Goods sorting method and equipment based on electronic price tag space positioning and storage medium

Abstract

The invention discloses a goods sorting method and device based on electronic price tag space positioning and a storage medium, and relates to the technical field of data processing.The method comprises the steps that when an order sorting task is received, target goods in the order sorting task are determined; determining an electronic price tag associated with the target commodity, and obtaining the position of the electronic price tag; according to the current position of a target robot executing the order sorting task and the position of the electronic price tag, determining a goods taking path of the target robot; and determining whether goods taking is completed or not through a sensor arranged on a goods shelf, and if it is confirmed that goods taking is completed, updating inventory state information of the target goods according to sensor information. According to the method and the device, the commodities are bound with the electronic price tags, and the electronic price tags are bound with the position information of the shelf, so that the position information of the corresponding electronic price tags and the commodities can be quickly matched, and the sorting efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to a goods sorting method, equipment and storage medium based on electronic price tag spatial positioning. Background Technology

[0002] In retail settings, order sorting relies on manual product identification. Sorters locate products on shelves based on order information. Because products may change location due to restocking, repositioning, or other reasons, sorters often need to repeatedly check the shelves, leading to low sorting efficiency.

[0003] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this application is to provide a goods sorting method, equipment, and storage medium based on electronic price tag spatial positioning, aiming to solve the technical problem of how to improve the efficiency of goods sorting.

[0005] To address the aforementioned problems, this application provides a goods sorting method based on electronic price tag spatial positioning, the goods sorting method based on electronic price tag spatial positioning including:

[0006] Upon receiving an order sorting task, the target product in the order sorting task is determined;

[0007] Determine the price tag identifier for the electronic price tag corresponding to the target product;

[0008] Based on the wireless communication signal corresponding to the price tag received by the wireless communication base station, the location of the target product is determined;

[0009] Based on the current location of the target robot corresponding to the order sorting task and the location of the goods, the pickup path of the target robot is determined and sent to the target robot so that the target robot can perform the goods sorting task according to the pickup path.

[0010] In one embodiment, after the step of determining the price tag identifier of the electronic price tag corresponding to the target product, the goods sorting method based on the spatial positioning of the electronic price tag further includes:

[0011] Obtain the infrared signal detected by the infrared sensor associated with the electronic price tag;

[0012] When the infrared signal changes, the current shelf weight of the shelf is obtained based on the pressure sensor.

[0013] If, within a preset delay period, the weight change of the current plate layer falls within a preset weight range and the infrared signal does not recover;

[0014] Determine the current inventory of the shelf based on the current shelf weight and initial inventory;

[0015] Control the electronic price tags associated with the shelves to update inventory information.

[0016] In one embodiment, the goods sorting method based on electronic price tag spatial positioning further includes:

[0017] When the current inventory of the first product is less than or equal to the preset promotion threshold, obtain the popularity coefficient and abandonment rate coefficient of the first product;

[0018] When the popularity coefficient is greater than the preset popularity threshold and the abandonment rate coefficient is less than the preset abandonment rate threshold, a promotion adjustment instruction is generated based on the product identifier of the first product.

[0019] The discount rate is determined based on the popularity coefficient and the abandonment rate coefficient, and the promotion duration is determined based on the current product inventory.

[0020] A discount scheme is generated based on the discount amount, the promotion duration, and the identifier of the first product, and an update instruction is sent to the electronic shelf label based on the discount scheme.

[0021] In one embodiment, the step of obtaining the popularity coefficient and abandonment rate coefficient of the first product includes:

[0022] Based on the product identifier of the first product, obtain the historical average pick-up value and historical average abandonment rate of the first product;

[0023] The popularity coefficient is determined based on the ratio of the current number of times the item is picked up within a preset time period to the historical average number of times it is picked up.

[0024] The abandonment rate coefficient is determined based on the ratio of the current abandonment rate to the historical average abandonment rate within the preset time period.

[0025] In one embodiment, the step of determining the location of the target product based on the wireless communication signal corresponding to the price tag received by the wireless communication base station includes:

[0026] Send a positioning activation command to the electronic shelf label, the positioning activation command being used to control the electronic shelf label to send a Bluetooth broadcast signal containing the electronic shelf label ID, and / or an RFID tag signal;

[0027] The wireless communication signal generated by the wireless communication base station based on the Bluetooth broadcast signal or the RFID tag signal is acquired.

[0028] The relative distance between the electronic price tag and each of the wireless communication base stations is obtained based on the wireless communication signal;

[0029] Based on a preset trilateration algorithm, the relative distance and the coordinates of the wireless communication base station are used to determine the location of the product.

[0030] In one embodiment, the step of determining the pickup path of the target robot based on the current location of the target robot performing the order sorting task and the location of the electronic price tag includes:

[0031] Based on the grid map, robot movement constraints, and grid traversal difficulty parameters, the calculation rules for the actual movement cost are determined.

[0032] Taking the current position as the starting point, traverse the movable directions of the starting point, and determine the actual movement cost and estimated cost of each movable direction based on the calculation rules.

[0033] The grid corresponding to the minimum sum of the actual movement cost and the estimated cost is used as the exploration point. Traversal is performed based on the exploration point to obtain the actual movement cost and the estimated cost corresponding to the exploration point until the exploration point reaches the position of the electronic price tag.

[0034] The grid path sequence from the starting point to the location of the electronic price tag is identified as the pickup path.

[0035] In one embodiment, the goods sorting method based on electronic price tag spatial positioning further includes:

[0036] When it is detected that the current position of the electronic price tag is different from the target position in the preset price tag position table, the product information and shelf information bound to the electronic price tag are obtained;

[0037] Based on the product information and the shelf information, update the preset product layout diagram.

[0038] In one embodiment, the goods sorting method based on electronic price tag spatial positioning further includes:

[0039] Based on the current position of the variable electronic price tag, determine the current shelf area where the variable electronic price tag is located;

[0040] Determine the target sales strategy corresponding to the current shelf area, and determine the product price based on the target sales strategy;

[0041] The displayed content of the variable electronic price tag is updated based on the product's selling price.

[0042] In addition, to achieve the above objectives, this application also proposes a goods sorting device based on electronic price tag spatial positioning. The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. The computer program is configured to implement the steps of the goods sorting method based on electronic price tag spatial positioning as described above.

