phase is obtained by searching a database.

[0024] As an improvement to the above solution, the reference data is image data of the storage device, and obtaining the location information of the item to be located based on the sorting height and the reference data includes:

[0025] Based on the acquisition coordinates corresponding to the target label, find the reference compartment in the storage device that is located at the same acquisition coordinates from the image data;

[0026] The sorting height of the item to be located is matched with the sorting height of the items already stored in the reference compartment to obtain the location information of the item to be located.

[0027] As an improvement to the above scheme, the real-time speed of the detection device during movement is less than a speed threshold, which is determined based on the wavelength and the sampling time interval of the detection device.

[0028] To achieve the above objectives, embodiments of the present invention also provide a positioning device, comprising:

[0029] The first phase sequence acquisition module is used to acquire a first phase sequence of at least one first tag; wherein each first tag corresponds to an item to be located, and the first phase sequence includes at least one first phase;

[0030] The coordinate acquisition module is used to find the minimum phase value from the first phase sequence for each first tag, and obtain the acquisition coordinates of the detection device corresponding to the minimum phase value;

[0031] The sorting height determination module is used to take the first label with the same acquisition coordinates as the target label and determine the sorting height of the target label according to the first phase sequence corresponding to the target label;

[0032] The location information acquisition module is used to obtain the location information of the item to be located based on the sorting height and reference data.

[0033] To achieve the above objectives, embodiments of the present invention also provide a positioning device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the positioning method as described in any of the above embodiments.

[0034] To achieve the above objectives, embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the positioning method as described in any of the above embodiments.

[0035] To achieve the above objectives, embodiments of the present invention also provide a computer program product, including a computer program / instructions, which, when executed by a processor, implement the positioning method as described in any of the above embodiments.

[0036] Compared to existing technologies, the positioning method, apparatus, device, storage medium, and program product disclosed in this invention, by acquiring the phase information of a first tag and utilizing the correlation between phase and distance, accurately determines the horizontal coordinates when the detection device is closest to the item to be positioned. After determining the horizontal coordinates, it further determines the vertical sorting height of the items in the same column. This horizontal-then-vertical positioning method effectively distinguishes the positional relationships of multi-layered goods in the vertical direction. Compared to traditional methods, it can more accurately capture key positioning points and improve positioning accuracy, making it particularly suitable for multi-layered storage scenarios such as shelves, enabling the orderly positioning of items of different heights in the same column. Furthermore, by combining the sorting height with reference data to generate position information, it integrates data from both the item height sorting and external references, making the final positioning result more comprehensive and accurate, meeting the high-precision requirements for item position information in scenarios such as warehouse management and logistics automation. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the signal interaction between the tag and the antenna provided by existing technology;

[0038] Figure 2 This is a schematic diagram of the detection device provided in an embodiment of the present invention moving in front of the storage device;

[0039] Figure 3 This is a schematic diagram showing the positional relationship between the tags and the antenna at different heights during the movement of the detection device provided in this embodiment of the invention;

[0040] Figure 4 This is a flowchart of a positioning method provided in an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of the first phase change of the first tag during the movement of the detection device provided in this embodiment of the invention;

[0042] Figure 6 This is a schematic diagram of the first label in the same column in different compartments according to an embodiment of the present invention;

[0043] Figure 7This is a structural block diagram of a positioning device provided in an embodiment of the present invention;

[0044] Figure 8 This is a structural block diagram of a positioning device provided in an embodiment of the present invention. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] The passive IoT system consists of a reader and tags. The reader can simultaneously read and write to multiple tags within its range, achieving high reading efficiency. The tags are small in size, have a large capacity, long lifespan, and come in various styles to meet the needs of different scenarios. It can operate in a non-contact, non-visual manner, identifying objects that are far from the reader or moving. A classic passive IoT technology is RFID (Radio Frequency Identification). The measured data provided in this embodiment of the invention is based on RFID. Figure 1 As shown, the reader transmits an excitation signal through the antenna. When a tag within the antenna's coverage area receives the excitation signal, it is activated and reflects a feedback signal containing its own ID information back to the reader. The reader modulates and decodes the signal transmitted from the tag and sends it to the system for corresponding instruction execution.

