Positioning method for electronic shelf label, computer device, and storage medium

Abstract

To provide a positioning method for an electronic shelf label, a computer device, and a storage medium.SOLUTION: The method includes the steps of: determining a candidate electronic shelf label with a fuzzy positioning result; sequentially executing, by each of the candidate-matching shelf label pairs, a distance measurement task according to a distance measurement instruction to obtain a measured distance between the candidate electronic shelf label and each of the matching electronic shelf labels; correcting the fuzzy positioning result of the candidate electronic shelf label on the basis of all the measured distances to determine an actual positioning result for the candidate electronic shelf label. The present invention determines a position of a position-unknown electronic shelf label by using a neighbor relationship between the electronic shelf labels and the position-known electronic shelf labels, measures the distance between an electronic shelf label with an uncertain positioning result and a plurality of matching electronic shelf labels matched with it, and correcting the uncertain positioning result on the basis of the distance measurement results, thereby obtaining an actuate actual positioning result for the electronic shelf label. In this way, the present invention not only improves positioning accuracy of the electronic shelf label, but also reduces positioning complexity and a positioning cost.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to the technical field of positioning, and in particular to a positioning method for an electronic price tag, a computer device and a storage medium. [Background technology]

[0002] At present, large stores and supermarkets around the world are all undergoing digital upgrades, and electronic shelf labels have replaced traditional paper labels in digital applications, and in addition to displaying ordinary information, electronic shelf labels are also widely used in such applications as rapid picking, shortage management, rapid inventory, and human-computer interaction with users, etc. Because there is a one-to-one binding relationship between each electronic price tag and a certain product, locating the position of the electronic price tag is equivalent to locating the product, which has practical value in applications such as rapid picking, product search, and product replenishment.

[0003] Currently, AOA positioning technology is usually used to position electronic price tags, but in order to cover the positioning of all electronic price tags in large stores and supermarkets, a huge number of AOA base stations must be deployed, which poses problems such as complex implementation and high costs. In addition, electronic price tags on the same shelf are highly densely packed both horizontally and vertically, so positioning technology based on AOA has the problem of high positioning error.

[0004] As can be seen from this, the conventional method for determining the position of an EPL tag has problems of high cost for determining the position and low accuracy for determining the position. Summary of the Invention [Problem to be solved by the invention]

[0005] In response to the shortcomings of the prior art, the electronic price tag positioning method, computer equipment, and storage medium of the present invention solve the problems of high positioning cost and low positioning accuracy existing in the electronic price tag positioning method in the prior art. The present invention determines the position of an electronic price tag whose position is unknown by using electronic price tags whose neighboring relationships and positions are known, measures distances between the electronic price tags and multiple paired electronic price tags corresponding to the electronic price tags whose positioning results are uncertain, and corrects the uncertain positioning results based on the distance measurement results, thereby obtaining an accurate actual positioning result of the electronic price tag, not only improving the positioning accuracy of the electronic price tag, but also reducing the complexity and cost of positioning. [Means for solving the problem]

[0006] In a first aspect, the present invention provides a method for locating an electronic price tag, the method comprising the steps of: calculating a location result of each electronic price tag whose position is unknown according to coordinate information of an electronic price tag whose position is known based on a neighborhood weight table of all price tags in the same store; and determining a candidate electronic price tag having an ambiguous location result and a plurality of paired electronic price tags corresponding to the candidate electronic price tag, the plurality of paired electronic price tags being electronic price tags that are neighboring price tags of the candidate electronic price tag, whose positions are known and that are located on different shelves or / and different display surfaces. the step of: pairing the candidate EPL with each of the plurality of paired EPLs one-to-one to obtain a plurality of candidate paired EPL pairs; sequentially transmitting a distance measurement command to each candidate paired EPL pair via a base station; each candidate paired EPL pair sequentially performing distance measurement based on the distance measurement command to obtain respective measured distances between the candidate EPL and each paired EPL; and correcting an ambiguous positioning result of the candidate EPL based on all the measured distances to determine an actual positioning result of the candidate EPL.

[0007] In addition, the step of sequentially transmitting a distance measurement command to each candidate pairing price tag pair via the base station includes, when the pairing EPT in the current candidate pairing price tag pair and the candidate EPT are registered in the same target base station, the server simultaneously transmits a distance measurement command to the candidate EPT and the pairing EPT via the target base station, and after the server receives the measured distance of the current candidate pairing price tag pair, the server transmits a distance measurement command to the next candidate pairing price tag pair.

[0008] The method further includes, when the pairing EPL and the candidate EPL in the current candidate pairing price tag pair are registered in two different base stations, the server simultaneously sends a ranging command to the candidate EPL and the pairing EPL via the two base stations.

[0009] The method further includes, when the pairing EPL and the candidate EPL in the current candidate pairing EPL pair are registered in two different base stations, the server sending a re-registration command to the pairing EPL to cause the pairing EPL to re-register with the target base station in which the candidate EPL is registered, and the server simultaneously sending a ranging command to the candidate EPL and the pairing EPL via the target base station.

[0010] In addition, the ranging command includes any combination of the IDs of the two price tags to be measured, the identities of the two price tags, the start time of ranging, the range of frequency points used for ranging, the time length of transmitting the measurement signal, the transmission power of the signal, the receiving time window length, the time length of one measurement, and the number of measurements.

[0011] In addition, each candidate paired price tag pair sequentially performs distance measurement in response to the distance measurement command, and the step of obtaining the measured distance between the candidate EPL and each paired EPL is performed by: iand the pairing EPL in the current candidate pairing EPL pair is set to a phase φ at which the i-th measurement signal is received. Ri and recording the pairing EPL in the current candidate pairing EPL pair at the phase φ Ri is added to the i-th response signal, and the center frequency point f i and the candidate EPL in the current candidate pairing price tag pair transmits the i-th response signal at a phase φ Ii and recording a phase φ at which the candidate EPL receives the N-th response signal transmitted from the paired EPL. IN When recording the center frequency point f i , phase φ Ri and phase φ Ii and calculating a measured distance to a paired EPL in the current candidate paired EPL pair based on f i is an arithmetic progression, i is a positive integer in [1, 2, ..., N], and N is the total number of times the preset measurement signal is transmitted.

[0012] In addition, the candidate EPL in the current candidate pairing pair is i , phase φ Ri and phase φ Ii Calculating the measured distance to the paired EPL in the current candidate paired price tag pair based on Ri and phase φ Ii From the phase difference φ i and the phase difference φ i and the center frequency point f i to obtain a slope of the curve; and calculating a measured distance between the candidate EPL and the paired EPL in the current candidate paired price tag pair based on the slope of the curve.

[0013] Further, a formula for calculating the measured distance between the candidate EPL and the paired EPL in the current candidate paired price tag pair based on the slope of the curve is as follows: d1=k×(c / π) where d1 is the measured distance between the candidate EPL and the paired EPL in the current candidate paired price tag pair, k is the corresponding transmission delay obtained by dividing the slope of the curve by an integer multiple relationship, and c is the speed of light.