[0043] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the goods sorting method based on electronic price tag spatial positioning as described above.

[0044] This application provides a goods sorting method based on electronic shelf tag spatial positioning. Upon receiving an order sorting task, the method extracts the target product code from the order information. Relying on the binding relationship between the product and a unique electronic shelf tag, the corresponding shelf tag identifier can be quickly matched, eliminating the need for sorting personnel to manually memorize or verify product characteristics. Based on the wireless signal received from the shelf tag identifier by a wireless communication base station, combined with the binding of the electronic shelf tag and shelf location information, the product location is determined through positioning technology. This avoids the problem of sorting personnel repeatedly checking shelf tags when products change positions due to restocking or repositioning, a common issue in traditional scenarios. The method plans a picking path based on the current location of the target robot and the product location, and issues instructions to allow the robot to automatically execute the sorting task. This eliminates the time-consuming repeated verification caused by changes in product location, avoids the inefficiency of manual path selection, solves the problem of low efficiency in traditional order sorting, and improves the accuracy and speed of sorting. Attached Figure Description

[0045] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a first flowchart illustrating the goods sorting method based on electronic price tag spatial positioning provided in this application.

[0048] Figure 2 A second flowchart illustrating the goods sorting method based on electronic price tag spatial positioning provided in this application;

[0049] Figure 3A third flowchart illustrating the goods sorting method based on electronic price tag spatial positioning provided in this application;

[0050] Figure 4 This is a schematic diagram of the hardware operating environment involved in the goods sorting method based on electronic price tag spatial positioning in the embodiments of this application.

[0051] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0052] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0053] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0054] To achieve the above objectives, this application proposes a goods sorting method based on electronic price tag spatial positioning. Upon receiving an order sorting task, the method identifies the target product within the order sorting task; identifies the price tag identifier corresponding to the target product; determines the product location based on the wireless communication signal corresponding to the price tag identifier received by a wireless communication base station; and determines the pickup path of the target robot according to the current location of the target robot corresponding to the order sorting task and the product location, and sends the pickup path to the target robot so that the target robot can perform the goods sorting task according to the pickup path.

[0055] In retail settings, order sorting relies on manual product identification. Sorters locate products on shelves based on order information. Because products may change location due to restocking, repositioning, or other reasons, sorters often need to repeatedly check the shelves, leading to low sorting efficiency.

[0056] This application provides a goods sorting method based on electronic shelf tag spatial positioning. Upon receiving an order sorting task, the method extracts the target product code from the order information. Relying on the binding relationship between the product and a unique electronic shelf tag, the corresponding shelf tag identifier can be quickly matched, eliminating the need for sorting personnel to manually memorize or verify product characteristics. Based on the wireless signal received from the shelf tag identifier by a wireless communication base station, combined with the binding of the electronic shelf tag and shelf location information, the product location is determined through positioning technology. This avoids the problem of sorting personnel repeatedly checking shelf tags when products change positions due to restocking or repositioning, a common issue in traditional scenarios. The method plans a picking path based on the current location of the target robot and the product location, and issues instructions to allow the robot to automatically execute the sorting task. This eliminates the time-consuming repeated verification caused by changes in product location, avoids the inefficiency of manual path selection, solves the problem of low efficiency in traditional order sorting, and improves the accuracy and speed of sorting.

[0057] It should be noted that the executing entity in this embodiment can be a computing service device with network communication and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or apparatus capable of performing the above functions. The following description uses a goods sorting device based on electronic price tag spatial positioning as an example to illustrate this embodiment and the subsequent embodiments.

[0058] Based on this, the embodiments of this application provide a goods sorting method based on the spatial positioning of electronic price tags, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the goods sorting method based on electronic price tag spatial positioning in this application.

[0059] In this embodiment, the goods sorting method based on electronic price tag spatial positioning is applied to goods sorting equipment based on electronic price tag spatial positioning, and the method includes steps S10 to S40:

[0060] Step S10: Receive the order sorting task and determine the target product in the order sorting task.

[0061] Step S20: Determine the price tag identifier of the electronic price tag corresponding to the target product.

[0062] In this embodiment, electronic shelf labels are associated with both the shelf and the product information. Each electronic shelf label has a unique hardware identifier, such as a MAC address or serial number. The unique identifier of each electronic shelf label is mapped one-to-one with the product's attribute information, such as SKU code, name, specifications, price, promotional information, and inventory quantity. The electronic shelf labels are physically attached to specific shelf positions using adhesive or clips. The initial physical coordinates of the label are recorded, forming a dynamic association between the electronic shelf label identifier and the shelf position. When the product moves, this association is updated synchronously with the label coordinates. When the product information or shelf position changes, an update command is sent to the corresponding label via wireless communication to ensure complete consistency between the label display content, shelf position records, and backend data. When an order sorting task is received, the SKU code of the target product is extracted from the order information, and a database query is used to match the unique corresponding electronic shelf label identifier.

[0063] Step S30: Based on the wireless communication signal corresponding to the price tag received by the wireless communication base station, determine the location of the target product.

[0064] In this embodiment, the electronic shelf label's identifier is bound to the hardware address of the Bluetooth and RFID modules built into the label. Multiple wireless access points, such as Bluetooth base stations or RFID readers, are deployed in the supermarket and warehouse environment. These wireless access points scan wireless signals within their coverage area in real time. When they capture a broadcast signal transmitted by the electronic shelf label, they record information such as signal strength, signal phase difference, and timestamp. The relative distance between the electronic shelf label and each wireless access point is determined based on the signal strength or signal phase difference received by each access point. Based on the relative distance and the coordinates of the wireless access points, the position of the electronic shelf label is obtained using the distance formula between two points, and this position is used as the location of the target product.

[0065] A predefined reminder rule base is used to bind order picking tasks to price tag LED actions. For example, when an item is included in a picking order, the corresponding price tag flashes red slowly; when the positioning module detects that the distance between the picker and the price tag is less than a preset distance, the LED switches to solid green; when the sensor detects that the item has been taken and picking is complete, the LED turns off.