[0047] Unlike traditional two-dimensional environments, automated shelving systems add vertical complexity, requiring robots to move precisely to the vicinity of target objects in three-dimensional space. In this task, the robot first needs to identify and locate the horizontal coordinates of the target object. Subsequently, the robot must determine the target's shelf level based on its height information. This layered retrieval method is widely used in warehousing, logistics, and smart home scenarios. For example, in smart warehouses, robots need to quickly locate goods based on orders and retrieve items from different shelf levels, requiring both high efficiency and accuracy. This invention aims to improve the positioning accuracy of tags in automated shelving systems by providing a positioning method that combines RFID and a detection device (robot) for moving and finding items.

[0048] See Figure 2 , Figure 2This is a schematic diagram of the detection device moving in front of a storage device according to an embodiment of the present invention. P1 to P9 are the sampling points of the detection device. The interval between adjacent sampling points can be the same or different, depending on the sampling time interval of the moving device. The nine sampling points shown in the diagram are only examples. In the storage device shown, each compartment is pre-numbered, such as A1 to A7, B1 to B7, C1 to C7, and D1 to D7. Each compartment can hold items. A reader antenna is attached to the detection device, and a first tag (RFID tag) is affixed to the item. The detection device identifies and records the phase information of each first tag by moving horizontally in front of the storage device. The phase change from the exciter antenna to the reader antenna in the RFID system can be expressed as:

[0049]

[0050] in, d represents the phase data backscattered from the tag received by the reader, where c is the speed of light, f is the frequency, and d is the communication distance from the exciter antenna to the tag.

[0051] In a scenario where a detection device locates an object, the detection device can move, while the object to be located remains stationary, and its fixed position has different level coordinates from (x0, y0, z0) to (x... n ,y n ,z n ),like Figure 3 As shown, Figure 3 This is a schematic diagram illustrating the positional relationship between the tag at different heights h and the antenna during the movement of the detection device provided in this embodiment of the invention. Assuming the detection device moves horizontally along the storage device and its coordinates are (x, 0, z), the communication distance d between the detection device and the object to be located during the movement of the detection device satisfies the following formula:

[0052]

[0053] From formula (2), we can see that the point perpendicular to the trajectory of the object to be positioned and the detection device is the point where the detection device is closest to the object to be positioned, i.e., the moment when x = x0. During the process of the detection device moving towards the object to be positioned, the distance d between the detection device and the object to be positioned will first decrease and then increase. According to the relationship between phase and distance, the corresponding phase will also first decrease and then increase, forming a V-shaped curve.

[0054] It should be noted that a coordinate system needs to be established before the detection device locates the object. If a spatial coordinate system has been pre-established, it can be used directly; otherwise, a coordinate system should be established with the coordinates at the start of the object-finding process as the origin and the initial direction of movement as the positive x-axis. Figure 2 A coordinate system is constructed with the location of P1 as the origin.

[0055] See Figure 4 , Figure 4 This is a flowchart of a positioning method provided in an embodiment of the present invention, the method comprising:

[0056] S1. Obtain a first phase sequence of at least one first tag; wherein each first tag corresponds to an item to be located, and the first phase sequence includes at least one first phase;

[0057] S2. For each first tag, find the minimum phase value from the first phase sequence and obtain the acquisition coordinates of the detection device corresponding to the minimum phase value;

[0058] S3. Take the first tag with the same acquisition coordinates as the minimum phase value as the target tag, and determine the sorting height of the target tag according to the first phase sequence corresponding to the target tag;

[0059] S4. Obtain the location information of the item to be located based on the sorting height and reference data.

[0060] For example, each first tag corresponds to an item to be located. By assigning a unique first tag to each item, different items can be accurately distinguished, avoiding confusion and misidentification, and ensuring that the system can accurately locate a specific item. When the detection device moves in a set direction, it acquires the phase information of the first tag corresponding to the item to be located. The phase information is used to determine the acquisition coordinates when the detection device is closest to the item, i.e., the horizontal coordinates. Then, based on these acquisition coordinates, the vertical sorting height of items to be located in the same column is determined. Based on this sorting height and reference data, the position information of the item to be located is obtained. This horizontal-then-vertical positioning method effectively distinguishes the positional relationships of multi-layered goods in the vertical direction. Compared to traditional methods, it can more accurately capture key positioning points and improve positioning accuracy, especially suitable for multi-layered storage scenarios such as shelves, enabling the orderly positioning of items of different heights in the same column.

