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

Abstract

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

Description

[0001] This application is a divisional application of the invention application filed on November 20, 2024, with Chinese application number 202411666148.9 and invention title "An Automated Selective Plating Method Based on High-Precision Positioning and Tracking". Technical Field

[0002] This invention relates to the field of Internet of Things (IoT) technology, and in particular to an automated selective plating system, method, and device based on high-precision positioning and tracking. Background Technology

[0003] Ambient IoT (A-IoT) is a branch of IoT technology that focuses on utilizing energy from the environment to power devices, thereby reducing dependence on external power sources. This technology allows devices to harvest energy from environmental sources such as radio waves, light, motion, and heat, achieving self-sufficiency. Specifically, A-IoT devices can collect energy from their surroundings, for example, through solar panels, thermoelectric generators, or vibration energy harvesters. These devices are typically designed for low power consumption to maximize energy efficiency. For example, in a factory environment, A-IoT can be used to locate A-IoT devices (such as products, materials, and equipment) by inventorying them.

[0004] However, ensuring positioning accuracy in A-IoT scenarios is a current research challenge. Summary of the Invention

[0005] This invention provides an automated plating selection method based on high-precision positioning and tracking, which uses A-IoT high-precision positioning to achieve tracking of the plating selection.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: Firstly, an automated selective plating method based on high-precision positioning and tracking is provided. This method is applied to AIoTF in AIoT. The method includes: during the selective plating process performed by the electroplating equipment, the AIoTF receives the arrival delays of the AIoT devices reported by four readers, for a total of four arrival delays. The four arrival delays are the times required for the signals sent by the AIoT devices at the first moment to reach the four readers respectively; the AIoT devices are placed on the electroplating equipment and move with the electroplating equipment during the selective plating process; the AIoTF determines the position of the AIoT devices based on at least three of the four arrival delays; and the AIoTF determines the movement trajectory of the electroplating equipment to perform selective plating based on the position of the AIoT devices.

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

[0008] Optionally, AIoTF determines the location of the AIoT device based on at least three of the four distances and the positions of at least three readers corresponding to at least three of the four distances. This includes: AIoTF selecting the top three largest distances from the four distances; AIoTF determining whether the AIoT device can be located based on the three distances and the positions of the top three readers corresponding to the three distances; if the AIoT device can be located, AIoTF determines the location of the AIoT device based on the three distances and the positions of the top three readers; if the AIoT device cannot be located, AIoTF determines the location of the AIoT device based on the four distances and the positions of the four readers.

[0009] Optionally, the first three readers include reader #1, reader #2, and reader #3, and the three distances include the distance d1 from the AIoT device to reader #1, the distance d2 from the AIoT device to reader #2, and the distance d3 from the AIoT device to reader #3. Based on this, AIoTF determines whether it can locate the AIoT device according to the three distances and the positions of the first three readers corresponding to the three distances among the four readers. This includes: AIoTF determining a circle #1 with the position w1 of reader #1 as the center and the distance d1 as the radius, a circle #2 with the position w2 of reader #2 as the center and the distance d2 as the radius, and a circle #3 with the position w3 of reader #3 as the center and the distance d3 as the radius; AIoTF determines whether it can locate the AIoT device based on the position of the intersection of circles #1, #2, and #3.

[0010] Optionally, the intersections of circles #1, #2, and #3 include: intersections #1 and #2 between circles #1 and #2, intersections #3 and #4 between circles #1 and #3, and intersections #5 and #6 between circles #2 and #3. Based on this, AIoTF determines whether it can locate an AIoT device according to the positions of the intersections of circles #1, #2, and #3, including: AIoTF determines the three closest intersections from intersections #1 to #6 as intersections x1, x2, and x3 based on the distance between each pair of intersections. If the distance between each pair of intersections x1, x2, and x3 is less than the distance between any two intersections... If the distances between intersection points x1, x2, and x3 are all greater than or equal to the distance threshold, then AIoTF determines that the positions of intersection points x1, x2, and x3 cannot be used to locate the AIoT device. If the distance between any two of the intersection points x1, x2, and x3 is less than the distance threshold, then AIoTF determines that the positions of intersection points x1, x2, and x3 can be used to locate the AIoT device. Accordingly, if the positions of intersection points x1, x2, and x3 can be used to locate the AIoT device, AIoTF determines the location of the AIoT device based on the three distances and the positions of the first three readers, including: AIoTF averages the positions of intersection points x1, x2, and x3 to obtain the location of the AIoT device.

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

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

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

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

[0015] Secondly, an automated selective plating system based on high-precision positioning and tracking is provided. This system includes an AIoTF (Automatic Internet of Things) component. The system is configured such that: during the selective plating process performed by the electroplating equipment, the AIoTF receives the arrival delays of the AIoT devices reported by four readers, for a total of four arrival delays. The four arrival delays are the times required for the signals sent by the AIoT devices at the first moment to reach the four readers respectively; the AIoT devices are placed on the electroplating equipment and move with the electroplating equipment during the selective plating process; the AIoTF determines the position of the AIoT devices based on at least three of the four arrival delays; and the AIoTF determines the movement trajectory of the electroplating equipment to perform the selective plating based on the position of the AIoT devices.