[0066] The unique product ID of the target product is extracted from the order and matched with the unique corresponding electronic price tag ID through an association table, resulting in a list of target price tag IDs to be reminded. The preset reminder instruction is encapsulated into a standardized data frame, including: the target price tag ID, the reminder action instruction (which can be an LED flashing red or slow flashing mode), and the instruction validity period. The instruction is sent to the target price tag via a wireless communication network. Upon receiving the flashing instruction data frame, the target price tag parses the received instruction based on its built-in MCU (Microcontroller Unit). It first verifies whether the price tag ID matches its own; if a match is confirmed, it extracts the LED action instruction. The MCU sends a level signal to the LED control circuit and simultaneously sends feedback to the system via a wireless module, confirming successful instruction execution and ensuring the system is aware that the reminder has taken effect. The price tag's LED light then performs the lighting and flashing actions according to the instruction, which staff can quickly identify visually. When the sorter finds and takes the target product according to the LED reminder, the pressure sensor and / or infrared sensor on the shelf detect that the product has left the storage location and send a picking completion signal. After receiving the signal, the system sends a termination reminder instruction to the target price tag. After the price tag parses the instruction, the MCU cuts off the power to the LED control circuit, the LED light goes out, and at the same time, it sends a feedback that the reminder has been terminated.

[0067] Optionally, if an order contains multiple items, reminder instructions are issued in batches according to the sorting route plan. Only the price tag that needs to be picked now will light up; price tags that have been picked or are not yet in the order will not light up to avoid visual interference. For example, shelf B can be made to flash red slowly first, and shelf C can be triggered to light up after picking is completed.

[0068] Step S40: Based on the current location of the target robot corresponding to the order sorting task and the location of the goods, determine the pickup path of the target robot and send the pickup path to the target robot so that the target robot can perform the goods sorting task according to the pickup path.

[0069] In this embodiment, based on the current position coordinates of the target robot, the position coordinates of the target product's electronic price tag (i.e., the replenishment task point), and environmental data such as obstacles, a grid map or topology map containing the task start point, task end point, and environmental constraints is determined. The physical site is divided into square grids with side length L, represented by a two-dimensional array, where 0 represents a passable grid, 1 represents an obstacle grid, and 2 represents a difficult grid, such as a slope, narrow passage, etc., requiring weighted cost. The physical coordinates are converted to grid coordinates, where the grid row number i = y / L and column number j = x / L corresponding to a point (x, y), resulting in a grid map with passability and difficulty markers, as well as the start point and end point grids in the grid map. A route from the task start point to the task end point is searched on the grid map or topology map based on a preset path planning algorithm. The nodes of the initial path are traversed, and it is determined whether three consecutive nodes can be simplified to a straight line; the remaining turning points are processed with arc transitions, and right-angle turns are replaced with smooth arcs according to the minimum turning radius to obtain the final replenishment path. The location points of the path are converted into motion commands that the robot can execute, so as to control the target robot to perform replenishment tasks based on the replenishment path.

[0070] In one feasible implementation, the steps for determining the replenishment route based on the A* algorithm include:

[0071] Based on the grid map, robot movement constraints, and grid traversal difficulty parameters, the calculation rules for actual movement costs are determined. Taking the current position as the starting point, the robot traverses all possible movement directions from the starting point, determining the actual and estimated movement costs for each direction based on the calculation rules. The grid corresponding to the minimum sum of the actual and estimated movement costs is selected as the exploration point. Traversal is performed based on this exploration point to obtain its corresponding actual and estimated movement costs, until the exploration point reaches the location of the electronic price tag. The grid path sequence from the starting point to the location of the electronic price tag is confirmed as the replenishment path.

[0072] In this implementation, the starting and ending coordinates are converted into a grid table, and a cost function is defined as: f(n) = g(n) + h(n), where g(n) is the actual movement cost from the starting point to the current grid n, and h(n) is the estimated cost from the current grid n to the target point. Robot movement constraints refer to the directions the robot is allowed to move in, such as the four directions (up, down, left, right) or the eight directions including the diagonals. The grid traversal difficulty parameter is a numerical value used to represent the traversal cost or difficulty level of a grid area. The base cost is the distance cost of moving between adjacent grids; for example, the base cost from (i, j) to (i±1, j) is 1, corresponding to an actual distance L. The movement cost of grids marked as difficult (marked 2) is weighted by difficulty to ensure the algorithm prioritizes easy routes; the movement cost of obstacle grids marked as 1 is infinite. The estimated cost is calculated based on Manhattan distance or Euclidean distance. The actual movement cost of the starting point g(S) = 0, and h(S) is calculated according to the h(n) rule. Create a priority queue, sorted in ascending order of f(n). Add the starting point S to the queue. Pop the grid with the smallest f(n) from the priority queue as the exploration point. If the grid coordinates of the exploration point are equal to the destination, terminate the exploration; otherwise, continue. Traverse all allowed movement directions of the exploration point to obtain adjacent grids. Calculate the obstacles in adjacent grids and the cost function between adjacent grids and the exploration point. Starting from the starting point, prioritize exploring the grid with the smallest f(n), gradually expanding the search range until the grid containing the target point is reached. Record the grids traversed during the search process to form the initial path from the starting point to the target point.

[0073] In one feasible implementation, path planning is based on Dijkstra's algorithm. In the topology graph, key locations such as aisle intersections and shelf gaps are marked as nodes, and passable routes between nodes are marked as edges, with the edge weight being the route length. Distance values ​​are assigned to all nodes, with the distance to the task starting point being 0 and other nodes having an infinite distance. The previous node reaching the task starting point is also stored. Starting from the task starting point, its adjacent nodes are traversed, and the distance values ​​of adjacent nodes are updated. The node with the smallest distance value among the unprocessed nodes is selected, and the traversal steps are repeated, updating the distance values ​​of its adjacent nodes. This process continues until the electronic price tag is reached; the distance at this point is the shortest path length from the task starting point to the task endpoint.