[0014] In addition, the candidate EPL in the current candidate pairing pair is i , phase φ Ri and phase φ Ii Calculating the measured distance to the paired EPL in the current candidate paired price tag pair based on Ri and phase φ Ii From the phase difference φ i and obtaining the phase difference φ i The autocorrelation process and fast Fourier transform are performed on the data coordinate m(i max ) and calculating a measured distance between the candidate EPL and the paired EPL in the current candidate paired price tag pair based on the data coordinates.

[0015] Further, a calculation formula for calculating the measured distance between the candidate EPL and the paired EPL in the current candidate paired price tag pair based on the data coordinates is: d2=d max ×m(A max )+d offset and where d2 is the measured distance between the candidate EPL and the paired EPL in the current candidate paired EPL pair, and d max =c / 4Δf, Δf is the difference between two adjacent frequency points, and d offset is the distance error due to the internal circuitry of the price tag, and m(A max ) is the data coordinate m(A max ) is the normalized value.

[0016] In addition, the step of correcting the ambiguous positioning result of the candidate EPL based on all the measured distances and determining the actual positioning result of the candidate EPL includes: grouping the plurality of paired EPLs by the same display surface or / and the same shelf to obtain at least two EPL sets; determining a target EPL set having the smallest measured distance from the at least two EPL sets based on all the measured distances from the candidate EPLs to all the paired EPLs; setting the display surface or / and shelf corresponding to the target EPL set as the target display surface or / and target shelf of the candidate EPL; and determining the actual positioning result of the candidate EPL by fusing the target display surface or / and target shelf of the candidate EPL with the ambiguous positioning result.

[0017] In addition, the step of correcting the ambiguous positioning result of the candidate EPL based on all the measured distances and determining the actual positioning result of the candidate EPL includes: grouping the plurality of paired EPLs by the same display surface or / and the same shelf to obtain at least two EPL sets; determining a target EPL set having the smallest average measured distance from the at least two EPL sets based on all the measured distances from the candidate EPLs to all the paired EPLs; setting the display surface or / and shelf corresponding to the target EPL set as the target display surface or / and target shelf of the candidate EPL; and fusing the target display surface or / and target shelf of the candidate EPL with the ambiguous positioning result to determine the actual positioning result of the candidate EPL.

[0018] In addition, the step of calculating the positioning result of each electronic price tag whose position is unknown according to the coordinate information of the electronic price tag whose position is known based on the neighborhood weight table of all the price tags in the same store and determining the candidate electronic price tag having the ambiguous positioning result includes: a server transmits a global positioning message to all base stations, so that all the electronic price tags randomly transmit their identification information at a predetermined time window, a predetermined frequency point and a predetermined transmission power, continuously receive the identification information transmitted from other electronic price tags, and broadcast the information to the base stations to obtain the neighborhood weight table of all the electronic price tags in the same store; calculating the positioning result of each electronic price tag whose position is unknown according to the coordinate information of the electronic price tags whose positions are known in the neighborhood weight table; obtaining at least two weight sums corresponding to all the neighboring price tags on different display surfaces or / and neighboring shelves of each electronic price tag based on the neighborhood weight table; determining the electronic price tag whose weight difference between the at least two weight sums is within a predetermined threshold range as the candidate electronic price tag, and determining the positioning result of the candidate electronic price tag as the ambiguous positioning result.

[0019] In addition, calculating the positioning results of each electronic price tag whose location is unknown based on the coordinate information of electronic price tags whose locations are known in the neighborhood weight table includes constructing a network diagram having a communication relationship between all electronic price tags whose locations are unknown and electronic price tags whose locations are known based on the neighborhood weight table, obtaining path values ​​between each electronic price tag whose location is unknown and each electronic price tag whose location is known based on the smallest two path values ​​and the coordinate information of two electronic price tags whose locations are known corresponding to the two path values.

[0020] In addition, the path value of two neighboring EPLs is (1 / (neighborhood weight at which the first EPL received information from the second EPL+neighborhood weight at which the second EPL received information from the first EPL)).

[0021] Furthermore, the neighborhood weight is the number of times that one EPL receives identification information transmitted from another EPL within the limited time slice, or the neighborhood weight is the signal strength at which one EPL receives identification information transmitted from another EPL within the limited time slice, or the neighborhood weight is a weighted average of the signal strength and the number of times that one EPL receives identification information transmitted from another EPL within the limited time slice.

[0022] In a second aspect, the present invention provides a computer device, the computer device including a memory, a processor, and a computer program stored in the memory and executable by the processor, the processor, when executing the computer program, calculates a positioning result of each electronic price tag whose position is unknown by coordinate information of an electronic price tag whose position is known based on a neighborhood weight table of all price tags in the same store, and determines a candidate electronic price tag having an ambiguous positioning result and a plurality of paired electronic price tags corresponding to the candidate electronic price tags, the plurality of paired electronic price tags being neighboring price tags of the candidate electronic price tags, The system includes the steps of: the candidate electronic price tag is an electronic price tag that is known and located on a different shelf or / and a different display surface; pairing the candidate electronic price tag with each of the plurality of paired electronic price tags one-to-one to obtain a plurality of candidate paired price tag pairs, and sequentially transmitting a distance measurement command to each candidate paired price tag pair via a base station; each candidate paired price tag pair sequentially performing distance measurement according to the distance measurement command to obtain each measured distance between the candidate electronic price tag and each paired electronic price tag; and correcting an ambiguous positioning result of the candidate electronic price tag based on all the measured distances and determining an actual positioning result of the candidate electronic price tag.

[0023] In a third aspect, the present invention provides a readable storage medium having a computer program stored therein, the computer program being executed by a processor to calculate a positioning result of each EPL tag whose position is unknown based on coordinate information of an EPL tag whose position is known, based on a neighborhood weight table of all price tags in the same store, and determine a candidate EPL tag having an ambiguous positioning result and a plurality of paired EPL tags corresponding to the candidate EPL tags, the plurality of paired EPL tags being neighboring price tags of the candidate EPL tag whose positions are known and located on different shelves or and / or the candidate EPL is located on a different display surface; pairing the candidate EPL with each of the plurality of paired EPLs one-to-one to obtain a plurality of candidate paired EPL pairs, and sequentially transmitting a distance measurement command to each candidate paired EPL pair via a base station; each candidate paired EPL pair sequentially performing distance measurement according to the distance measurement command to obtain a measured distance between the candidate EPL and each paired EPL; and correcting an ambiguous positioning result of the candidate EPL based on all the measured distances, and determining an actual positioning result of the candidate EPL. Effect of the Invention

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention determines the location of an EPR tag whose location is unknown by using EPR tags whose neighboring relationships and locations are known, and realizes positioning of EPR tags without changing the original number of communication base stations of the EPR tag system, which not only improves the positioning accuracy of EPR tags, but also reduces the complexity and cost of positioning.

