CN113515962A - Drawer label layered positioning method based on DBSCAN algorithm - Google Patents

Drawer label layered positioning method based on DBSCAN algorithm Download PDF

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CN113515962A
CN113515962A CN202010277253.9A CN202010277253A CN113515962A CN 113515962 A CN113515962 A CN 113515962A CN 202010277253 A CN202010277253 A CN 202010277253A CN 113515962 A CN113515962 A CN 113515962A
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antenna
rssi
drawer
label
coordinates
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桂林卿
任安根
束锋
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Nanjing University of Science and Technology
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
    • G06K7/10019—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers.
    • G06K7/10079—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions
    • G06K7/10089—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision
    • G06K7/10099—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves resolving collision on the communication channels between simultaneously or concurrently interrogated record carriers. the collision being resolved in the spatial domain, e.g. temporary shields for blindfolding the interrogator in specific directions the interrogation device using at least one directional antenna or directional interrogation field to resolve the collision the directional field being used for pinpointing the location of the record carrier, e.g. for finding or locating an RFID tag amongst a plurality of RFID tags, each RFID tag being associated with an object, e.g. for physically locating the RFID tagged object in a warehouse
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
    • G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
    • G06K7/10316—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves using at least one antenna particularly designed for interrogating the wireless record carriers

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  • Computer Vision & Pattern Recognition (AREA)
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Abstract

The invention discloses a drawer label layered positioning method based on DBSCAN algorithm, which comprises the following steps: acquiring original RSSI data of a drawer RFID label; preprocessing original RSSI data; extracting the antenna position based on the maximum value in the RSSI sequence of each label; and classifying the antenna coordinates based on the maximum RSSI value by using a DBSCAN algorithm, and carrying out layered positioning on the labels. Wherein: the method for acquiring the original data of the tag comprises the steps that the antenna moves from top to bottom at a constant speed along the top end of the drawer cabinet, energy is continuously sent out in the moving process of the reader antenna, and the tag receives the energy and then backscatters signals to the reader antenna. The invention can effectively identify the labels in the drawers, classify the labels and locate the drawer on which layer.