[0061] Specifically, before performing step S1, the method further includes: acquiring the initial phase of the first tag collected at the current moment when the detection device moves in a set direction; unwinding the initial phase to obtain the first phase; and integrating all the first phases to obtain the first phase sequence when the movement stop condition is detected.

[0062] For example, the set direction is to move horizontally along the front of the storage device. During the movement of the detection device, the initial phase of the first tag that it can detect is continuously recorded. Since the initial phase is a periodically changing parameter, the initial phase acquired by the reader does not contain integer cycle information. Therefore, it is necessary to unwrap this initial phase to restore the first phase containing integer cycle information. Assumption Figure 2 Each acquisition point acquires an initial phase, resulting in a total of 9 initial phases for a single first tag. After unwinding, these 9 initial phases are obtained. Integrating these 9 initial phases yields the first phase sequence of the first tag. It should be noted that during the movement of the detection device, each time an initial phase of a first tag is detected, the initial phase can be unwound to obtain the first phase.

[0063] The present invention provides the following formula for unwinding the initial phase:

[0064]

[0065] In formula (3), The initial phase acquired by the reader does not contain integer cycle information and is obtained by taking the remainder of 2π from the above formula (1); in formula (4), This represents the first phase after unwinding, restoring the information for the entire cycle. 'i' represents the ith sampling point, such as... Figure 2 The maximum value of i is 9; The correction parameter represents the phase difference between the i-th and (i-1)-th first phases, multiplied by the correction coefficient w. When the phase difference is too large, 2π is subtracted to correct it; when the phase difference is within a reasonable range, the value is taken directly; when the phase difference is too small, 2π is added to correct it. This function achieves phase unwinding and restores the true integer cycle information by adjusting the phase difference between adjacent acquisitions.

[0066] Furthermore, the movement stopping condition is that there is a minimum phase value among the initial phases collected at historical times, and the phase difference between the initial phase value collected at the current time and the minimum phase value is greater than a preset difference threshold.

[0067] For example, when the detection device moves in the same direction, let the initial time be T0. The detection device starts to move along a fixed direction and continuously acquires the initial phase to obtain the first phase after unwinding, and continuously updates the first phase sequence. And updating the corresponding acquisition time to {T0, T1...}, for the newly acquired initial phase, the first phase is obtained after noise reduction, smoothing, and unwinding. Considering the influence of multipath effects and reader noise, more refined data smoothing, function fitting, and filtering algorithms, such as Kalman filtering, can be superimposed to perform more refined processing on the phase data. Update the minimum value of the current phase sequence. As the latest calculated first phase This indicates that the price is still approaching the bottom of the V-shape and it is necessary to continue acquiring the initial phase. and ∈ represents the difference threshold, indicating that the phase has passed the lowest point and has begun to increase. This indicates that the V-shaped region detection is complete, and the detection is stopped, with the detection device ceasing operation.

[0068] See Figure 5 , Figure 5 This is a schematic diagram of the first phase change of the first tag (such as the three first tags Ga to Gc) during the movement of the detection device provided in the embodiment of the present invention. The curve in the figure is the initial phase collected by the detection device at different acquisition points (the acquisition points are represented by the number of sampling steps). The first phase is obtained by fitting the curve after calculating the initial phase. It can be seen that the lowest point of the V-shaped curve of the first tag Ga to Gc appears at the position of the sampling step number 20000. This is the lowest point of the V-shaped curve, representing the minimum value during the phase change process. It corresponds to the moment when the detection device is closest to the object to be located (the first tag). At this time, the detection device is in the position with the shortest distance from the first tag in the horizontal direction (x-axis), which is the key reference point for locating the x-axis coordinate of the first tag.