[0026] 2. The present invention measures the distance between an EPL tag having uncertain positioning results and multiple paired EPL tags corresponding to the EPL tag, and corrects the uncertain positioning results based on the distance measurement results, thereby obtaining accurate actual positioning results for the EPL tag, and further improving the positioning accuracy of the EPL tag. [Brief description of the drawings]

[0027] [Figure 1] 2 shows a schematic flow chart of a method for determining a position of an electronic price tag according to an embodiment of the present invention. [Diagram 2] 1 is a schematic structural diagram of an electronic price tag system according to an embodiment of the present invention; [Diagram 3] 2 shows a specific schematic flowchart of step S101 in FIG. 1 according to an embodiment of the present invention. [Figure 4] 1 is a schematic diagram of a neighborhood relationship between electronic price tags according to an embodiment of the present invention; [Diagram 5] 1A and 1B are schematic diagrams showing how candidate price tags according to an embodiment of the present invention may be positioned on different display surfaces. [Figure 6] FIG. 2 shows a schematic diagram of candidate price tags possibly being located on different shelves according to an embodiment of the present invention. [Figure 7] 1 shows a schematic flow chart of delivering a ranging command according to an embodiment of the present invention. [Figure 8] 1 shows a schematic diagram of active reflection of price tag phase measurement according to an embodiment of the present invention. [Figure 9] 4 shows a schematic flow chart of control of distance measurement according to an embodiment of the present invention. [Figure 10] 4 shows a timing relationship diagram of signal transmission and reception between a main price tag and a sub price tag according to an embodiment of the present invention; [Figure 11] 1 shows a schematic diagram of linear fitting according to an embodiment of the present invention. [Figure 12] 4 shows a schematic diagram of characteristics after performing autocorrelation and FFT transformation on a data group according to an embodiment of the present invention; [Figure 13] 1 shows a schematic diagram of reporting distance measurement results according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application are described below clearly and completely with reference to the drawings in the embodiments of the present application, and obviously, the described embodiments are not all the embodiments but only some of the embodiments of the present application. All other embodiments obtained by those skilled in the art without inventive work based on the embodiments of the present application belong to the scope of the present application.

[0029] According to a first aspect, the present invention provides a method for determining a position of an electronic price tag, specifically including the following embodiments: FIG. 1 is a schematic flow chart of an electronic price tag positioning method according to an embodiment of the present invention. As shown in FIG. 1, the positioning method includes the following steps: In step S101, based on the neighborhood weight table of all price tags in the same store, a positioning result of each EPL tag whose position is unknown is calculated according to the coordinate information of an EPL tag whose position is known, and a candidate EPL tag having an ambiguous positioning result and a plurality of paired EPL tags corresponding to the candidate EPL tags are obtained; In addition, as shown in Fig. 2, the EPL system of each store in this embodiment includes a server, a plurality of base stations, and a plurality of EPLs, and the server transmits control commands and service data to the EPLs through the base stations. The positioning principle of this embodiment is to determine the EPLs with unknown positions by the EPLs with known positions, so when the EPL system is first distributed in a store, there must be an EPL with known positions, and the EPLs can be called positioning anchors, and the positions of the EPLs near the positioning anchors can be calculated by the neighborhood weight table of this embodiment, and by analogy, the positioning coordinates of other EPLs with unknown positions are calculated by the EPLs with known positions and the neighborhood weight table, and then the neighborhood weight tables of all price tags in the same store are obtained, and the positioning results of the EPLs with unknown positions are determined based on the neighborhood weight table, and the candidate EPLs with ambiguous positioning results are determined in detail.

[0030] As shown in FIG. 3 , the step of calculating the positioning results of each EPL tag whose position is unknown according to the coordinate information of the EPL tag whose position is known based on the neighborhood weight table of all price tags in the same store, and determining the candidate EPL tags whose positioning results are ambiguous, specifically includes the following steps: In step S201, the server sends a global positioning message to all base stations, so that all electronic price tags randomly transmit identity information in a predetermined time window, a predetermined frequency point and a predetermined transmission power, and continuously receive identity information transmitted from other electronic price tags, and broadcast the information to the base stations to obtain signal strength and reception frequency, thereby obtaining a neighborhood weight table of all electronic price tags in the same store.

[0031] In addition, the neighborhood weight table includes the ID of the electronic price tag, the ID of the neighboring electronic price tag, and the neighborhood weight with the neighboring electronic price tag, where the neighboring electronic price tag does not only refer to two electronic price tags that are neighboring in physical location, but may also be two electronic price tags that are not physically neighboring but can receive identification information transmitted from each other, and further, the neighborhood weight may be the number of times that one electronic price tag receives identification information transmitted from another electronic price tag within a limited time slice, or the signal strength at which one electronic price tag receives identification information transmitted from another electronic price tag within a limited time slice, or further, the weighted average of the signal strength and the number of times that one electronic price tag receives identification information transmitted from another electronic price tag within a limited time slice.

[0032] In step S202, a positioning result of each EPL tag whose position is unknown is calculated based on the coordinate information of the EPL tag whose position is known in the neighborhood weight table.

[0033] In this embodiment, the step of calculating the positioning results of each electronic price tag whose location is unknown based on the coordinate information of electronic price tags whose locations are known in the neighborhood weight table specifically includes: constructing a network diagram having a communication relationship between all electronic price tags whose locations are unknown and electronic price tags whose locations are known based on the neighborhood weight table; obtaining path values ​​between each electronic price tag whose location is unknown and each electronic price tag whose location is known based on the neighborhood weights in the network diagram; and obtaining the positioning results of each electronic price tag whose location is unknown based on the smallest two path values ​​and the coordinate information of two electronic price tags whose locations are known corresponding to the two path values.

[0034] In addition, based on the neighborhood weight table, a network diagram having a communication relationship between all EPLs whose locations are unknown and EPLs whose locations are known is constructed as shown in FIG. 4. Taking the EPL ESL3 in FIG. 4 as an example, ESL1, ESL4, ESL5, and ESL7 are adjacent to ESL3 and have known locations, and the corresponding neighborhood weights are 5, 10, 10, and 5, respectively. In addition, when one EPL and another specific EPL are neighboring price tags of each other, the corresponding neighborhood weights may be the same or different. For example, when ESL4 in FIG. 4 is the neighboring price tag of ESL3, the corresponding neighborhood weight is 10, and when ESL3 in FIG. 4 is the neighboring price tag of ESL4, the corresponding neighborhood weight may be 10 or not. For convenience of explanation and calculation, in this embodiment, when the neighboring price tags are neighboring price tags of each other, the corresponding neighborhood weights are the same as an example.