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

[0017] Optionally, AIoTF determines the location of the AIoT device based on at least three of the four distances and the positions of at least three readers corresponding to at least three of the four distances. This includes: AIoTF selecting the top three largest distances from the four distances; AIoTF determining whether the AIoT device can be located based on the three distances and the positions of the top three readers corresponding to the three distances; if the AIoT device can be located, AIoTF determines the location of the AIoT device based on the three distances and the positions of the top three readers; if the AIoT device cannot be located, AIoTF determines the location of the AIoT device based on the four distances and the positions of the four readers.

[0018] Optionally, the first three readers include reader #1, reader #2, and reader #3, and the three distances include the distance d1 from the AIoT device to reader #1, the distance d2 from the AIoT device to reader #2, and the distance d3 from the AIoT device to reader #3. Based on this, AIoTF determines whether it can locate the AIoT device according to the three distances and the positions of the first three readers corresponding to the three distances among the four readers. This includes: AIoTF determining a circle #1 with the position w1 of reader #1 as the center and the distance d1 as the radius, a circle #2 with the position w2 of reader #2 as the center and the distance d2 as the radius, and a circle #3 with the position w3 of reader #3 as the center and the distance d3 as the radius; AIoTF determines whether it can locate the AIoT device based on the position of the intersection of circles #1, #2, and #3.

[0019] Optionally, the intersections of circles #1, #2, and #3 include: intersections #1 and #2 between circles #1 and #2, intersections #3 and #4 between circles #1 and #3, and intersections #5 and #6 between circles #2 and #3. Based on this, AIoTF determines whether it can locate an AIoT device according to the positions of the intersections of circles #1, #2, and #3, including: AIoTF determines the three closest intersections from intersections #1 to #6 as intersections x1, x2, and x3 based on the distance between each pair of intersections. If the distance between each pair of intersections x1, x2, and x3 is less than the distance between any two intersections... If the distances between intersection points x1, x2, and x3 are all greater than or equal to the distance threshold, then AIoTF determines that the positions of intersection points x1, x2, and x3 cannot be used to locate the AIoT device. If the distance between any two of the intersection points x1, x2, and x3 is less than the distance threshold, then AIoTF determines that the positions of intersection points x1, x2, and x3 can be used to locate the AIoT device. Accordingly, if the positions of intersection points x1, x2, and x3 can be used to locate the AIoT device, AIoTF determines the location of the AIoT device based on the three distances and the positions of the first three readers, including: AIoTF averages the positions of intersection points x1, x2, and x3 to obtain the location of the AIoT device.

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

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

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

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

[0024] Thirdly, an electronic device is provided, comprising: a processor and a memory; the memory is used to store a computer program, which, when executed by the processor, causes the electronic device to perform the method described in the first aspect.

[0025] In one possible design, the electronic device described in the third aspect may further include a transceiver. This transceiver may be a transceiver circuit or an interface circuit. The transceiver can be used for communication between the electronic device described in the third aspect and other electronic devices.

[0026] In the embodiments of the present invention, the electronic device described in the third aspect may be a terminal, or a chip (system) or other component or assembly disposed in the terminal, or a system containing the terminal.

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

[0028] In summary, taking electroplating scenarios, such as selective plating (i.e., electroplating with dynamic path planning rather than full path planning), as an example, AIoT devices can be placed on the electroplating equipment and move with it during the selective plating process. Therefore, during the selective plating process, AIoTF can receive the arrival delays of the AIoT devices reported by the four readers, i.e., four arrival delays. AIoTF can determine the location of the AIoT devices based on at least three of the four arrival delays to achieve higher-precision positioning. Then, based on the location of the AIoT devices, AIoTF determines the movement trajectory of the electroplating equipment to perform selective plating, thereby achieving more accurate tracking of the electroplating equipment. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the architecture of an Internet of Things (IoT) system provided in an embodiment of the present invention; Figure 2 This is a flowchart illustrating an automated plating selection method based on high-precision positioning and tracking, provided in an embodiment of the present invention. Figure 3 This is a schematic diagram illustrating a scenario of an automated plating selection method based on high-precision positioning and tracking, provided by an embodiment of the present invention. Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0030] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0031] In this embodiment of the invention, "instruction" can include direct and indirect instructions, as well as explicit and implicit instructions. The information indicated by a certain piece of information is called the information to be instructed. In specific implementation, there are many ways to instruct the information to be instructed, such as, but not limited to, directly instructing the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly instruct the information to be instructed by instructing other information, where there is a correlation between the other information and the information to be instructed. It can also instruct only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various pieces of information, thereby reducing instruction overhead to some extent. Simultaneously, common parts of various pieces of information can be identified and uniformly indicated to reduce the instruction overhead caused by individually indicating the same information.