[0069] Specifically, in step S2, for each first tag, the minimum phase value is found from the first phase sequence, and the acquisition coordinates of the detection device corresponding to the minimum phase value are obtained.

[0070] For example, based on The acquisition time can be obtained through the functions of the mileage sensor or speed sensor of the detection device. The corresponding acquisition coordinates. For example... Figure 5 The first label shown is Ga~Gc. If the corresponding sampling step number is 20000, then the acquisition coordinates of the detection device at this sampling step number can be obtained.

[0071] Specifically, in step S3, the first label with the same acquisition coordinates and the minimum phase value is taken as the target label, and the sorting height of the target label is determined according to the first phase sequence corresponding to the target label.

[0072] For example, due to The moment it appears is the moment when the detection device is closest to the first tag of the item to be located, therefore The corresponding acquisition coordinates of the acquisition device can be equal to the x-coordinates of the object to be located. Since the minimum phase values ​​of the first tags Ga to Gc are all at the same acquisition coordinates, the first tags Ga to Gc are the target tags. Figure 6 As shown, Figure 6This is a schematic diagram of the first label in the same column in different compartments provided by an embodiment of the present invention. Assuming that the acquisition coordinates are the coordinates of acquisition point P6, the target labels Ga to Gc have different heights in the vertical direction at the acquisition point P6. At this time, the sorting height between the three labels is determined according to the first phase sequence corresponding to the target labels Ga to Gc.

[0073] Further, in step S3, determining the sorting height of the target label based on the first phase sequence corresponding to the target label includes: for all acquisition points in the first phase sequence corresponding to each target label, taking the derivative of the first phase corresponding to each acquisition point to obtain the phase derivative of each acquisition point; summing the phase derivatives of all acquisition points to obtain the derivative sum of each target label; and obtaining the sorting height of all target labels based on the magnitude relationship of the derivative sums of each target label.

[0074] For example, objects at different heights at the same horizontal position will exhibit different trends in distance change during the movement of the detection device due to differences in the Euclidean distance from the tag to the antenna. This results in inconsistent rates of change of the V-shaped curves. Based on the curvature of different V-shaped images, the distance between the corresponding tags and the detection device can be distinguished, thereby differentiating the height order of the tags. The first phase obtained from unwinding... The height of the curve may not be the same as the actual theoretical phase. However, by calculating the derivative at each acquisition point during the movement of the detection device, the trend of distance change can be captured more accurately, especially when the difference between objects of different heights is small. Considering that the slope of the V-shaped curve will show an opposite trend during the one-dimensional movement of the detection device, the absolute value of the derivative needs to be taken in the actual calculation. The calculation process of the derivative of the first phase corresponding to different acquisition points satisfies the following formula:

[0075]

[0076] in, To obtain the phase-time curve after the unwinding process of discrete points using filtering and other algorithms, where j represents the j-th item to be located, the absolute value is taken to eliminate the difference in slope direction and to uniformly measure the change range.

[0077] The calculated phase derivatives are then summed, and the summation process satisfies the following formula:

[0078]

[0079] Where N is the number of collection points, i = 1, 2, ..., N.

[0080] According to formula (7), the shelf level of different goods can be determined by the one-dimensional motion of the detection device. It should be noted that the larger the derivative obtained by summation, the higher the position of the item, and the flatter its V-shaped curve will be.

[0081] Specifically, in step S4, the reference data is the second phase of the second tag corresponding to each compartment in the storage device. Alternatively, the reference data is image data of the storage device.

[0082] For example, in this embodiment of the invention, the number of items in the vertical direction can be determined by visual methods. When the detection device can determine the number and position of items in the vertical direction by visual methods, the location of the storage compartment is determined according to the visual recognition result, and the positioning is achieved by matching the height information with the passive positioning result. When the detection device cannot determine the items in the vertical direction by visual or other methods, storage compartment tags need to be deployed on the storage compartment for auxiliary positioning. At this time, all the compartments in the storage device need to be labeled with second tags. After calculating the sorting height of the items according to steps S1 to S3, the second phase corresponding to the compartment is obtained by untangling the known second tags of the compartments, and the items are matched with the compartments according to the likelihood function to obtain the position information of the items.