[0035] In this embodiment, the path value of two neighboring EPLs is (1 / (neighborhood weight of the first EPL receiving information of the second EPL+neighborhood weight of the second EPL receiving information of the first EPL)), so the path values ​​from ESL3 to ESL1, ESL4, ESL5, and ESL7 calculated based on the neighborhood weights in the network diagram are 0.1, 0.05, 0.05, and 0.1, respectively, and the path values ​​are sorted in ascending order, and the two path values ​​before sorting are obtained as the two smallest path values. The two smallest path values ​​in FIG. 4 are both 0.05, and the two corresponding EPLs with known positions are the two EPLs ESL4 and ESL5. Note that in the network diagram, a price tag with an unknown position may be connected to a price tag with a known position by one hop or multiple hops, and the path value when the path value is reached by multiple hops is the path value of the shortest path selected from multiple possible multi-hop paths. Here, one hop in this embodiment refers to a relationship in which a price tag with a known location and a price tag with a known location have a direct neighborhood weight. For example, in FIG. 4, ESL3 and ESL1 are one hop apart, and ESL3 and ESL4 are one hop apart, but ESL3 and anchor Anchor1 are multi-hop apart, and ESL3 can reach anchor Anchor1 via ESL5, and ESL3 can further reach anchor Anchor1 via ESL1. In this case, the path value between ESL3 and anchor Anchor1 is the minimum value of the path values ​​in the two paths ESL3-ESL1-Anchor1 and ESL3-ESL5-Anchor1. Here, the path value of a multi-hop is the sum of the path values ​​of each hop, and A all =Σ I i A i , A all denotes the total path value between two multi-hop tags, and A i denotes the path value of each hop between two multihop price tags, i = [1, ..., I], I denotes the total number of hops between two multihop price tags. For example, the path value of a multihopper ESL3-ESL1-Anchor1 is equal to the path value of the hopper from ESL3 to ESL1 plus the path value of the hopper from ESL1 to Anchor1.

[0036] In this embodiment, obtaining a positioning result for each EPR tag with an unknown location based on the two smallest path values ​​and the coordinate information of the two EPR tags with known locations corresponding to the two path values ​​includes: weighting the two smallest path values ​​to obtain a weighted average value; adding the abscissas of the two EPR tags with known locations and multiplying them by the weighted average to obtain the abscissas of the corresponding EPR tags with unknown locations; and similarly, adding the ordinates of the two EPR tags with known locations and multiplying them by the weighted average to obtain the ordinates of the corresponding EPR tags with unknown locations.

[0037] Step S203: obtaining at least two weight sums corresponding to all neighboring price tags on different display surfaces or / and neighboring shelves of each EPL based on the neighboring weight table; In this embodiment, different display surfaces refer to two shelf surfaces corresponding to the same aisle, for example, aisle 1 in Fig. 4 has corresponding display surface A and display surface B, where display surface A consists of shelves 2 and 11, and display surface B consists of shelves 3 and 10, and similarly, aisle 2 has corresponding display surface A and display surface B, where display surface A consists of shelves 4 and 9, and display surface B consists of shelves 5 and 8. Adjacent shelves refer to shelves that are adjacent in physical location, for example, the adjacent shelves of shelf 10 in Fig. 4 are shelf 9 and shelf 3.

[0038] In this embodiment, based on the neighborhood weight table, at least two weight sums corresponding to all neighboring price tags on different display surfaces of each EPL or / and neighboring shelves are obtained, that is, weight sums corresponding to neighboring EPLs on different display surfaces of the same EPL, and weight sums corresponding to neighboring EPLs on different shelves are obtained. Taking ESL3 in FIG. 4 as an example, the corresponding different display surfaces are display surface A and display surface B corresponding to aisle 1, and the corresponding neighboring shelves are shelf 3, shelf 10 and shelf 9. Since there are no EPLs on display surface A and shelf 3 that have a neighborhood relationship with ESL3, currently only the weight sums on shelf 10 and shelf 9 are calculated, and the weight sum corresponding to shelf 10=5+10=15, and the weight sum corresponding to shelf 9=10+5=15.

[0039] In step S204, an EPL having a weight difference between the at least two weight sums within a predetermined threshold range is determined as a candidate EPL, and the positioning result of the candidate EPL is determined as an ambiguous positioning result.

[0040] In addition, the weight difference between the at least two weight sums falling within a predetermined threshold range means that the values ​​of the two weight sums are very close. Take ESL3 in FIG. 4 as an example. Currently, the weight sum corresponding to shelf 10 calculated based on the neighborhood weights in FIG. 4 is 15, and the weight sum corresponding to shelf 9 is also 15, and the corresponding weight sums of shelves 9 and 10 are the same. When this situation occurs, a problem occurs that it is uncertain whether ESL3 is on shelf 9 or shelf 10. Although FIG. 4 shows that ESL3 is on shelf 10, it is not known which shelf ESL3 is specifically on during actual positioning. Therefore, when a situation occurs in which the weight sums corresponding to different display surfaces or different shelves are close, the positioning result of the EPL needs to be further corrected. Here, the EPLs whose weight sums corresponding to different display surfaces or different shelves are close are referred to as candidate EPLs, and the positioning result calculated based on the method of step S202 above is referred to as an ambiguous positioning result. Here, FIG. 5 is a schematic diagram showing that the candidate price tag may be positioned on a different display surface, and FIG. 6 is a schematic diagram showing that the candidate price tag may be positioned on a nearby shelf.

[0041] After determining the candidate EPL, a plurality of paired EPLs corresponding to the candidate EPL can be determined, where the plurality of paired EPLs are EPLs adjacent to the candidate EPL, whose positions are known and which are located on different shelves or / and on different display surfaces; in FIG. 4, ESL3 is the candidate EPL, and its corresponding plurality of paired EPLs are ESL1, ESL4, ESL5 and ESL7, whose positions are known and which are distributed on different shelves.

[0042] In step S102, the candidate EPL is paired one-to-one with each of the plurality of pairing EPLs to obtain a plurality of candidate pairing EPL pairs, and a distance measurement command is sequentially transmitted to each candidate pairing EPL pair via a base station.

[0043] In addition, pairing the candidate electronic price tag with each of the multiple pairing electronic price tags one-to-one to obtain multiple candidate pairing price tag pairs means that one candidate electronic price tag and each pairing electronic price tag form one candidate pairing price tag pair, for example, ESL3 and ESL1 are one candidate pairing price tag pair, ESL3 and ESL4 are one candidate pairing price tag pair, ESL3 and ESL5 are one candidate pairing price tag pair, and ESL3 and ESL7 are one candidate pairing price tag pair.

[0044] In this embodiment, the step of sequentially sending a ranging command to each candidate pairing price tag pair via a base station includes: when the pairing EPL in the current candidate pairing price tag pair and the candidate EPL are registered in the same target base station, the server simultaneously sends a ranging command to the candidate EPL and the pairing EPL via the target base station; and after the server receives the measured distance of the current candidate pairing price tag pair, the server sends a ranging command to the next candidate pairing price tag pair.