[0032] Furthermore, the specific indication method can also be any existing indication method, such as, but not limited to, the above-mentioned indication methods and their various combinations. Specific details of various indication methods can be found in existing technologies, and will not be elaborated upon here. As described above, for example, when multiple pieces of information of the same type need to be indicated, the indication methods for different pieces of information may differ. In specific implementation, the required indication method can be selected according to specific needs. This embodiment of the invention does not limit the selected indication method; therefore, the indication methods involved in this embodiment of the invention should be understood to cover various methods that enable the party to be indicated to obtain the information to be indicated.

[0033] It should be understood that the information to be indicated can be sent as a whole or divided into multiple sub-information messages sent separately, and the sending period and / or timing of these sub-information messages can be the same or different. The specific sending method is not limited in this embodiment of the invention. The sending period and / or timing of these sub-information messages can be predefined, for example, according to a protocol, or configured by the sending device by sending configuration information to the receiving device.

[0034] "Predefined" or "pre-configured" can be achieved by pre-saving corresponding codes, tables, or other means that can be used to indicate relevant information in the device. This embodiment of the invention does not limit the specific implementation method. "Saving" can refer to saving in one or more memories. These memories can be separate installations or integrated into the encoder, decoder, processor, or electronic device. Alternatively, some memories can be separately installed, while others are integrated into the decoder, processor, or electronic device. The type of memory can be any form of storage medium, and this embodiment of the invention does not limit this.

[0035] In the embodiments of this invention, "protocol" may refer to a protocol family in the field of communication, a standard protocol with a similar protocol family frame structure, or a related protocol to be applied in future systems. The embodiments of this invention do not specifically limit this.

[0036] In this embodiment of the invention, descriptions such as "when," "under the circumstances," "if," and "if" all refer to the device making corresponding processing under certain objective circumstances, and are not limited to a specific time. They do not require the device to make a judgment action during implementation, nor do they imply any other limitations.

[0037] In the description of the embodiments of the present invention, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. "And / or" in the embodiments of the present invention is merely a description of the relationship between the related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. Furthermore, in the description of the embodiments of the present invention, unless otherwise stated, "multiple" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple. Additionally, to facilitate a clear description of the technical solutions of the embodiments of the present invention, the terms "first" and "second" are used in the embodiments of the present invention to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or order of execution, and that "first," "second," etc., are not necessarily different. Furthermore, in the embodiments of this invention, words such as "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this invention should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner for ease of understanding.

[0038] The network architecture and business scenarios described in the embodiments of this invention are for the purpose of more clearly illustrating the technical solutions of the embodiments of this invention, and do not constitute a limitation on the technical solutions provided by the embodiments of this invention. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of this invention are also applicable to similar technical problems.

[0039] To facilitate understanding of the embodiments of the present invention, firstly, let's take... Figure 1 The IoT system shown in the figure is an example, Figure 1 This is a schematic diagram of the architecture of an Internet of Things system applicable to an automated plating method based on high-precision positioning and tracking, provided in an embodiment of the present invention.

[0040] like Figure 1 As shown, the IoT system may include: an Ambient IoT Function (AIoTF), a reader, and an AIoT device.

[0041] AIoTMF is used to instruct the reader to perform AIoT-related operations, such as inventory, reading, and writing, according to the business operations indicated by the application. Alternatively, AIoTF can also be called Ambient IoT management function (AIoTMF). This application does not restrict the naming of AIoTF; any function deployed on the network side that manages the reader can be understood as AIoTF.

[0042] Readers can be radio access network (RAN) devices, such as base stations, pole stations, micro base stations, macro stations, etc., or they can be terminal devices, such as mobile phones, IoT devices, handheld readers, etc. Readers can conduct contactless two-way data communication via radio frequency (RF) to read and write tags, thereby achieving target identification and data exchange. For example, for passive tags, when they enter the effective identification range of the reader, they can receive the RF signal emitted by the reader and transmit the information stored in the chip using the energy obtained from the induced current. Alternatively, for semi-passive or active tags, they can actively transmit signals at a certain frequency. The reader receives and decodes the information and sends it to the central information system for relevant data processing.

[0043] A-IoT devices can be categorized into three types: Device A, Device B, and Device C. Device A or Device 1a can be understood as similar to passive A-IoT devices. Passive A-IoT devices can be in the form of tags or any other terminal form, without restriction. Device B or Device 1b can be understood as similar to semi-passive A-IoT devices. Semi-passive A-IoT devices can obtain energy through solar, radio frequency, wind, hydro, or tidal power, with no restriction on the energy acquisition method. These nodes do not have their own power supply devices such as batteries, but obtain energy from the environment to support data sensing, transmission, and distributed computing. Device C or Device 1c can be understood as similar to active A-IoT devices. For ease of understanding, the terms "A-IoT device" and "tag" can be used interchangeably. Alternatively, an A-IoT device can also be considered an A-IoT terminal or tag, etc.