[0083] In the first embodiment, the reference data is the second phase of the second tag corresponding to each compartment in the storage device. Step S4 specifically includes: for each target tag, calculating the reference likelihood value of the first phase and the second phase corresponding to different compartments respectively; selecting the target likelihood value that meets the matching condition from the reference likelihood values, and taking the compartment corresponding to the target likelihood value as the target compartment; wherein, one target tag corresponds to one target compartment; obtaining the sorting height of the target compartment, matching the sorting height of the item to be located with the sorting height of the target compartment, and obtaining the location information of the item to be located.

[0084] For example, for each target label (e.g. Figure 6For target labels Ga to Gc, calculate the reference likelihood values ​​of the second phases corresponding to different storage cells for each of the first phases in their first phase sequence. For example, calculate the reference likelihood values ​​of the second phases of all the first phases of target label Ga with storage cells A1 to A7, B1 to B7, C1 to C7 (or compare only nearby storage cells, such as multiple storage cells within a certain distance range of target label Ga). This yields 28 reference likelihood values. Select the target likelihood value from these 28 reference likelihood values ​​that satisfies the matching condition (if it is a nearest neighbor difference likelihood function, select the minimum value; if it is an exponential form, select the maximum value). The storage cell corresponding to the target likelihood value is taken as the target storage cell. For example, if storage cell C2 is selected as the target storage cell for target label Ga... The system uses a series of marker cells, such as Ga, Gb, and Gc, to determine the target cell. For example, target cell Gb selects cell C4, target cell Gc selects cell C5, and so on. It's important to note that the system pre-records the sorting order of different cells. By comparing the sorting height of the item to be located with the sorting height of the target cells, a one-to-one match is performed, and the height order is rechecked. If the height match is correct (i.e., the target labels are sorted from highest to lowest as Ga, Gb, Gc, and the cells are sorted from highest to lowest as C2, C4, C5), the matching relationship satisfies Ga-C2, Gb-C4, Gc-C5, which matches the likelihood calculation result. In this case, the location information of the target cell is used as the location information of the item to be located, completing the item's location process. If a match cannot be found, the location is incorrect, and the detection device can be moved again to complete the location process.

[0085] Furthermore, embodiments of the present invention provide a method for calculating the likelihood value between the cell phase value and the actual acquired phase value using a likelihood function (not limited to this, other likelihood functions in the prior art are also applicable), satisfying the following formula:

[0086]

[0087] Among them, h i This is the likelihood value, reflecting the degree of matching between goods and storage spaces. Let be the likelihood function, and calculate the similarity between the item phase and the cell phase. S is the second phase after the lattice is untangled. The range of values ​​for is defined by the principle that the sampling point closest to the target label location outputs the maximum likelihood value.

[0088] We can assume that neighboring acquisition points have the same phase shift, and use the neighbor difference likelihood function, which can be abstracted as follows:

[0089]

[0090] in, It is a normalization function that normalizes the calculation result to a specific range (such as [0,1); It is an abstract function used to handle the calculation logic of phase difference; δ is a very small positive integer representing the differential interval, used to set the interval difference between adjacent acquisition points; The first phase sequence of the object to be located; M is the total number of data collection points; This represents the first phase of the i-th acquisition point in the first phase sequence; This represents the second phase of the i-th point in the grid phase sequence. The calculation measures the difference between two actual phase values ​​acquired at an interval of δ, used to characterize the phase variation trend with the acquisition point. In the likelihood function, this is achieved by comparing the actual phase difference of the object. Phase difference with the grid Determine the matching degree between items and storage slots: If the difference is small, it means that the phase change trends of the two are similar, and the item is likely to match the storage slot; otherwise, the matching probability is low.