[0045] In this embodiment, when the pairing EPT in the current candidate pairing price tag pair and the candidate EPT are registered in two different base stations, the server simultaneously transmits distance measurement commands to the candidate EPT and the pairing EPT via the two base stations.

[0046] In this embodiment, the method further includes, when the pairing EPL and the candidate EPL in the current candidate pairing EPL pair are registered in two different base stations, the server sends a re-registration command to the pairing EPL to cause the pairing EPL to re-register with the target base station where the candidate EPL is registered, and the server simultaneously sends a ranging command to the candidate EPL and the pairing EPL via the target base station.

[0047] As shown in Fig. 7, the positioning server transmits the selected candidate price tag and price tags whose positions in the vicinity of the selected candidate price tag are known and which are located on different display surfaces together to the price tag management system, and requests that distance measurement be performed for the pair or pairs of price tags. The price tag management system determines the candidate price tag based on the price tag registration information stored in the base station, and selects one or more pairs registered in the same base station from the vicinity where distance measurement is required. As shown in FIG. 4, the candidate ESL3 and the neighboring ESL1, ESL4, ESL5 and ESL7 are all registered in the base station AP1, and then, via this base station AP1, a distance measurement command is simultaneously sent to the candidate ESL and its neighbors, and such a pair of price tags is activated to perform a distance measurement operation. What should be further explained is that in this embodiment, for ESL3, there are four candidate pairing price tag pairs, and the base station AP1 simultaneously sends a distance measurement command to the candidate ESL and the pairing ESL in one of the candidate pairing price tag pairs, and after the distance measurement for this pair is completed, it simultaneously sends a distance measurement command to the candidate ESL and the pairing ESL in the next candidate pairing price tag pair.

[0048] Furthermore, if the candidate EPL and its paired EPL are not registered with the same base station, that is, if ESL3 is registered with base station AP1 and ESL1 is registered with base station AP2, the command can be distributed in the following two ways: the first type transmits a ranging command to the two EPLs simultaneously via the two base stations, and in the distributed ranging command, it is promised that ranging will start simultaneously at a certain time in the future; the second type requires first distributing a re-registration command to the neighboring price tag to be measured, and re-registers the neighboring price tag with the base station where the candidate price tag is registered, and then starts distributing the ranging command.

[0049] In this embodiment, the ranging command delivered should include at least the IDs of the two price tags to be measured, the identities of the two price tags (for example, the candidate price tag is the master price tag and the neighboring price tag is the slave price tag), the ranging start time, the range of frequency points used for ranging, the time length of transmitting the measurement signal, the transmission power of the signal, the receiving time window length, the time length of one measurement, the number of measurements, etc. After the selected pair of price tags has completely received the above information, it will enter the ranging mode and start the ranging process based on the ranging start time.

[0050] In step S103, each candidate paired EPL pair sequentially performs distance measurement in response to the distance measurement command, and obtains a measured distance between the candidate EPL and each paired EPL.

[0051] In this embodiment, each candidate paired EPL pair sequentially performs distance measurement according to the distance measurement command, and obtains the measured distance between the candidate EPL and each paired EPL, and the candidate EPL in the current candidate paired EPL pair is located at the center frequency point f i and the pairing EPL in the current candidate pairing EPL pair is at a phase φ Ri and recording the pairing EPL in the current candidate pairing EPL pair at the phase φ Ri is added to the i-th response signal, and the center frequency point f iand the candidate EPL in the current candidate pairing price tag pair transmits the i-th response signal at a phase φ Ii and recording a phase φ at which the candidate EPL receives the N-th response signal transmitted from the paired EPL. IN When recording the center frequency point f i , phase φ Ri and phase φ Ii Calculating a measured distance to a paired EPL in the current candidate paired price tag pair based on f i is an arithmetic progression, i is a positive integer in [1, 2, ..., N], and N is the total number of times the preset measurement signal is transmitted.

[0052] In addition, when two price tags communicate with each other to measure distance, the clocks are not completely synchronized, which will cause measurement errors. In order to avoid such errors, this embodiment adopts an active reflection measurement method. As shown in Figures 8 and 9, in one measurement, the frequency point used for this measurement is first set, and then the master price tag first transmits a measurement signal, and the slave price tag receives it, measures and records the phase, and after completion, the slave price tag transmits a measurement signal and attaches the previous phase measurement information, and the master price tag receives the signal, measures the phase, and records the transmitted measurement information. This process is one complete test. After the master price tag transmits the measurement signal, it enters a signal receiving state, and after the slave price tag stores the measurement information, it waits according to the transmission time length of the measurement signal, and after the time length is completed, it enters a signal transmitting state, and the difference between the two measurement results can be taken to obtain the phase difference at the frequency point, and when measuring continuously, this phase difference is not affected by clock shift.

[0053] In this embodiment, the start time of the master tag transmitting a signal and the start time of the slave tag receiving a signal are strictly synchronized, and the slave tag may turn on RF (Radio Frequency) in advance to wait for receiving a measurement signal in order not to lose a signal, and conversely, when the slave tag transmits a response signal in response to the measurement signal of the master tag, it also starts transmitting at a predetermined designed time according to a pre-designed protocol rule, and the master tag also starts receiving at a corresponding time, and similarly, the master tag may turn on RF (Radio Frequency) in advance to wait for receiving a response signal. As shown in FIG. 10, the start time of the master tag transmitting the i-th measurement signal is the same as the start time of the slave tag receiving the i-th measurement signal, and after a 1 ms interval, the start time of the corresponding slave tag transmitting the i-th response signal is the same as the start time of the master tag receiving the i-th response signal. Here, the master tag or the slave tag may be synchronized from transmission to reception and from f1 to f2. N In the process up to this point, the RF clock and the phase-locked loop are not turned off, and the clock stability and the phase-locked loop stability are maintained throughout the process.

[0054] After completing a specified number of measurements, the two tags stop the test mode, and the candidate tag (master tag) processes the data to calculate the distance, and the tag reports the measurement value to the server, which then calculates the distance. Because there are errors in the measurement process, it is necessary to process the data using a special algorithm to reduce the impact of errors as much as possible. Distance measurement algorithms are mainly divided into two types: the first type is linear fitting, and the second type is feature extraction.

[0055] Note that for one complete measurement of one candidate pairing tag pair, the center frequency point is f i and the measured phase of the slave tag is φ Ri and the measured phase of the master tag is φ Ii and the corresponding phase difference is φ i =φ Ii -φ RiBy measuring different frequency points multiple times, φ i and f i The relationship can be obtained.