[0044] AIoT devices can be terminal devices, i.e., terminals. These terminals can be terminals with transceiver capabilities, or chips or chip systems that can be installed on them. Terminals can also be referred to as user equipment (UE), access terminals, subscriber units, user stations, mobile stations (MS), mobile stations, remote stations, remote terminals, mobile devices, user terminals, terminals, wireless communication equipment, user agents, or user devices. The terminals in the embodiments of this application may be mobile phones, cellular phones, smartphones, tablets, wireless data cards, personal digital assistants (PDAs), wireless modems, handsets, laptop computers, machine-type communication (MTC) terminals, computers with wireless transceiver capabilities, virtual reality (VR) terminals, augmented reality (AR) terminals, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical care, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, vehicle-mounted terminals, roadside units (RSUs) with terminal functions, etc. The terminal in this application may also be an on-board module, on-board unit, on-board component, on-board chip, or on-board unit that is built into the vehicle as one or more components or units. Alternatively, the terminal may also be customer-premises equipment (CPE).

[0045] Figure 2 This is a flowchart illustrating the method provided in an embodiment of the present invention. This automated plating method based on high-precision positioning and tracking is applicable to the aforementioned Internet of Things (IoT) system and involves the interaction between devices within the IoT system. The specific process is as follows: S201, during the selective plating process of the electroplating equipment, the AIoTF receives the arrival delay of the AIoT devices reported by the four readers, for a total of four arrival delays.

[0046] The AIoT device is mounted on the electroplating equipment and moves with it during the electroplating process. The signal range of the four readers can cover the AIoT device. The AIoTF can send a pre-installation instruction to the four readers, carrying a mask containing the Electronic Device Identifier (EPC) of the AIoT device, instructing the four readers to install the AIoT device. Upon receiving the pre-installation instruction, the four readers can trigger random access for the AIoT device. For example, the four readers first send a paging message carrying the aforementioned mask. After receiving the paging messages from each of the four readers, the AIoT device sends an RN16 (a 16-bit random number) to each of the four readers to resolve contention. The RN16 sent by the AIoT device to each of the four readers is randomly generated by the AIoT device, rather than reusing an RN16 sent from one of the four readers to a specific reader. Afterwards, each of the four readers returns an ACK based on the received RN16, thus completing the random access.

[0047] After completing random access, the AIoT device can send signals to each of the four readers at the first moment. The first moment can be determined by the AIoT device itself, with no specific restrictions. The signal sent at the first moment carries the AIoT device's identifier. This identifier is obtained by constructing the information indicating the first moment into the AIoT device's EPC (Electronic Processing Unit). For example, if the information indicating the first moment is a fixed 8 bits, and for the i-th reader (where i is an integer from 1 to 4), the RN16 sent by the AIoT device to the i-th reader is denoted as RN16#i. The AIoT device uses the value of RN16#i modulo the length of its EPC (i.e., the number of bits in the EPC, such as 16 bits, 32 bits, 64 bits, etc.). If the modulo result is S1, where S1 is an integer greater than or equal to 0. Then, the AIoT device can embed the 8 bits indicating the first moment into the S1 to S1+1 bits of the EPC to obtain the identifier of the AIoT device sent to the i-th reader. Accordingly, each of the four readers is configured to: determine the arrival delay (e.g., t1-t2) of the signal based on the time when the above signal is received (e.g., t1) and the information indicating the first moment carried by the AIoT device's identifier (e.g., the first moment is t2). Thus, four arrival delays can be obtained, which are the times required for the signal sent by the AIoT device at the first moment to reach the four readers respectively.

[0048] Taking the i-th reader as an example, the i-th reader can save RN16#i. When it obtains the identifier of the AIoT device from the received signal, it performs the reverse process of the above-mentioned AIoT device processing logic, extracts the information indicating the first moment from the identifier of the AIoT device, and thus determines the first moment. At this time, the remaining information in the identifier of the AIoT device is the EPC of the AIoT device. In this way, the i-th reader also obtains the EPC of the AIoT device, that is, it realizes the inventory.

[0049] It is understandable that because the RN16 sent by the AIoT device to the four readers are different, the position of the information indicating the first moment in the EPC can also be different. This allows the AIoT device identifier sent by the AIoT device to the four readers to be different, thereby improving information security.