[0074] In this embodiment, upon receiving an order sorting task, the target product code is extracted from the order information. Based on the binding relationship between the product and a unique electronic price tag, the corresponding price tag identifier can be quickly matched, eliminating the need for sorting staff to manually memorize or verify product characteristics. Using a wireless communication base station to receive the wireless signal from the price tag identifier, combined with the binding of the electronic price tag and shelf location information, the product location is determined through positioning technology. This avoids the problem of sorting staff repeatedly checking shelf labels when products change positions due to restocking or repositioning, a common issue in traditional scenarios. Based on the target robot's current location and the product's location, a retrieval path is planned and instructions are issued, allowing the robot to automatically execute the sorting task. This eliminates the time-consuming repeated verification caused by changes in product location, avoids the inefficiency of manual path selection, solves the problem of low efficiency in traditional order sorting, and improves the accuracy and speed of sorting.

[0075] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description and will not be repeated hereafter. Furthermore, after step S20, the above-mentioned goods sorting method based on electronic price tag spatial positioning may further include steps A10 to A50:

[0076] Step A10: Obtain the infrared signal detected by the infrared sensor associated with the electronic price tag.

[0077] Step A20: When the infrared signal changes, obtain the current shelf weight of the shelf based on the pressure sensor.

[0078] In this embodiment, sensors are installed on the shelf to determine the current inventory of goods. These sensors can be one or more of the following: pressure sensors, laser sensors, image recognition sensors, or RFID sensors. Pressure sensors detect changes in the weight of shelf pallets or hooks to determine if goods have been taken. Laser sensors emit infrared light or laser beams to detect changes in the signal of goods obstructing the shelf. Image recognition sensors capture images of the shelf using a camera and utilize computer vision algorithms such as YOLO or Mask R-CNN to identify changes in the position and quantity of goods. RFID / NFC sensors detect whether RFID tags or NFC chips attached to goods have moved out of the shelf reader's range. Once it is confirmed that a customer has taken goods, the current inventory is updated based on the sensor information.

[0079] In this embodiment, the detection of product retrieval is based on pressure sensors and infrared sensors. Pressure sensors are embedded in the bottom of each shelf's support plate to measure the total weight of all products on that shelf. By detecting the total weight in real time, the number of products retrieved is calculated based on weight changes. Infrared sensors are positioned above or to the side of the product display area on each shelf. When products are present, they block the infrared beam, thus obstructing the signal. When a product is removed, the beam is restored, and the signal is unobstructed. The infrared sensors collect infrared signal data streams at a fixed frequency. When products are displayed on the shelf in a preset position, their volume obstructs the light path between the infrared transmitter and receiver. For example, if a through-beam infrared sensor is installed at the edge of the shelf, the side of the product blocks the beam. The infrared receiver cannot receive the complete beam, and the signal strength is lower than when there is no obstruction. When a customer removes a product, the previously obstructed infrared light path is unblocked, and the infrared light emitted by the transmitter can directly reach the receiver, causing the signal strength to quickly recover from its low value.

[0080] Based on a preset periodic reading of infrared signal intensity, the current infrared signal intensity value is compared with a baseline range. If the signal intensity read below the lower limit of the baseline for a preset number of consecutive readings, it is determined that the infrared signal has changed, and an infrared signal status indicator is output; if the signal remains within the baseline range, it is determined that there is no change. By continuously detecting multiple times, transient interference, such as temporary dust obstruction, is filtered out to ensure that subsequent operations are initiated only when there is a real object obstructing the signal. Upon receiving an infrared signal change indicator, a data request is sent to the pressure sensor, and the current layer weight is continuously collected for a preset number of times and the average value is calculated and used as the initial weight baseline value, while simultaneously recording the collection timestamp.

[0081] Step A30: When the weight change of the current plate layer is within a preset weight range and the infrared signal has not recovered within a preset delay period.

[0082] In this embodiment, starting from the timestamp of the initial weight acquisition completion, a preset delay period is initiated. During this delay period, the current weight value of the pressure sensor is read at a preset frequency to calculate the weight change; the infrared signal intensity is read to determine whether it has recovered to the baseline range; at the end of the delay period, the final weight change and infrared signal status are extracted. This delay period eliminates the possibility of a customer picking up and then putting the item back. If the weight change is within the preset range and the infrared signal has not recovered, it is determined that the customer has taken the item; if either condition is not met, it is determined that the item has not been taken. Through dual verification of weight change and infrared signal status, genuine item pickup behavior is accurately identified, reducing false positives.

[0083] Step A40: Determine the current inventory of the shelf based on the current shelf weight and the initial inventory.

[0084] Step A50: Control the electronic price tags associated with the shelf to update inventory information.

[0085] In this embodiment, the number of items taken is obtained by dividing the absolute value of the weight change by the standard weight of a single item. The number of items taken is then subtracted from the current inventory quantity to obtain the inventory quantity of the current shelf layer. The identification code of the corresponding item for that shelf layer is retrieved from the product information database, confirming the binding relationship between the product identification code and the electronic shelf tag. A complete instruction containing the product identification code, the electronic shelf tag address, the current inventory, and a verification code is generated. The instruction is wirelessly transmitted to the target electronic shelf tag address via a gateway. The electronic shelf tag continuously monitors its frequency band. Upon receiving an instruction, it first verifies the frame header and footer to confirm its validity. It then extracts the product identification code from the instruction and compares it with its pre-stored bound product identification codes. If they match, the electronic shelf tag recalculates the verification value of the received instruction frame and compares it with the verification code carried in the instruction. If the verification matches, the inventory quantity is extracted and overwritten with the old inventory value stored internally on the shelf tag. The shelf tag controls the display screen driver module to update the inventory on the screen.

[0086] In this embodiment, sensors on the shelves monitor whether goods have been taken, and the inventory status is updated synchronously upon receiving sensor signals. This eliminates the lag of traditional periodic inventory checks, ensuring the accuracy and efficiency of subsequent order sorting while reducing the manpower required for manual inventory checks.

[0087] Based on the first embodiment of this application, in the third embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 The above-mentioned goods sorting method based on electronic price tag spatial positioning may further include steps B10 to B40:

[0088] Step B10: When the current inventory of the first product is less than or equal to a preset promotion threshold, obtain the popularity coefficient and abandonment rate coefficient of the first product.

[0089] Step B20: When the popularity coefficient is greater than the preset popularity threshold and the abandonment rate coefficient is less than the preset abandonment rate threshold, a promotion adjustment instruction is generated based on the product identifier of the first product.