[0056] In one embodiment, the candidate EPL in the current candidate pairing EPL pair is i , phase φ Ri and phase φ Ii Calculating the measured distance to the paired EPL in the current candidate paired price tag pair based on Ri and phase φ Ii From the phase difference φ i and the phase difference φ i and the center frequency point f i to obtain a slope of the curve; and calculating a measured distance between the candidate EPL and the paired EPL in the current candidate paired price tag pair based on the slope of the curve.

[0057] Here, the formula for calculating the measured distance between the candidate EPL and the paired EPL in the current candidate paired price tag pair based on the slope of the curve is: d1=k×(c / π), where d1 is the measured distance between the candidate EPL and the paired EPL in the current candidate paired EPL pair, k indicates a transmission delay corresponding to the air interface, and c is the speed of light, where there is an integer multiple relationship between k and the air transmission delay, and k is the corresponding transmission delay obtained by dividing the slope of the curve by the integer multiple relationship.

[0058] As shown in FIG. 11, in this embodiment, φ i and f i The slope of the curve is obtained by performing linear fitting to the relationship above, and the process of deriving the equation for calculating the measured distance between two electronic price tags based on the slope of the curve is as follows:

[0059] The distance between ESL1 and ESL2 is d1, c is the speed of light, π is the circular constant, and the signal transmission time is t=d l Assume that the clocks of the two devices are synchronized. The frequency (frequency point) of the transmitted signal is f i If φ i =2πf i t, φ i is the phase difference between the transmitted signal at the transmitting end and the received signal at the receiving end. Similarly, if the frequency of the transmitted signal is f i+1 If φ i+1 =2πf i+1 t. Then, Δφ i =φ i+1 -φ i =2πt(f i+1 -f i ), so that t=(φ i+l -φ i ) / {2π(f i+l -f i )} This allows us to obtain d1=tc={(φ i+l -φ i ) / (f i+l -f i )}×(c / 2π)=(Δφ i / Δf) × (c / 2π)

[0060] Assuming that the clocks of the two devices are not perfectly synchronized, φ i cannot be measured directly, and f is measured by active reflection methods. i At the frequency point φ i =φ Ii -φ Ri Similarly, f i+1 At the frequency point φ i+1 =φ Ii+1 -φ Ri+1 Then, we get Δφ i =φ i+1 -φ i =(φ Ii+1 -φ Ri+1 )-(φ Ii -φ Ri ). In fact, Δφ in the former case iis twice as large as in this case, so d1=tc=(2Δφ i / Δf) × (c / 2π) = (Δφ i / Δf) × (c / π), Δφ i Assuming that / Δf=k, then d1=k×(c / π).

[0061] In another embodiment, the candidate EPL in the current candidate pairing price tag pair is i , phase φ Ri and phase φ Ii Calculating the measured distance to the paired EPL in the current candidate paired price tag pair based on Ri and phase φ Ii From the phase difference φ i and obtaining the phase difference φ i The autocorrelation process and fast Fourier transform are performed on the data coordinate m(i max ) and calculating a measured distance between the candidate EPL and the paired EPL in the current candidate paired price tag pair based on the data coordinates.

[0062] Here, a formula for calculating the measured distance between the candidate EPL and the paired EPL in the current candidate paired price tag pair based on the data coordinates is: d2=d max ×m(A max )+d offset It is.

[0063] where d2 is the measured distance between the candidate EPL and the paired EPL in the current candidate paired EPL pair, and d max =c / 4Δf, Δf is the difference between two adjacent frequency points, and d offset is the distance error due to the internal circuitry of the price tag, and m(A max ) is the data coordinate m(i max ) is the normalized value.

[0064] First, the data set φ i After performing autocorrelation processing on the data set, the change characteristics are emphasized, and then the characteristics are extracted by fast Fourier transform. Then, the data coordinate m(i max ) and normalize the lengths of the datasets. (m(A)∈[0,1]) As shown in Figure 12, the formula d2=d max ×m(A max )+d offset The distance d2 between the two price tags was calculated by: max =c / 4Δf, Δf is the difference between two neighboring frequency points (in the default condition, the frequency difference between any two neighboring frequency points is the same), and d offset is the distance error due to the internal circuitry of the price tag.

[0065] In step S104, the ambiguous positioning result of the candidate EPL is corrected based on all the measured distances, and an actual positioning result of the candidate EPL is determined.

[0066] In one embodiment, the step of correcting the ambiguous positioning result of the candidate EPL based on all the measured distances and determining the actual positioning result of the candidate EPL includes: grouping the plurality of paired EPLs by the same display surface or / and the same shelf to obtain at least two EPL sets; determining a target EPL set having the smallest measured distance from the at least two EPL sets based on all the measured distances from the candidate EPL to all the paired EPLs; setting the display surface or / and shelf corresponding to the target EPL set as the target display surface or / and target shelf of the candidate EPL; and fusing the target display surface or / and target shelf of the candidate EPL with the ambiguous positioning result to determine the actual positioning result of the candidate EPL.

[0067] In another embodiment, the step of correcting the ambiguous positioning result of the candidate EPL based on all the measured distances and determining the actual positioning result of the candidate EPL includes: grouping the plurality of paired EPLs by the same display surface or / and the same shelf to obtain at least two EPL sets; determining a target EPL set having the smallest average measured distance from the at least two EPL sets based on all the measured distances from the candidate EPLs to all the paired EPLs; setting the display surface or / and shelf corresponding to the target EPL set as the target display surface or / and target shelf of the candidate EPL; and fusing the target display surface or / and target shelf of the candidate EPL with the ambiguous positioning result to determine the actual positioning result of the candidate EPL.

[0068] As shown in Fig. 13, after completing the distance measurement, the price tag needs to re-establish communication with the base station. After that, the price tag reports the distance measurement result to the price tag management system via the base station, and performs distance measurement by specifying the price tag that meets the next set of requirements. After all the required distance measurements are completed, the management system reports all the distance measurement results to the positioning server.

[0069] Furthermore, the positioning server corrects the positioning results after collecting the distance measurement results of all the candidate price tags. The distance measurement results are grouped based on the positions of the corresponding neighboring price tags, and the measurement distances corresponding to the price tags located on the same display surface are grouped together, and the measurement distances corresponding to the price tags located on the same shelf are grouped together. The correction method is divided into two types. The first type compares the minimum value of two sets of results, and the display surface or shelf corresponding to the set with the smaller minimum value is set as the actual display surface or shelf of the candidate price tag. The second type compares the average value of the two sets of results, and the display surface or shelf corresponding to the set with the smaller average value is set as the actual display surface or shelf of the candidate price tag.

[0070] Compared with the prior art, the present invention has the following beneficial effects:

[0071] 1. The present invention determines the location of an EPR tag whose location is unknown by using EPR tags whose neighboring relationships and locations are known, and realizes positioning of EPR tags without changing the original number of communication base stations of the EPR tag system, which not only improves the positioning accuracy of EPR tags, but also reduces the complexity and cost of positioning.