[0050] Next, taking the i-th reader out of four readers as an example, the i-th reader can randomly generate a random number #i. That is, the random number #i is an integer randomly generated by the i-th reader within a preset range, such as 0-100, 0-200, etc., without restriction. The arrival delay of the above signal to the i-th reader is denoted as the arrival delay #i. The i-th reader can construct the delay indication information #i into the EPC of the AIoT device based on the latest count value of the NAS counter of the i-th reader and the random number #i, obtaining the identification information #i. This delay indication information #i indicates the arrival delay #i. For example, the random number #i takes the value k1, the latest count value of the non-access stratum (NAS) counter of the i-th reader is j#i, where j#i is an integer greater than or equal to 0, the length of the delay indication information #i is a fixed 8 bits, M#i is an integer greater than or equal to 16, and the length of the EPC of the AIoT device is a fixed M#i-8 bits. The i-th reader inserts the consecutive 8 bits of the delay indication information #i after the N#i-th bit of the EPC of the AIoT device according to (k1+j#i)mod(M#i-8)=N#i, to obtain the identification information #i. `mod` represents the modulo operation, and the length of the identification information #i is M#i bits. Then, the i-th reader sends the identification information #i and the random number #i to the AIoTF. The AIoTF receives the identification information #i and the random number #i reported by the i-th reader. Based on the random number #i and the latest count value of the NAS counter of the i-th reader, the AIoTF extracts the delay indication information #i from the identification information #i. For example, AIoTF also executes the logic of the i-th reader. AIoTF extracts 8 consecutive bits after the N#i-th bit of the identification information #i according to (k1+j#i)mod(M#i-8)=N#i. The 8 consecutive bits are the delay indication information #i. The remaining bits after extracting the delay indication information #i from the identification information #i are the EPC of the AIoT device, which realizes the inventory.

[0051] It can be understood that the NAS counter of the i-th reader is a counter configured for the interaction of NAS messages between the i-th reader and the AIoTF. Unlike existing NAS messages, the NAS messages involved in this application embodiment refer to messages specifically used for communication between the AIoTF and the reader. For example, the identification information #i and the random number #i sent by the i-th reader are carried in the NAS message. This application embodiment does not limit the specific type or naming of these messages. With the interaction of NAS messages, the reader and the AIoTF synchronously update the count value of the reader's NAS counter. For example, if the reader sends a NAS message to the AIoTF and the AIoTF replies to the reader to confirm successful reception, then both the reader and the AIoTF will update and increment the count value of the reader's NAS counter by 1. When the count value reaches a threshold, such as 16, if it is updated and incremented by 1 again, it is flipped to 0, and then the cycle repeats.

[0052] It's also understandable that, similar to the reporting logic of AIoT devices, since the latest count value of each reader's NAS counter may be different, the location where the delay indication information is constructed in the EPC may also differ. This allows each reader to send different identification information to the AIoTF, thereby improving information security. Because the reader does not directly send the EPC to the AIoTF, but instead constructs the EPC, the risk of direct EPC exposure is reduced, especially in scenarios where the terminal acts as the reader, where the effect is particularly noticeable.

[0053] S202, AIoTF determines the location of AIoT devices based on at least 3 of the 4 arrival delays.

[0054] S1: AIoTF can determine the distance between the AIoT device and the four readers at the first moment based on the four arrival delays. For example, each arrival delay multiplied by the speed of light is the distance, for a total of four distances.

[0055] S2: AIoTF can determine the location of AIoT devices based on at least three of the four distances and the locations of at least three readers corresponding to at least three of the four distances.

[0056] AIoTF selects the top three largest distances from four possible distances. Based on these three distances and the positions of the top three readers corresponding to these three distances, AIoTF determines whether it can locate the AIoT device. For example, the top three readers include reader #1, reader #2, and reader #3; the three distances include distance d1 from the AIoT device to reader #1, distance d2 from the AIoT device to reader #2, and distance d3 from the AIoT device to reader #3. AIoTF can define a circle #1 centered at position w1 of reader #1 with a radius of d1; a circle #2 centered at position w2 of reader #2 with a radius of d2; and a circle #3 centered at position w3 of reader #3 with a radius of d3. AIoTF then determines whether it can locate the AIoT device based on the location of the intersection of circles #1, #2, and #3. For example, ... Figure 3 As shown in (a), the intersections between circles #1, #2 and #3 include: intersections #1 and #2 between circles #1 and #2, intersections #3 and #4 between circles #1 and #3, and intersections #5 and #6 between circles #2 and #3.

[0057] It is understandable that, theoretically, the circles mentioned above can be tangent to each other, meaning there is only one intersection point. However, in practice, due to measurement errors, the circles usually intersect, meaning there are two intersection points.

[0058] AIoTF determines the three closest intersection points (x1, x2, and x3) from intersection points #1 to #6 based on the distance between any two intersection points. If the distance between any two intersection points x1, x2, and x3 is greater than or equal to a distance threshold, AIoTF determines that these locations cannot be used to locate the AIoT device. This is because a large arrival delay error leads to a large distance, resulting in a significant location error for the AIoT device. If the distance between two of the intersection points x1, x2, and x3 is less than the distance threshold, AIoTF determines that these locations can be used to locate the AIoT device. If the AIoT device can be located, AIoTF determines its location based on the three distances and the positions of the first three readers. For example, if the positions of intersection x1, intersection x2, and intersection x3 can be used to locate the AIoT device, AIoTF will average the positions of intersection x1, intersection x2, and intersection x3 to obtain the location of the AIoT device.