[0091] Furthermore, the likelihood function can be converted into an exponential expression, as shown in the following formula:

[0092]

[0093] For example, for all sampling points, if two vectors of length M-δ are used... and Let represent all actual phase differences and cell phase differences in the formula, respectively. If the position is an actual cell, the difference is close to zero, and the absolute value of the accumulated difference is very small; conversely, when the difference is large, the absolute value of the accumulated difference increases. Similarly, 'e' in the formula represents an exponential function, which normalizes the likelihood value to [0,1]. The actual cell position has a maximum value of 1 when there is no interference, while other positions have smaller values. The accumulated result of the absolute values ​​of the phase differences is converted into a likelihood value. The smaller the difference, the closer the exponential part is to 0, and the closer the likelihood value is to 1 (indicating a high match); the larger the difference, the closer the likelihood value is to 0.

[0094] It should be noted that the second phase is obtained by the detection device simultaneously acquiring the initial phase of the second tag when acquiring the initial phase of the first tag, and then unwinding the initial phase of the second tag. In other words, the second phase is acquired and calculated synchronously with the first phase in real time. Alternatively, the second phase can be obtained from a database. In this case, the second phase can be preset and does not need to be acquired every time positioning is required. However, when the detection device acquires the first phase, its sampling process needs to be consistent with the historical sampling process to ensure that there are no errors when comparing the first phase and the second phase in the future.

[0095] In the second embodiment, the reference data is the image data of the storage device. Then step S4 specifically includes: according to the acquisition coordinates corresponding to the target label, finding the reference compartment in the storage device located at the same acquisition coordinates from the image data; matching the sorting height of the item to be located with the sorting height of the items already stored in the reference compartment to obtain the location information of the item to be located.

[0096] For example, if the detection device is equipped with a vision system, after distinguishing the layer height of the item to be located, visual positioning can be used to match the item with the storage compartment. Using visual recognition, the detection device can simultaneously capture images of the storage compartments, confirm whether each reference compartment on the storage device contains an item, match the reference compartments containing items according to their height order and the sorting height obtained by summing the phase sequence, and finally determine the matching relationship between the item to be located and the reference compartments. Then, the location of the reference compartment is taken as the location of the item to be located.

[0097] Furthermore, the real-time speed of the detection device during movement is less than a speed threshold, which is determined based on the wavelength and the sampling time interval of the detection device.

[0098] For example, the basic idea of ​​phase unwrapping is to process the phase value at the current moment based on the phase changes at previous moments. This requires that the spatial sampling frequency must be satisfied for successful unwrapping, and the distance of phase loss must not exceed 1 / 4 wavelength λ. The reading frequency of RFID tags cannot be directly configured, has a certain degree of randomness, and is affected by factors such as environmental equipment performance. Therefore, it is necessary to monitor the reading frequency of the tag to be located in real time and control the forward speed of the detection device to avoid situations where unwrapping failure affects the positioning results.

[0099] Assuming the detection device moves at a speed of v, then the maximum time interval t between two tag readings under the condition of successful unwinding is... max for:

[0100]

[0101] To ensure successful untangling, a ratio α is set, i.e., when the sampling interval between two samples of any target tag is greater than αt. max When the detection device needs to reduce its forward speed, assuming the time interval between two data collections of the tag to be located during the movement of the detection device is Δt, and considering that different detection devices have different speed control modes, only the adjustable speed threshold v is given. max for:

[0102]

[0103] Compared to existing technologies, the positioning method disclosed in this invention, by acquiring the phase information of a first tag and utilizing the correlation between phase and distance, accurately determines the horizontal coordinates when the detection device is closest to the item to be positioned. After determining the horizontal coordinates, it further determines the vertical sorting height of the items in the same column. This horizontal-then-vertical positioning approach effectively distinguishes the positional relationships of multi-layered goods in the vertical direction. Compared to traditional methods, it can more accurately capture key positioning points and improve positioning accuracy, making it particularly suitable for multi-layered storage scenarios such as shelves, enabling the orderly positioning of items of different heights in the same column. Furthermore, by combining the sorting height with reference data to generate position information, it integrates data from both the item height sorting and external references, resulting in a more comprehensive and accurate final positioning result, meeting the high-precision requirements for item position information in scenarios such as warehouse management and logistics automation.