[0090] In this embodiment, when the current inventory of the first product is less than or equal to a preset promotion threshold, the first product is marked as a promotional target to be analyzed, and its product identifier is extracted. Further, the decision to promote the first product is determined based on its abandonment rate and popularity. When the popularity coefficient is greater than a preset popularity threshold, the first product is determined to be a high-popularity product; when the abandonment rate coefficient is less than a preset abandonment rate threshold, the purchase trend of the first product is determined to be increasing; when both conditions are met, the promotional plan for the first product is adjusted. Through dual threshold verification, it is ensured that promotions are only targeted at products with high popularity and high conversion potential, improving the accuracy of promotions.

[0091] Step B30: Determine the discount range based on the popularity coefficient and the abandonment rate coefficient, and determine the promotion duration based on the current product inventory.

[0092] Step B40: Generate a discount scheme based on the discount amount, the promotion duration, and the identifier of the first product, and send an update instruction to the electronic shelf label based on the discount scheme.

[0093] In this implementation, a pre-set discount rule table is established, mapping between popularity coefficient ranges and discount rates, inventory quantity and discount duration, and purchase limits. For example, a popularity coefficient of 1.5 < popularity coefficient ≤ 2.0 corresponds to a maximum discount of 20%, and an inventory of 5 ≤ inventory < 10 items corresponds to a promotion duration of 4 hours. The corresponding discount rate is determined based on the popularity coefficient and abandonment rate coefficient, and the promotion duration is determined based on the current inventory quantity. A discount scheme is generated based on the discount price, discount effective time, discount end time, purchase limits, and product identifiers determined according to the discount rate.

[0094] The system retrieves the electronic shelf tag ID corresponding to the product identifier and sends the discount scheme as an instruction to the corresponding electronic shelf tag to modify the information displayed on the electronic shelf tag. A pre-stored list of products and electronic shelf tags is maintained, recording the electronic shelf tag ID for each product and whether the binding relationship is valid. The system retrieves the electronic shelf tag information associated with the product identifier from the binding list; if a valid record is found, the ID is confirmed as the unique identifier of the target electronic shelf tag. The discount scheme is converted into an information format recognizable by the electronic shelf tag, resulting in structured display information conforming to the shelf tag format. For example, the first line displays the price: "Current Price: 80.00 yuan" (rounded to two decimal places, conforming to the shelf tag price display standard); the second line displays the time-limited information: "Time Limit: 10:00-14:00" (simplified time format, adapted to display length); the third line displays the purchase limit rule: "Purchase Limit: 2 items per person" (using concise text to summarize the rule). Based on the electronic shelf tag ID, the converted structured display information, and the electronic shelf tag communication protocol, instructions are generated. Upon receiving an instruction, the electronic shelf tag verifies whether the target ID in the instruction matches its own ID. If they do not match, the instruction is ignored. If the IDs match, the shelf tag uses a built-in algorithm to calculate the verification code of the instruction and compares it with the verification code carried in the instruction to confirm that the information has not been tampered with or damaged. After successful verification, the shelf tag parses the display content in the instruction and updates the information on the screen according to the format requirements, overwriting the original display. After the update is complete, the shelf tag returns a confirmation signal indicating successful display. The electronic shelf tag screen successfully displays discount information, allowing users to intuitively see the latest prices and promotional rules of the products.

[0095] Optionally, a minimum acceptable discount price can be determined based on the cost price of the goods and the target gross profit margin, with the maximum acceptable discount price equal to the cost price and (1 - target gross profit margin). The discount is valid when the discount price calculated based on the discount margin is greater than or equal to the minimum acceptable discount price.

[0096] Specifically, step B10 may include steps B11 to B12:

[0097] Step B11: Based on the product identifier of the first product, obtain the historical average pick-up value and historical average abandonment rate of the first product.

[0098] In this implementation, when a valid pickup action is detected based on infrared and pressure sensors (i.e., a customer has taken out an item), a structured log entry is generated and stored in an event log table. The log fields include: item identifier, the event in which the action occurred, and associated shelf information, electronic price list information, etc. Using SQL queries, log entries that meet the criteria are filtered from the event log table and counted. The identifier associated with the first item and the number of orders associated with the pickup event are retrieved from the order table, thus obtaining the number of times the first item was picked up and purchased. From the historical behavior table in the data warehouse, the average number of pickups and the average number of purchases for the same period, such as from 9:00 AM each day to 9:00 AM the next day, are extracted.

[0099] Step B12: Determine the popularity coefficient based on the ratio of the current number of times picked up within a preset time period to the historical average number of times picked up.

[0100] Step B13: Determine the abandonment rate coefficient based on the ratio of the current abandonment rate to the historical average abandonment rate within the preset time period.

[0101] In this implementation, the popularity coefficient is calculated based on the ratio of the current number of times items are picked up to the historical average number of times they are picked up. The current abandonment rate is calculated based on the ratio of the difference between the number of times items are picked up and the number of times they are purchased to the number of times items are picked up. The historical average abandonment rate is calculated based on the ratio of the difference between the historical average number of times items are picked up and the historical average number of times they are purchased. The abandonment rate coefficient is the ratio of the current abandonment rate to the historical average abandonment rate. Promotional strategies are adjusted based on product inventory information, and dual threshold checks ensure that promotions target only products with high popularity and conversion potential, thus improving promotional accuracy.

[0102] Based on the first embodiment of this application, in the fourth embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description and will not be repeated hereafter. Based on this, step S30 may include steps S31 to S34:

[0103] Step S31: Send a positioning activation command to the electronic shelf label. The positioning activation command is used to control the electronic shelf label to send a Bluetooth broadcast signal containing the electronic shelf label ID and / or an RFID tag signal.

[0104] In this embodiment, a pre-set product and electronic shelf tag binding relationship table records the correspondence between product identifiers and shelf tag IDs. The electronic shelf tag has a built-in Bluetooth and / or RFID module. The binding relationship table is used to query the electronic shelf tag ID corresponding to the identifier of the target product. A positioning activation command is sent to the electronic shelf tag according to a preset communication protocol, such as a LoRa-based control command format. The command includes parameters such as activation type and signal transmission frequency to control the electronic shelf tag to activate its Bluetooth module or RFID tag. After receiving the command, the electronic shelf tag periodically sends a Bluetooth broadcast signal or RFID tag signal containing its own ID.