[0059] If the AIoT device cannot be located, AIoTF determines its location based on four distance measurements and the positions of four readers. For example, ... Figure 3 As shown in (b), the fourth reader out of the four readers (excluding the first three) is reader #4, and the fourth distance out of the four distances (excluding the three distances) is the distance d4 from the AIoT device to reader #4. AIoTF determines a circle #4 with the position w4 of reader #4 as the center and the distance d4 as the radius. The intersection points of circle #4 and circle #1 include intersection points #7 and #8, the intersection points of circle #4 and circle #2 include intersection points #9 and #10, and the intersection points of circle #4 and circle #3 include intersection points #11 and #12. Based on the distance between every two intersection points from #1 to #12, AIoTF determines the three closest intersection points from #1 to #12 as intersection points y1, y2, and y3 (i.e., intersection points #3, #7, and #11). AIoTF calculates the average of the positions of intersection points y1, y2, and y3 to obtain the position of the AIoT device.

[0060] It's understandable that longer distances lead to larger arrival delay errors. Therefore, the arrival delay error at the shortest distance, d4, is most suitable for error correction and improving positioning accuracy. Thus, AIoTF can first try using three distances with slightly larger errors, such as distances d1, d2, and d3, for positioning. If the positioning error meets the requirements at this point, then distance d4 is not needed for correction; otherwise, distance d4 is used for correction to ensure that the positioning accuracy meets high-precision requirements.

[0061] S203, AIoTF determines the movement trajectory of the electroplating equipment to perform selective plating based on the location of the AIoT device.

[0062] The movement trajectory of the electroplating equipment performing selective plating includes the previously determined position of the AIoT device. AIoTF can connect the previously determined position of the AIoT device with the currently determined position to update the movement trajectory. If the currently determined position of the AIoT device is the first time it has been determined, AIoTF can connect the preset starting position of the electroplating equipment's selective plating performance with the currently determined position to update the movement trajectory. During the selective plating process, the above method can be executed multiple times. At this time, AIoTF can determine whether its determined movement trajectory matches the dynamically set trajectory to achieve line tracking.

[0063] In summary, taking electroplating scenarios, such as selective plating (i.e., electroplating with dynamic path planning rather than full path planning), as an example, AIoT devices can be placed on the electroplating equipment and move with it during the selective plating process. Therefore, during the selective plating process, AIoTF can receive the arrival delays of the AIoT devices reported by the four readers, i.e., four arrival delays. AIoTF can determine the location of the AIoT devices based on at least three of the four arrival delays to achieve higher-precision positioning. Then, based on the location of the AIoT devices, AIoTF determines the movement trajectory of the electroplating equipment to perform selective plating, thereby achieving more accurate tracking of the electroplating equipment.

[0064] The above combination Figure 2 The method provided by the embodiments of the present invention is described in detail below. The following describes in detail an automated selective plating system based on high-precision positioning and tracking for implementing the method provided by the embodiments of the present invention. This system includes an AIoTF (Automatic Internet of Things) in the AIoT framework. The system is configured such that: during the selective plating process of the electroplating equipment, the AIoTF receives arrival delays of the AIoT devices reported by four readers, totaling four arrival delays. These four arrival delays are the times required for the signals sent by the AIoT devices at a first moment to reach the four readers respectively; the AIoT devices are placed on the electroplating equipment and move with the electroplating equipment during the selective plating process; the AIoTF determines the position of the AIoT devices based on at least three of the four arrival delays; and the AIoTF determines the movement trajectory of the electroplating equipment for the selective plating process based on the position of the AIoT devices.

[0065] Optionally, AIoTF determines the location of the AIoT device based on at least three of the four arrival delays, including: AIoTF determines the distances between the AIoT device and four readers at the first moment, for a total of four distances, based on the four arrival delays; AIoTF determines the location of the AIoT device based on at least three of the four distances and the locations of at least three readers corresponding to at least three of the four distances.

[0066] Optionally, AIoTF determines the location of the AIoT device based on at least three of the four distances and the positions of at least three readers corresponding to at least three of the four distances. This includes: AIoTF selecting the top three largest distances from the four distances; AIoTF determining whether the AIoT device can be located based on the three distances and the positions of the top three readers corresponding to the three distances; if the AIoT device can be located, AIoTF determines the location of the AIoT device based on the three distances and the positions of the top three readers; if the AIoT device cannot be located, AIoTF determines the location of the AIoT device based on the four distances and the positions of the four readers.

[0067] Optionally, the first three readers include reader #1, reader #2, and reader #3, and the three distances include the distance d1 from the AIoT device to reader #1, the distance d2 from the AIoT device to reader #2, and the distance d3 from the AIoT device to reader #3. Based on this, AIoTF determines whether it can locate the AIoT device according to the three distances and the positions of the first three readers corresponding to the three distances among the four readers. This includes: AIoTF determining a circle #1 with the position w1 of reader #1 as the center and the distance d1 as the radius, a circle #2 with the position w2 of reader #2 as the center and the distance d2 as the radius, and a circle #3 with the position w3 of reader #3 as the center and the distance d3 as the radius; AIoTF determines whether it can locate the AIoT device based on the position of the intersection of circles #1, #2, and #3.