[0104] See Figure 7 , Figure 7 This is a structural block diagram of a positioning device 100 provided in an embodiment of the present invention. The positioning device 100 includes:

[0105] The first phase sequence acquisition module 11 is used to acquire a first phase sequence of at least one first tag; wherein each first tag corresponds to an item to be located, and the first phase sequence includes at least one first phase;

[0106] The coordinate acquisition module 12 is used to find the minimum phase value from the first phase sequence for each first tag, and obtain the acquisition coordinates of the detection device corresponding to the minimum phase value;

[0107] The sorting height determination module 13 is used to take the first label with the same acquisition coordinate as the minimum phase value as the target label, and determine the sorting height of the target label according to the first phase sequence corresponding to the target label;

[0108] The location information acquisition module 14 is used to obtain the location information of the item to be located based on the sorting height and reference data.

[0109] Specifically, the positioning device 100 further includes:

[0110] The phase processing module is used to acquire the initial phase of the first tag at the current moment when the detection device moves in a set direction; to unwrap the initial phase to obtain the first phase; and to integrate all the first phases to obtain the first phase sequence when the movement stops.

[0111] Specifically, the movement stopping condition is that there is a minimum phase value among the initial phases collected at historical times, and the phase difference between the initial phase value collected at the current time and the minimum phase value is greater than a preset difference threshold.

[0112] Specifically, the sorting height determination module 13 is used to: for all acquisition points in the first phase sequence corresponding to each target label, differentiate the first phase corresponding to each acquisition point to obtain the phase derivative of each acquisition point; sum the phase derivatives of all acquisition points to obtain the derivative sum of each target label; and obtain the sorting height of all target labels according to the size relationship of the derivative sum of each target label.

[0113] Specifically, the reference data is the second phase of the second tag corresponding to each compartment in the storage device. The location information acquisition module 14 is specifically used for: calculating the reference likelihood value of the first phase and the second phase corresponding to different compartments for each target tag; selecting the target likelihood value that meets the matching condition from the reference likelihood value, and taking the compartment corresponding to the target likelihood value as the target compartment; wherein, one target tag corresponds to one target compartment; obtaining the sorting height of the target compartment, matching the sorting height of the item to be located with the sorting height of the target compartment, and obtaining the location information of the item to be located.

[0114] Specifically, the second phase is obtained by the detection device simultaneously acquiring the initial phase of the second tag when acquiring the initial phase of the first tag, and then unwinding the initial phase of the second tag; or, the second phase is obtained by searching a database.

[0115] Specifically, if the reference data is the image data of the storage device, then the location information acquisition module 14 is specifically used to: find the reference compartment in the storage device located at the same acquisition coordinates in the image data according to the acquisition coordinates corresponding to the target label; match the sorting height of the item to be located with the sorting height of the items already stored in the reference compartment to obtain the location information of the item to be located.

[0116] Specifically, the real-time speed of the detection device during movement is less than a speed threshold, which is determined based on the wavelength and the sampling time interval of the detection device.

[0117] It is worth noting that the working process of each module in the positioning device 100 described in the embodiments of the present invention can refer to the working process of the positioning method described in the above embodiments, and will not be repeated here.

[0118] See Figure 8 , Figure 8 This is a structural block diagram of a positioning device 200 provided in an embodiment of the present invention. The positioning device 200 includes a processor 21, a memory 22, and a computer program stored in the memory 22 and executable on the processor 21. When the processor 21 executes the computer program, it implements the steps in the above-described positioning method embodiments.

[0119] For example, the computer program may be divided into one or more modules / units, which are stored in the memory 22 and executed by the processor 21 to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the positioning device 200.

[0120] The positioning device 200 may include, but is not limited to, a processor 21 and a memory 22. Those skilled in the art will understand that the schematic diagram is merely an example of the positioning device 200 and does not constitute a limitation on the positioning device 200. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, the positioning device 200 may also include input / output devices, network access devices, buses, etc.

[0121] The processor 21 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor 21 is the control center of the positioning device 200, connecting all parts of the positioning device 200 via various interfaces and lines.