[0105] Step S32: Obtain the wireless communication signal generated by the wireless communication base station based on the Bluetooth broadcast signal or the RFID tag signal.

[0106] In this embodiment, positioning base stations are pre-deployed, each with a built-in Bluetooth receiver and RFID reader. The Bluetooth module of the base station scans Bluetooth broadcast packets at preset intervals and extracts the signal strength value of packets containing electronic price tag IDs to determine the relative distance between the base station and the electronic price tag; or, based on the RFID reader continuously receiving radio frequency signals, the phase is analyzed through a phase-locked loop circuit to determine the relative distance between the base station and the electronic price tag.

[0107] In one feasible implementation, when the location of an electronic shelf label is determined based on its built-in ID via Bluetooth, the base station's Bluetooth module continuously monitors the Bluetooth broadcast channel via its radio frequency front-end. The scanning period is controlled by an internal timer, and each scan lasts for a preset duration to ensure coverage of all broadcast channels and is synchronized with the electronic shelf label's broadcast period, avoiding missing any periodic broadcasts. The Bluetooth broadcast packets sent by the electronic shelf label conform to the BLE protocol specification, and their structure includes fields such as a preamble, access address, broadcast data (including the label's unique ID), and CRC checksum. When the base station's Bluetooth module receives a broadcast packet, it first filters it using a fixed access address to exclude other types of wireless signals, such as Wi-Fi and ZigBee. Then, it parses the broadcast data field, extracts the label ID, matches it with the target electronic shelf label ID, and retains packets that match successfully. The Bluetooth module's RF chip has a built-in RSSI detection circuit. For a matched broadcast packet, the module synchronously reads the corresponding RSSI value from the RF chip's register. It continuously collects data a preset number of times according to preset rules, calculates the arithmetic mean of the collected RSSI values, and uses the result as the final signal strength value for that period for subsequent distance calculation.

[0108] In one feasible implementation, when the location of an electronic price tag is determined based on its built-in ID via Bluetooth, the RFID tag embedded in the electronic price tag is an active tag. The tag modulates a baseband signal containing its own ID onto a carrier wave through an antenna, forming a modulated signal that propagates in the form of electromagnetic waves. The reader includes a receiving antenna, an RF front-end (amplifier, mixer), a phase-locked loop (PLL) circuit, and an ADC converter, etc. The RFID reader tracks the phase change of the tag signal through the PLL. After the RFID reader antenna at the base station receives the electromagnetic wave, the RFID reader converts the received electromagnetic wave into an electrical signal, which is amplified by a low-noise amplifier and has out-of-band noise filtered out. The amplified signal enters the mixer and is mixed with the carrier wave generated by the reader's local oscillator to output an intermediate frequency (IF) signal. The IF signal is converted into a digital signal by the ADC, from which the ID information is extracted, and the phase information of the original RF signal is transmitted to the PLL circuit. A phase-locked loop (PLL) consists of a phase detector, a low-pass filter, and a voltage-controlled oscillator (VCO). The phase detector compares the phase of the received signal with the phase of the VCO output signal, outputting a phase difference voltage. The low-pass filter converts this phase difference voltage into a DC control voltage, adjusting the VCO frequency to ensure the VCO signal phase tracks the received signal phase, stabilizing the phase difference within a minimal range. Once the PLL is stable, the stable phase difference output by the phase detector is the signal phase difference between the tag and the reader. Phase difference values ​​are continuously collected a preset number of times, and the median is taken as the final phase difference value for that period, used for subsequent distance calculations.

[0109] Step S33: Obtain the relative distance between the electronic price tag and each of the wireless communication base stations based on the wireless communication signal.

[0110] In this embodiment, the phase difference or signal strength value is combined with the trilateration algorithm to determine the price tag position. First, the signal data representing the phase difference or RSSI is converted into the relative distance from the price tag to each base station. Then, based on the trilateration principle, the price tag position is solved using the three distances and the base station coordinates.

[0111] In one feasible implementation, the relative distance from the price tag to each base station is calculated using RSSI. RSSI reflects the degree of signal attenuation during propagation; the greater the distance, the greater the attenuation. RSSI(d) = RSSI(d0) - 10n·log(d / d0) + Xσ, where RSSI(d) is the signal strength at distance d from the base station, d0 is a preset reference distance, RSSI(d0) is the calibrated signal strength at d0, n is the path loss exponent, and Xσ is the random error caused by environmental noise. Substituting the average RSSI values ​​RSSI1, RSSI2, and RSSI3 output by each base station into the above formula, the relative distances from the electronic price tag to the three base stations are obtained.

[0112] In one feasible implementation, the relative distance from the electronic price tag to each base station is calculated using the phase difference. The phase difference is a direct mapping between the phase change and distance during radio frequency signal propagation. For every wavelength of electromagnetic wave propagation, the phase changes by 360°; therefore, distance and phase difference are linearly related, as shown in the formula:

[0113] Δφ=(2πd) / λ+φ0;

[0114] in, The measured phase difference is λ, where λ is the wavelength of the radio frequency signal, and λ = speed of light / signal frequency. Let be the initial phase difference, and d be the distance from the price tag to the base station. The median phase difference output by each base station is first calibrated to eliminate the initial phase difference. The phase difference caused by actual propagation is obtained. Then substitute the values ​​into the formula to calculate the distance: The relative distances from the electronic price tags to the three base stations were obtained.

[0115] Step S34: Based on a preset trilateration algorithm, the relative distance, and the coordinates of the wireless communication base station, determine the location of the product.

[0116] It should be noted that in the trilateration algorithm, circles are drawn with the three base stations as centers and the corresponding distances as radii, and the intersection of the three circles is the location of the electronic price tag.

[0117] In this embodiment, the relative distances of the electronic price tag to the three base stations are d1, d2, and d3, respectively. The preset coordinates of the three base stations are (x1, y1), (x2, y2), and (x3, y3), and the coordinates of the electronic price tag are (x, y). According to the formula for the distance between two points, (x-x1) 2 +(y-y1) 2 =d1 2 (x-x2) 2 +(y-y2) 2 =d2 2 (x-x3) 2 +(y-y3) 2 =d3 2 Based on the above three formulas, the coordinates of the electronic price tag are obtained.