[0068] Optionally, the intersections of circles #1, #2, and #3 include: intersections #1 and #2 between circles #1 and #2, intersections #3 and #4 between circles #1 and #3, and intersections #5 and #6 between circles #2 and #3. Based on this, AIoTF determines whether it can locate an AIoT device according to the positions of the intersections of circles #1, #2, and #3, including: AIoTF determines the three closest intersections from intersections #1 to #6 as intersections x1, x2, and x3 based on the distance between each pair of intersections. If the distance between each pair of intersections x1, x2, and x3 is less than the distance between any two intersections... If the distances between intersection points x1, x2, and x3 are all greater than or equal to the distance threshold, then AIoTF determines that the positions of intersection points x1, x2, and x3 cannot be used to locate the AIoT device. If the distance between any two of the intersection points x1, x2, and x3 is less than the distance threshold, then AIoTF determines that the positions of intersection points x1, x2, and x3 can be used to locate the AIoT device. Accordingly, if the positions of intersection points x1, x2, and x3 can be used to locate the AIoT device, AIoTF determines the location of the AIoT device based on the three distances and the positions of the first three readers, including: AIoTF averages the positions of intersection points x1, x2, and x3 to obtain the location of the AIoT device.

[0069] Optionally, the fourth reader among the four readers (excluding the first three) is reader #4, and the fourth distance among the four distances (excluding the three distances) is the distance d4 from the AIoT device to reader #4. AIoTF determines the location of the AIoT device based on the four distances and the positions of the four readers, including: AIoTF determines a circle #4 with the position w4 of reader #4 as its center and the distance d4 as its radius; wherein the intersection of circle #4 and circle #1 includes intersection point #7 and intersection point #8. #8. The intersection of circle #4 and circle #2 includes intersection point #9 and intersection point #10. The intersection of circle #4 and circle #3 includes intersection point #11 and intersection point #12. AIoTF determines the three closest intersection points from intersection point #1 to intersection point #12 as intersection point y1, intersection point y2, and intersection point y3 based on the distance between any two intersection points. AIoTF then averages the positions of intersection points y1, y2, and y3 to obtain the location of the AIoT device.

[0070] Optionally, the AIoTF receives the arrival delay of the AIoT device reported by each of the four readers, including: for the i-th reader among the four readers, where i is an integer traversing from 1 to 4, the AIoTF receives the identification information #i and random number #i reported by the i-th reader, where the random number #i is an integer randomly generated by the i-th reader within a preset interval; the AIoTF extracts the delay indication information #i from the identification information #i based on the random number #i and the latest count value of the NAS counter of the i-th reader, and the delay indication information #i indicates the arrival delay of the signal to the i-th reader.

[0071] Optionally, the random number #i is k1, the latest count value of the NAS counter of the i-th reader is j#i, j#i is an integer greater than or equal to 0, the length of the identification information #i is M#i bits, M#i is an integer greater than or equal to 16; the length of the delay indication information #i is a fixed 8 bits. The AIoTF extracts the delay indication information #i from the identification information #i based on the random number #i and the latest count value of the NAS counter of the i-th reader. This includes: the AIoTF extracts 8 consecutive bits from the N#i-th bit of the identification information #i according to (k1+j#i)mod(M#i-8)=N#i. These 8 consecutive bits are the delay indication information #i. The remaining bits after extracting the delay indication information #i from the identification information #i are the EPC of the AIoT device. mod represents the modulo operation.

[0072] Optionally, the signal sent by the AIoT device at the first moment carries the identifier of the AIoT device. Each of the four readers is configured to determine the arrival delay of the signal to the reader based on the time when the signal is received and the information indicating the first moment carried by the identifier of the AIoT device. The AIoT device constructs the information indicating the first moment into the EPC of the AIoT device to obtain the identifier of the AIoT device.

[0073] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Exemplarily, the electronic device may be a network device, or a chip (system) or other component or assembly that can be disposed in a network device. Figure 4 As shown, the electronic device 400 may include a processor 401. Optionally, the electronic device 400 may also include a memory 402 and / or a transceiver 403. The processor 401 is coupled to the memory 402 and the transceiver 403, for example, via a communication bus.

[0074] The following is combined Figure 4 A detailed description of each component of the electronic device 400 is provided below: The processor 401 is the control center of the electronic device 400. It can be a single processor or a collective term for multiple processing elements. For example, the processor 401 can be one or more central processing units (CPUs), application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement embodiments of the present invention, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0075] Optionally, the processor 401 can perform various functions of the electronic device 400 by running or executing software programs stored in the memory 402 and calling data stored in the memory 402, such as performing the aforementioned functions. Figure 2 This illustrates an automated plating selection method based on high-precision positioning and tracking.

[0076] In a specific implementation, as one example, processor 401 may include one or more CPUs, for example... Figure 4 CPU0 and CPU1 are shown in the diagram.

[0077] In a specific implementation, as one example, the electronic device 400 may also include multiple processors. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). Here, a processor may refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0078] The memory 402 is used to store the software program that executes the solution of the present invention, and is controlled by the processor 401 to execute it. The specific implementation method can be referred to the above method embodiment, and will not be repeated here.