[0122] The memory 22 can be used to store the computer programs and / or modules. The processor 21 implements various functions of the positioning device 200 by running or executing the computer programs and / or modules stored in the memory 22 and calling the data stored in the memory 22. The memory 22 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, phonebook, etc.). In addition, the memory 22 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0123] If the modules / units integrated in the positioning device 200 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by the processor 21, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0124] Furthermore, the present invention also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the positioning method as described in any of the above embodiments.

[0125] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A positioning method, characterized in that, include: Obtain a first phase sequence of at least one first tag; wherein each first tag corresponds to an item to be located, and the first phase sequence includes at least one first phase; For each first tag, find the minimum phase value from the first phase sequence and obtain the acquisition coordinates of the detection device corresponding to the minimum phase value; The first label with the same acquisition coordinates and the minimum phase value is taken as the target label, and the sorting height of the target label is determined according to the first phase sequence corresponding to the target label; The location information of the item to be located is obtained based on the sorting height and reference data.

2. The positioning method as described in claim 1, characterized in that, Before obtaining the first phase sequence of at least one first tag, the method further includes: When the detection device moves in the set direction, the initial phase of the first tag at the current moment is acquired; The initial phase is unwound to obtain the first phase; If the movement stops, all first phases are integrated to obtain the first phase sequence.

3. The positioning method as described in claim 2, characterized in that, The movement stopping condition is that there is a minimum phase value among the initial phases collected in the historical time, and the phase difference between the initial phase value collected at the current time and the minimum phase value is greater than a preset difference threshold.

4. The positioning method as described in claim 1, characterized in that, Determining the sorting height of the target label based on the first phase sequence corresponding to the target label includes: For all acquisition points in the first phase sequence corresponding to each target label, the derivative of the first phase corresponding to each acquisition point is calculated to obtain the phase derivative of each acquisition point. Summing the phase derivatives of all acquisition points yields the sum of derivatives for each target tag; The sorting height of all target labels is obtained based on the relationship between the derivatives of each target label and the sum of their magnitudes.

5. The positioning method as described in claim 1, characterized in that, The reference data is the second phase of the second tag corresponding to each compartment in the storage device. Obtaining the location information of the item to be located based on the sorting height and the reference data includes: For each target label, calculate the reference likelihood value of the second phase corresponding to the first phase and different cells. Select the target likelihood value that meets the matching condition from the reference likelihood values, and take the cell corresponding to the target likelihood value as the target cell; wherein, one target label corresponds to one target cell; Obtain the sorting height of the target cell, match the sorting height of the item to be located with the sorting height of the target cell, and obtain the location information of the item to be located.

6. The positioning method as described in claim 5, characterized in that, The second phase is obtained by the detection device simultaneously acquiring the initial phase of the second tag when acquiring the initial phase of the first tag, and then unwinding the initial phase of the second tag; or, the second phase is obtained by searching a database.

7. The positioning method as described in claim 1, characterized in that, The reference data is image data of the storage device. Obtaining the location information of the item to be located based on the sorting height and the reference data includes: Based on the acquisition coordinates corresponding to the target label, find the reference compartment in the storage device that is located at the same acquisition coordinates from the image data; The sorting height of the item to be located is matched with the sorting height of the items already stored in the reference compartment to obtain the location information of the item to be located.

8. The positioning method as described in claim 2, characterized in that, The real-time speed of the detection device during movement is less than a speed threshold, which is determined based on the wavelength and the sampling time interval of the detection device.

9. A positioning device, characterized in that, include: The first phase sequence acquisition module is used to acquire a first phase sequence of at least one first tag; wherein each first tag corresponds to an item to be located, and the first phase sequence includes at least one first phase; The coordinate acquisition module is used to find the minimum phase value from the first phase sequence for each first tag, and obtain the acquisition coordinates of the detection device corresponding to the minimum phase value; The sorting height determination module is used to take the first label with the same acquisition coordinates as the target label and determine the sorting height of the target label according to the first phase sequence corresponding to the target label; The location information acquisition module is used to obtain the location information of the item to be located based on the sorting height and reference data.

10. A positioning device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the positioning method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform the positioning method as described in any one of claims 1 to 8.

12. A computer program product, characterized in that, Includes a computer program / instruction that, when executed by a processor, implements the positioning method as described in any one of claims 1 to 8.

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