[0072] 2. The present invention measures the distance between an EPL tag having uncertain positioning results and multiple paired EPL tags corresponding to the EPL tag, and corrects the uncertain positioning results based on the distance measurement results, thereby obtaining accurate actual positioning results for the EPL tag, and further improving the positioning accuracy of the EPL tag.

[0073] In a second aspect, the present invention provides a computer device, the computer device including a memory, a processor, and a computer program stored in the memory and executable by the processor, the processor, when executing the computer program, includes a step of calculating a positioning result of each electronic price tag whose position is unknown by coordinate information of an electronic price tag whose position is known based on a neighborhood weight table of all price tags in the same store, and determining a candidate electronic price tag having an ambiguous positioning result and a plurality of paired electronic price tags corresponding to the candidate electronic price tags, the plurality of paired electronic price tags being neighboring price tags of the candidate electronic price tags whose positions are already known. The method includes the steps of: pairing the candidate EPL with each of the plurality of paired EPLs one-to-one to obtain a plurality of candidate paired EPL pairs; sequentially transmitting a distance measurement command to each candidate paired EPL pair via a base station; each candidate paired EPL pair sequentially performing distance measurement according to the distance measurement command to obtain a measured distance between the candidate EPL and each paired EPL; and correcting an ambiguous positioning result of the candidate EPL based on all the measured distances to determine an actual positioning result of the candidate EPL.

[0074] In a third aspect, the present invention provides a readable storage medium having a computer program stored therein, the computer program being executed by a processor to perform a step of: determining a positioning result of each EPL tag whose position is unknown according to coordinate information of an EPL tag whose position is known based on a neighborhood weight table of all price tags in the same store; and determining a candidate EPL tag having an ambiguous positioning result and a plurality of paired EPL tags corresponding to the candidate EPL tags, the plurality of paired EPL tags being neighboring price tags of the candidate EPL tag whose positions are known and located on different shelves or and the candidate electronic price tag is located on a different display surface; pairing the candidate electronic price tag with each of the plurality of paired electronic price tags one-to-one to obtain a plurality of candidate paired price tag pairs, and sequentially transmitting a distance measurement command to each candidate paired price tag pair via a base station; each candidate paired price tag pair sequentially performing distance measurement according to the distance measurement command to obtain each measured distance between the candidate electronic price tag and each paired electronic price tag; and correcting the ambiguous positioning result of the candidate electronic price tag based on all the measured distances, and determining the actual positioning result of the candidate electronic price tag.

[0075] It can be understood by those skilled in the art that the implementation of all or part of the flow of the method of the above embodiment can be completed by instructing the relevant hardware by a computer program, and the program can be stored in a non-volatile computer-readable storage medium, and when the program is executed, the flow of each of the above embodiment of the method can be included. Herein, any memory, storage, database, or other medium mentioned in each implementation provided by the present application can include a non-volatile memory and / or a volatile memory. The non-volatile memory can include a read-only memory (ROM), a programmable ROM (PROM), an electrically programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), or a flash memory. The volatile memory can include a random access memory (RAM) or an external cache memory. Illustratively, RAM comes in a variety of forms, such as, but not limited to, Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Memory Bus (Rambus) Direct RAM (RDRAM), Direct Memory Bus Dynamic RAM (DRDRAM), and Memory Bus Dynamic RAM (RDRAM).

[0076] It should be noted that in this specification, relational terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that such an actual relationship or order exists between these entities or operations. And the terms "comprise", "comprises" or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or device that includes a set of elements not only includes those elements, but also includes other elements not expressly listed or includes elements inherent in such process, method, article or device. In the absence of more limitations, an element limited by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

Claims

1. A step of calculating a positioning result of each EPL tag whose position is unknown according to coordinate information of an EPL tag whose position is known based on a neighborhood weight table of all price tags in the same store, and determining a candidate EPL tag having an ambiguous positioning result and a plurality of paired EPL tags corresponding to the candidate EPL tags, the plurality of paired EPL tags being EPL tags whose positions are known and located on different shelves or / and different display surfaces among the neighboring price tags of the candidate EPL tags; Pairing the candidate EPL with each of the plurality of pairing EPLs one-to-one to obtain a plurality of candidate pairing EPL pairs, and sequentially transmitting a distance measurement command to each candidate pairing EPL pair via a base station; each candidate pairing EPL pair sequentially performs distance measurement in response to the distance measurement command to obtain a measured distance between the candidate EPL and each pairing EPL; and correcting the ambiguous location results of the candidate EPLs based on all the measured distances to determine the actual location results of the candidate EPLs.

2. A method for determining the position of an electronic price tag, comprising:

2. The step of sequentially transmitting a ranging command to each candidate pairing tag pair via a base station includes: When the pairing EPL and the candidate EPL in the current candidate pairing EPL pair are registered in the same target base station, the server simultaneously transmits a distance measurement command to the candidate EPL and the pairing EPL via the target base station; After the server receives the measured distance of the current candidate pairing price tag pair, the server sends a distance measurement command to the next candidate pairing price tag pair.

2. The method for determining the position of an electronic price tag according to claim 1.

3. When the pairing EPL and the candidate EPL in the current candidate pairing EPL pair are registered in two different base stations, the server further includes a step of simultaneously transmitting a distance measurement command to the candidate EPL and the pairing EPL via the two base stations.

3. The method for determining the position of an electronic price tag according to claim 2.

4. When the pairing EPL in the current candidate pairing EPL pair and the candidate EPL are registered in two different base stations, the server sends a re-registration command to the pairing EPL to make the pairing EPL re-register with the target base station in which the candidate EPL is registered; The server simultaneously transmits a ranging command to the candidate EPL and the pairing EPL via the target base station.

3. The method for determining the position of an electronic price tag according to claim 2.

5. The distance measurement command includes any combination of the IDs of the two price tags to be measured, the identities of the two price tags, the measurement start time, the range of frequency points used for the distance measurement, the time length of the measurement signal transmission, the transmission power of the signal, the reception time window length, the time length of one measurement, and the number of measurements.

5. The method for determining a position of an electronic price tag according to claim 3 or 4.

6. The step of each candidate pairing EPL pair sequentially performing distance measurement in response to the distance measurement command, and obtaining the measured distance between each candidate EPL and each pairing EPL, includes: The candidate EPT in the current candidate pairing tag pair is center frequency point f ｉ and the pairing EPL in the current candidate pairing EPL pair is set to a phase φ at which the i-th measurement signal is received. Ｒｉ To record the The pairing EPL in the current candidate pairing EPL pair is Ｒｉ is added to the i-th response signal, and the center frequency point f ｉ and the candidate EPL in the current candidate pairing price tag pair transmits the i-th response signal at a phase φ Ｉｉ To record the The phase φ at which the candidate EPL receives the N-th response signal transmitted from the paired EPL ＩＮ When recording the center frequency point f ｉ , phase φ Ｒｉ and phase φ Ｉｉ Calculating a measured distance to a paired EPL in the current candidate paired price tag pair based on Here, f ｉ is an arithmetic progression, i is a positive integer in [1, 2, ..., N], and N is the total number of times to transmit a preset measurement signal.