[0079] Optionally, the memory 402 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 402 may be integrated with the processor 401 or exist independently, and may be accessed through the interface circuit of the electronic device 400. Figure 4 (Not shown in the image) is coupled to processor 401, and this embodiment of the invention does not specifically limit this.

[0080] Transceiver 403 is used for communication with other electronic devices. For example, if electronic device 400 is a terminal, transceiver 403 can be used to communicate with a network device or with another terminal device. As another example, if electronic device 400 is a network device, transceiver 403 can be used to communicate with a terminal or with another network device.

[0081] Alternatively, transceiver 403 may include a receiver and a transmitter. Figure 4 (Not shown separately). The receiver is used to implement the receiving function, and the transmitter is used to implement the transmitting function.

[0082] Alternatively, the transceiver 403 can be integrated with the processor 401, or it can exist independently and be connected via the interface circuit of the electronic device 400. Figure 4 (Not shown in the image) is coupled to processor 401, and this embodiment of the invention does not specifically limit this.

[0083] Understandable Figure 4 The structure of the electronic device 400 shown does not constitute a limitation on the electronic device. Actual electronic devices may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0084] Furthermore, the technical effects of the electronic device 400 can be referred to the technical effects of the methods described in the above method embodiments, and will not be repeated here.

[0085] It should be understood that the processor in the embodiments of the present invention can be a central processing unit (CPU), or it can be 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.

[0086] It should also be understood that the memory in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0087] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0088] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0089] In this invention, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be a single item or multiple items.

[0090] It should be understood that, in various embodiments of the present invention, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0091] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0092] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0093] In the embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0094] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0095] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0096] If the aforementioned functions 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, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0097] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An automated plating selection method based on high-precision positioning and line tracking, characterized in that, The method is applied to AIoTF in AIoT, and the method includes: During the selective plating process in the electroplating equipment, the AIoTF receives the arrival delays of the AIoT devices reported by four readers, for a total of four arrival delays. These four arrival delays are the times required for the signals sent by the AIoT devices at the first moment to reach the four readers respectively. The AIoT devices are installed on the electroplating equipment and move with the electroplating equipment during the selective plating process. The AIoTF determines the location of the AIoT device based on at least three of the four arrival delays. The AIoTF determines the movement trajectory of the electroplating equipment to perform selective plating based on the location of the AIoT device; The signal sent by the AIoT device at the first moment carries the identifier of the AIoT device. Each of the four readers is configured to determine the arrival delay of the signal to the reader based on the time when the signal is received and the information indicating the first moment carried by the identifier of the AIoT device. The AIoT device constructs the information indicating the first moment into the EPC of the AIoT device to obtain the identifier of the AIoT device.

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

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

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

5. The method according to claim 4, characterized in that, The intersection points between circles #1, #2, and #3 include: intersection points #1 and #2 between circles #1 and #2, intersection points #3 and #4 between circles #1 and #3, and intersection points #5 and #6 between circles #2 and #3. Based on this, the AIoTF determines whether it can locate the AIoT device according to the positions of the intersection points between circles #1, #2, and #3, including: The AIoTF determines the three closest intersection points from intersection point #1 to intersection point #6 as intersection point x1, intersection point x2, and intersection point x3 based on the distance between every two intersection points from intersection point #1 to intersection point #6. If the distance between any two intersection points x1, x2, and x3 is greater than or equal to a distance threshold, then AIoTF determines that the positions of intersection points x1, x2, and x3 cannot be used to locate the AIoT device. If the distance between any two intersection points x1, x2, and x3 is less than the distance threshold, then AIoTF determines that the positions of intersection points x1, x2, and x3 can be used to locate the AIoT device. Accordingly, if the positions of intersection x1, intersection x2, and intersection x3 can be used to locate the AIoT device, the AIoTF determines the location of the AIoT device based on the three distances and the positions of the first three readers, including: The AIoTF calculates the average of the positions of intersection x1, intersection x2, and intersection x3 to obtain the position of the AIoT device.

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

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

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

9. An automated plating system based on high-precision positioning and tracking, characterized in that, The system includes AIoTF in AIoT, and the system is configured to: During the selective plating process in the electroplating equipment, the AIoTF receives the arrival delays of the AIoT devices reported by four readers, for a total of four arrival delays. These four arrival delays are the times required for the signals sent by the AIoT devices at the first moment to reach the four readers respectively. The AIoT devices are installed on the electroplating equipment and move with the electroplating equipment during the selective plating process. The AIoTF determines the location of the AIoT device based on at least three of the four arrival delays. The AIoTF determines the movement trajectory of the electroplating equipment to perform selective plating based on the location of the AIoT device.

10. An electronic device, comprising: Processor and memory; The memory is used to store a computer program, which, when executed by the processor, causes the electronic device to perform the automated selective plating method based on high-precision positioning and tracking as described in any one of claims 1 to 8.

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