[0118] Based on the first embodiment of this application, in the fourth embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 The goods sorting method based on electronic price tag spatial positioning may also include steps C10 to C20:

[0119] Step C10: When it is detected that the current position of the electronic price tag is different from the target position in the preset price tag position table, the product information and shelf information bound to the electronic price tag are obtained.

[0120] In this embodiment, the database stores a preset price tag location table, which contains the physical location of each price tag. It also stores a product layout diagram, including the locations of fixed facilities such as shelves and aisles, as well as the relationships between products and price tags / shelves. The product layout diagram marks the electronic price tags and their corresponding shelf locations and products. For example, the electronic price tag with ID 001 corresponds to the second shelf in section A, and its corresponding product identifier is A01. The current position of the electronic price tag is obtained based on a preset period. The target position of the electronic price tag is extracted from the price tag location table and compared with its current position. If the distance between adjacent tags exceeds a threshold, it is determined that the electronic price tag has changed position. For electronic price tags determined to have changed position, their status is marked as needing layout updates.

[0121] Based on the current location of the electronic shelf label, query the site coordinate table to determine the actual shelf location and associated products of the electronic shelf label. Remove the electronic shelf label from the original shelf and products, re-associate it to the new shelf and products, and update the association table.

[0122] Step C20: Update the preset product layout diagram based on the product information and the shelf information.

[0123] In this embodiment, the original icon is located in the product icon layer of the product layout diagram by searching for the product identifier, and then hidden, so that the original icon is no longer displayed in its original position. Based on the current position of the price tag and combined with the product placement rules of the shelf layer, the position of the new icon is determined, and the product icon is drawn with the new icon as the center. The product name and other information are labeled next to the icon.

[0124] Save the updated layout diagram to the database, overwriting the old version; push the layout diagram update notification to all related front-end display interfaces, such as the mall management backend and employee mobile apps, to trigger interface refresh and ensure that all terminals display the latest status.

[0125] In this embodiment, when the electronic price tag changes position due to product relocation, shelf adjustment, or other reasons, the product layout map can be automatically updated to ensure that the digital map is consistent with the actual product placement position, providing accurate spatial reference for scenarios such as mall management, robot replenishment, and customer navigation.

[0126] After step C20, steps C30 to C50 may also be included:

[0127] Step C30: Based on the current position of the variable electronic price tag, determine the current shelf area where the variable electronic price tag is located.

[0128] Step C40: Determine the target sales strategy corresponding to the current shelf area, and determine the product price based on the target sales strategy.

[0129] Step C50: Update the display content of the variable electronic price tag based on the product price.

[0130] In this embodiment, the unique ID of the variable price tag and its current coordinates (3.5, 1.5) are obtained and marked as an object to be processed. Based on the price tag and product binding relationship table, the product information associated with the price tag, such as product name, product identifier, and product type, is obtained. The preset shelf area coordinate mapping table is traversed, and the current coordinates of the price tag are compared with the position range of each shelf area one by one to determine the shelf area where the electronic price tag is currently located. If the coordinates fall on the edge of multiple areas at the same time, the area with the largest area ratio in the overlapping area is taken as the current area or manual confirmation is triggered. The shelf area and sales strategy association table is queried through the current shelf area to obtain the corresponding sales strategy, and the applicable product category, price calculation rules, and effective time range information of the strategy are extracted. It is checked whether the current time is within the effective range and whether the product category is consistent. If not, the default strategy is used, such as selling at the original price; if it is within the effective range and the product category is consistent, the target sales strategy is confirmed to be effective.

[0131] The system retrieves the original price of the product from the basic product information table and calculates the selling price according to strategy rules. A standardized update instruction is generated based on the price tag communication protocol. This update instruction can include information such as the product name, selling price, and promotional period, modifying the displayed content of the electronic price tag. Optionally, the price and other information to be updated can be transmitted to the exciter via Ethernet or a serial communication port. The exciter drives a loop antenna to transmit RF radio signals carrying product data to the sales floor or warehouse. The electronic shelf label is a wireless data receiver with an identification code, capable of converting the received RF signal back into a valid digital signal and displaying it.

[0132] In this embodiment, when a product moves to a new shelf area due to a change in price tag position, it can automatically match the sales strategy of that area, such as promotions or discounts, and update the price displayed on the price tag in real time without manual intervention. This ensures that the product price is synchronized with the operational strategy of the area, improving the efficiency and accuracy of price management.

[0133] This application provides a goods sorting device based on electronic price tag spatial positioning, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the goods sorting method based on electronic price tag spatial positioning in the above embodiment 1.

[0134] The following is for reference. Figure 4 The diagram illustrates a structural schematic of a goods sorting device based on electronic price tag spatial positioning, suitable for implementing embodiments of this application. The goods sorting device based on electronic price tag spatial positioning in the embodiments of this application may include, but is not limited to, mobile terminals such as laptops, personal digital assistants (PDAs), tablet computers (PADs), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The illustrated goods sorting equipment based on electronic price tag spatial positioning is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0135] like Figure 4 As shown, the goods sorting equipment based on electronic price tag spatial positioning may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1002 or a program loaded from storage device 1003 into random access memory (RAM) 1004. The random access memory 1004 also stores various programs and data required for the operation of the goods sorting equipment based on electronic price tag spatial positioning. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the goods sorting equipment based on electronic shelf label spatial positioning to exchange data wirelessly or via wired communication with other devices. Although the figure shows goods sorting equipment based on electronic shelf label spatial positioning with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0136] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0137] The goods sorting equipment based on electronic price tag spatial positioning provided in this application, employing the goods sorting method based on electronic price tag spatial positioning in the above embodiments, can solve the technical problem of how to improve the efficiency of goods sorting. Compared with the prior art, the beneficial effects of the goods sorting equipment based on electronic price tag spatial positioning provided in this application are the same as the beneficial effects of the goods sorting method based on electronic price tag spatial positioning provided in the above embodiments, and other technical features in the goods sorting equipment based on electronic price tag spatial positioning are the same as the features disclosed in the method of the previous embodiment, and will not be repeated here.

[0138] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0139] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0140] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the goods sorting method based on electronic price tag spatial positioning in the above embodiments.

[0141] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, radio frequency (RF), etc., or any suitable combination thereof.