2. The method for determining the position of an electronic price tag according to claim 1.

7. The candidate EPL in the current candidate pairing price tag pair is ｉ , phase φ Ｒｉ and phase φ Ｉｉ Calculating a measured distance to a paired EPL in a current candidate paired EPL pair based on The candidate EPL in the current candidate pairing price tag pair is Ｒｉ and phase φ Ｉｉ From the phase difference φ ｉ and Phase difference φ ｉ and the center frequency point f ｉ Perform a linear fit to obtain the slope of the curve; calculating a measured distance between the candidate EPL and the paired EPL in the current candidate paired price tag pair based on the slope of the curve.

7. The method for determining a position of an electronic price tag according to claim 6.

8. The formula for calculating the measured distance between the candidate EPL and the paired EPL in the current candidate paired price tag pair based on the slope of the curve is: d １ = k × (c / π), However, d １ is the measured distance between the candidate EPL and the paired EPL in the current candidate paired EPL pair, k is the corresponding transmission delay obtained by dividing the slope of the curve by an integer multiple, and c is the speed of light.

8. The method for determining a position of an electronic price tag according to claim 7.

9. The candidate EPL in the current candidate pairing price tag pair is ｉ , phase φ Ｒｉ and phase φ Ｉｉ Calculating a measured distance to a paired EPL in a current candidate paired EPL pair based on The candidate EPL in the current candidate pairing EPL pair is in phase φ Ｒｉ and phase φ Ｉｉ From the phase difference φ ｉ and The phase difference φ ｉ The autocorrelation process and the fast Fourier transform are performed on the data coordinate m(i ｍａｘ ) and calculating a measured distance between the candidate EPL and the paired EPL in the current candidate paired price tag pair based on the data coordinates.

7. The method for determining a position of an electronic price tag according to claim 6.

10. A formula for calculating the measured distance between the candidate EPL and the paired EPL in the current candidate paired price tag pair based on the data coordinates is: d ２ = d ｍａｘ ×m (A ｍａｘ ) + d ｏｆｆｓｅｔ and However, d ２ is the measured distance between the candidate EPL and the paired EPL in the current candidate paired EPL pair, and d ｍａｘ = c / 4Δf, Δf is the difference between two adjacent frequency points, and d ｏｆｆｓｅｔ is the distance error due to the internal circuitry of the price tag, and m(A ｍａｘ ) is the data coordinate m(i ｍａｘ ) is the normalized value 10. The method for determining a position of an electronic price tag according to claim 9.

11. The step of correcting the ambiguous positioning result of the candidate EPL based on all the measured distances and determining the actual positioning result of the candidate EPL includes: grouping the plurality of paired EPLs by the same display surface or / and the same shelf to obtain at least two EPL sets; determining a target EPL set having the smallest measured distance from the at least two EPL sets based on all measured distances from the candidate EPLs to all paired EPLs; determining a display surface or / and a shelf corresponding to the target EPL set as a target display surface or / and a target shelf of the candidate EPL; and fusing the target display surface or / and the target shelf of the candidate EPL with the ambiguous positioning result to determine an actual positioning result of the candidate EPL.

2. The method for determining the position of an electronic price tag according to claim 1.

12. The step of correcting the ambiguous positioning result of the candidate EPL based on all the measured distances and determining the actual positioning result of the candidate EPL includes: grouping the plurality of paired EPLs by the same display surface or / and the same shelf to obtain at least two EPL sets; determining a target EPL set having a smallest average measured distance from at least two EPL sets based on all measured distances from the candidate EPLs to all paired EPLs; determining a display surface or / and a shelf corresponding to the target EPL set as a target display surface or / and a target shelf of the candidate EPL; and fusing the target display surface or / and the target shelf of the candidate EPL with the ambiguous positioning result to determine an actual positioning result of the candidate EPL.

2. The method for determining the position of an electronic price tag according to claim 1.

13. The step of calculating the positioning result of each EPL tag whose position is unknown according to the coordinate information of the EPL tag whose position is known based on the neighborhood weight table of all the price tags in the same store, and determining the candidate EPL tags having the ambiguous positioning result, The server transmits a global positioning message to all base stations, so that all electronic price tags randomly transmit their identity information in a predetermined time window, at a predetermined frequency point and at a predetermined transmission power, and continuously receive the identity information transmitted by other electronic price tags, and broadcasts the information to the base stations to obtain the signal strength and the number of receptions, thereby obtaining a neighborhood weight table of all electronic price tags in the same store; calculating a positioning result of each EPL tag whose position is unknown based on coordinate information of the EPL tag whose position is known in the neighborhood weight table; obtaining at least two weight sums corresponding to all neighboring price tags located on different display surfaces or / and neighboring shelves of each EPL based on the neighborhood weight table; determining an EPL for which a weight difference between the at least two weight sums falls within a predetermined threshold range as a candidate EPL, and determining a positioning result of the candidate EPL as an ambiguous positioning result.

2. The method for determining the position of an electronic price tag according to claim 1.

14. Calculating a positioning result of each EPL tag whose position is unknown based on coordinate information of EPL tags whose positions are known in the neighborhood weight table, constructing a network diagram having communication relationships between all EPLs whose locations are unknown and EPLs whose locations are known based on the neighborhood weight table; obtaining a path value between each EPL having an unknown location and each EPL having a known location based on the neighborhood weights in the network diagram; and obtaining a positioning result of each of the EPL tags whose positions are unknown based on the minimum two path values ​​and the coordinate information of two EPL tags whose positions are known corresponding to the two path values. The method for determining a position of an electronic price tag according to claim 13.

15. The path value of two neighboring EPLs is (1 / (neighborhood weight where the first EPL receives information from the second EPL+neighborhood weight where the second EPL receives information from the first EPL)). The method for determining a position of an electronic price tag according to claim 14.

16. The neighborhood weight is the number of times that an EPL receives identification information transmitted from another EPL within a limited time slice; Alternatively, the neighborhood weight is a signal strength at which one EPL receives identification information transmitted from another EPL within a limited time slice, Alternatively, the neighborhood weight is a weighted average of the signal strength and the number of times that one EPL receives the identity information transmitted from other EPLs within a limited time slice. The method for determining a position of an electronic price tag according to any one of claims 13 to 15.

17. A computing device including a memory, a processor, and a computer program stored in the memory and executable by the processor, The processor, when executing the computer program, performs the steps of the method according to any one of claims 1 to 16.

1. A computer device comprising:

18. In a readable storage medium on which a computer program is stored, The computer program, when executed by a processor, performs the steps of the method according to any one of claims 1 to 16. A readable storage medium.

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