[0142] The aforementioned computer-readable storage medium may be included in a goods sorting device based on electronic shelf label spatial positioning; or it may exist independently and not assembled into the goods sorting device based on electronic shelf label spatial positioning. The aforementioned computer-readable storage medium carries one or more programs that, when executed by the goods sorting device based on electronic shelf label spatial positioning, cause the goods sorting device based on electronic shelf label spatial positioning to: upon receiving an order sorting task, determine the target product in the order sorting task; determine the electronic shelf label associated with the target product and obtain the position of the electronic shelf label; determine the pickup path of the target robot based on the current position of the target robot executing the order sorting task and the position of the electronic shelf label; determine whether pickup has been completed using sensors installed on the shelf; and if pickup is confirmed to be completed, update the inventory status information of the target product based on sensor information.

[0143] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0144] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0145] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0146] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described goods sorting method based on electronic price tag spatial positioning, thereby solving the technical problem of how to improve the efficiency of goods sorting. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the goods sorting method based on electronic price tag spatial positioning provided in the above embodiments, and will not be repeated here.

[0147] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A goods sorting method based on electronic price tag spatial positioning, characterized in that, The application is applied to a picking system, and the goods picking method based on electronic price tag spatial positioning comprises the following steps: An order picking task is received, and a target commodity in the order picking task is determined; A price tag identifier of an electronic price tag corresponding to the target commodity is determined; A commodity position corresponding to the target commodity is determined based on a wireless communication signal corresponding to the price tag identifier received by a wireless communication base station; A picking path of a target robot corresponding to the order picking task is determined according to a current position of the target robot and the commodity position, and the picking path is sent to the target robot, so that the target robot performs a goods picking task according to the picking path.

2. The electronic price tag space-based positioning based goods sorting method according to claim 1, wherein, After the step of determining the price tag identifier of the electronic price tag corresponding to the target commodity, the goods picking method based on electronic price tag spatial positioning further comprises the following steps: An infrared signal detected by an infrared sensor associated with the electronic price tag is acquired; When the infrared signal changes, a current shelf layer weight of a shelf acquired based on a pressure sensor is acquired; When, within a preset delay period, the weight change of the current shelf layer is within a preset weight interval and the infrared signal has not recovered; A current inventory of the shelf is determined according to the current shelf layer weight and an initial inventory; An electronic price tag associated with the shelf is controlled to update inventory information.

3. The electronic price tag space-based positioning based goods sorting method according to claim 1, wherein, The goods picking method based on electronic price tag spatial positioning further comprises the following steps: When a current commodity inventory of a first commodity is less than or equal to a preset promotion threshold, a heat coefficient and an abandonment rate coefficient of the first commodity are acquired; When the heat coefficient is greater than a preset heat threshold and the abandonment rate coefficient is less than a preset abandonment rate threshold, a promotion adjustment instruction is generated according to a commodity identifier of the first commodity; A discount range is determined according to the heat coefficient and the abandonment rate coefficient, and a promotion duration is determined based on the current commodity inventory; A discount scheme is generated according to the discount range, the promotion duration and the identifier of the first commodity, and an update instruction is sent to the electronic price tag based on the discount scheme.

4. The electronic price tag space-based positioning based goods sorting method according to claim 3, wherein, The step of acquiring the heat coefficient and the abandonment rate coefficient of the first commodity comprises the following steps: A historical pickup average and a historical average abandonment rate of the first commodity are acquired according to a commodity identifier of the first commodity; The heat coefficient is determined based on a ratio of a current pickup number in a preset time period to the historical pickup average; The abandonment rate coefficient is determined based on a ratio of a current abandonment rate in the preset time period to the historical average abandonment rate.

5. The electronic price tag space-based positioning based goods sorting method according to claim 1, wherein, The step of determining the commodity position corresponding to the target commodity based on the wireless communication signal corresponding to the price tag identifier received by the wireless communication base station comprises the following steps: A positioning activation instruction is sent to the electronic price tag, and the positioning activation instruction is used to control the electronic price tag to send a Bluetooth broadcast signal containing an electronic price tag ID and / or an RFID tag signal; The wireless communication signal generated by the wireless communication base station based on the Bluetooth broadcast signal or the RFID tag signal is acquired; The relative distance between the electronic price tag and each wireless communication base station is acquired based on the wireless communication signal. The position of the commodity is determined based on a preset trilateration algorithm, the relative distance, and coordinates of the wireless communication base station.

6. The electronic price tag space-based positioning based goods sorting method according to claim 1, wherein, The step of determining the picking path of the target robot based on the current position of the target robot performing the order picking task and the position of the electronic price tag comprises: A calculation rule of actual movement cost is determined based on a grid map, robot movement constraints, and grid passage difficulty parameters. The current position is taken as a starting point, movable directions of the starting point are traversed, and actual movement cost and estimated cost of each movable direction are determined based on the calculation rule. A grid corresponding to a minimum sum of actual movement cost and estimated cost is taken as an exploration point, traversal is performed based on the exploration point, actual movement cost and estimated cost corresponding to the exploration point are obtained until the exploration point reaches the position of the electronic price tag. A grid path sequence from the starting point to the position of the electronic price tag is confirmed as the picking path.

7. The electronic price tag space-based positioning based goods sorting method according to claim 1, wherein, The electronic price tag space positioning-based goods picking method further comprises: When it is detected that the current position of the electronic price tag is different from a target position in a preset price tag position table, commodity information and shelf information bound to the electronic price tag are obtained. The preset commodity layout map is updated based on the commodity information and the shelf information.

8. The electronic price tag space-based positioning based goods sorting method according to claim 7, wherein, The electronic price tag space positioning-based goods picking method further comprises: A current shelf area in which the variable electronic price tag is located is determined based on the current position of the variable electronic price tag. A target sales strategy corresponding to the current shelf area is determined, and a commodity selling price is determined based on the target sales strategy. Display content of the variable electronic price tag is updated based on the commodity selling price.

9. A goods sorting apparatus based on electronic price tag spatial positioning, characterized by, The device comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the electronic price tag space positioning-based goods picking method according to any one of claims 1 to 8.

10. A storage medium, characterized by The storage medium is a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the electronic price tag space positioning-based goods picking method according to any one of claims 1 to 8.

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