Description

Drawer label layered positioning method based on DBSCAN algorithm
Technical Field
The invention relates to the field of automatic identification in the technology of Internet of things, in particular to a drawer label layered positioning method based on a DBSCAN algorithm.
Background
The micro Radio Frequency Identification (Radio Frequency Identification) technology utilizes Radio Frequency signals to realize contactless information transmission through space coupling (alternating magnetic field or electromagnetic field) and achieves the Identification purpose through the transmitted information. The RFID system mainly comprises a reader-writer and a label. The reader is a read/write device which can read information in the tag or write information to be stored in the tag, and is an information control and processing center of the RFID system. The tags are composed of a coupling element and a chip, and each RFID tag has a unique electronic code (EPC) and can be attached to an object to identify a target object. In the era of rapid development of the internet of things, the RFID technology can be widely applied to various fields, wherein the positioning technology is an important research field of the RFID.
The RFID positioning method is similar to the conventional wireless positioning method, and generally estimates the position of the tag to be positioned by measuring parameters such as the transmission/reception delay, signal strength, and phase of the radio frequency signal. The main positioning methods of the RFID are divided into ranging and non-ranging.
A distance measurement method comprises the following steps: for the distance between the reader-writer antenna with a known position and the label to be positioned, the distance can be indirectly calculated by measuring the physical parameters of radio frequency signals, and the method mainly comprises the following steps: signal Strength (RSSI), time of arrival (TOA), time difference of arrival (TDOA), Phase (POA), etc. The measurement accuracy of the TOA and the TDOA has a great influence on the positioning accuracy, and because the signal transmission speed is high, and a small error in time measurement causes a large error when calculation is rejected, the method requires that a transmitting end and a receiving end of a signal have high-precision and high-synchronization clocks, so that the cost is high in practical application, and the error is also large. Although the POA has high accuracy, the phase itself is periodic, and the distance between the reader and the target to be positioned cannot be directly mapped according to the phase.
Non-distance measurement method: the non-ranging RFID positioning method is based on scene analysis, and the principle is that when a specific scene is positioned, scene information is described by using quantization parameters to form an information map of the scene, and the position of an object to be positioned is obtained by matching the object to be positioned with the characteristic attributes of the information map. The non-ranging RFID positioning usually selects RSS as a scene characteristic parameter, and is generally based on a fingerprint positioning method and a reference label method, and specific algorithms include a centroid algorithm, a K Nearest Neighbor (KNN) algorithm, a Bayesian algorithm, a Support Vector Machine (SVM) algorithm and the like. The reference label method needs to deploy a large number of reference labels, especially in an environment with high label density, the coupling between the labels also affects the positioning accuracy, although the fingerprint positioning method does not need to arrange a large number of reference labels, offline training is needed, and the positioning scene is not changed in the online positioning stage.
Disclosure of Invention
The invention aims to provide a drawer label layered positioning method based on a DBSCAN algorithm.
The technical solution for realizing the purpose of the invention is as follows: a drawer label layering method based on a DBSCAN algorithm comprises the following steps:
acquiring original RSSI data of a drawer RFID label;
preprocessing original RSSI data;
finding the maximum RSSI value in the sequence according to the RSSI sequence of each label, and obtaining the antenna coordinate position based on the maximum RSSI value;
and classifying the antenna coordinates based on the maximum RSSI value by using a DBSCAN algorithm, and carrying out layered positioning on the labels.
Further, the RSSI raw data of all tags in the drawer cabinet is obtained, which is specifically as follows:
the reader antenna is placed at the top end of the drawer cabinet and moves downwards at a constant speed by clinging to the antenna outside the drawer until the antenna reaches the ground;
when the antenna is at each position, the power of a transmitted signal of the reader is kept unchanged, the antenna continuously transmits energy to the tags in the moving process, and a set of original data returned by each tag is recorded.
Furthermore, after the reader antenna finishes mobile reading, each tag can obtain the original RSSI data; and processing the original RSSI data, and removing abnormal data by a hampel method.
Further, classifying the antenna coordinates according to a DBSCAN algorithm, and layering the labels, wherein:
carrying out density classification on antenna coordinates based on the maximum RSSI, and classifying antenna data into one class in a centralized manner;
and (5) corresponding the classification result with the label serial number, and layering the drawer labels.
Compared with the prior art, the invention has the following remarkable advantages: the invention classifies the labels which are relatively concentrated by utilizing a density-based DBSCAN algorithm, and the labels are positioned in the drawer of which layer; for the article labels in the closed space such as the drawer, the article labels in the drawer can be effectively read under the condition of non-line of sight, and the good classification condition of the layer where the article labels are positioned is obtained.
Drawings
FIG. 1 is a flow chart of a drawer label layering method based on DBSCAN algorithm.
Fig. 2 is a schematic view of an experimental scenario according to an embodiment of the present invention.
Detailed Description
The positioning scene of object labels in the drawer is small, the reference label method is not applicable in consideration of the influence of label density on positioning accuracy, data needs to be analyzed in the upper layer and the lower layer in the drawer, the signal characteristics of the labels and the characteristics of the antenna are analyzed, the invention classifies the labels which are relatively concentrated by using a density-based DBSCAN algorithm, and the labels are positioned in the drawer of which layer.
The invention provides a drawer label layering method based on a DBSCAN algorithm, which is divided into three stages. The method comprises the steps that the original data of the RFID tags are collected by the aid of movement of a reader antenna, the original data are processed to obtain RSSI sequences of the tags, the maximum value of the RSSI sequence of each tag is found out to obtain the antenna position based on the maximum value of the RSSI, and the obtained antenna coordinates are classified by the aid of a DBSCAN algorithm to layer the corresponding tags.
As shown in fig. 1, the drawer label layering method based on the DBSCAN algorithm specifically includes the following steps:
(1) establishing a coordinate system
As shown in fig. 2, a coordinate system is established according to the structure of the drawer cabinet, wherein the X-axis represents the length of the drawer cabinet, the Y-axis represents the width of the drawer cabinet, and the Z-axis represents the height of the drawer cabinet, with the upper left corner of the drawer cabinet as the origin O.
(2) Reader antenna deployment
As shown in fig. 2, the reader antenna is placed at the top of the drawer cabinet, the antenna is horizontal to the top of the drawer cabinet, the reader antenna moves downwards at a constant speed along the Z-axis direction, and moves to the ground from the far end O, and in the process, the antenna is always attached to the drawer.
(3) Reader antenna receiving return signal of tag
In the moving process of the antenna, the transmitting power of the reader antenna is 20dBm, the frequency of the frequency modulation signal is 920-928 MHZ, the label in each layer of drawer of the drawer cabinet is in an activatable range, the label can generate induced current to return the information of the label to the reader antenna through the built-in antenna, and then the information is processed through a host system of the reader.
(4) Filtering the original RSSI data
After the reader antenna completes the mobile reading, each tag will get its original RSSI data. In order to represent RSSI characteristics of the reader antenna at different positions, original data need to be processed, abnormal data are removed through a hampel method, and the position state of the antenna can be well represented through the processed data.
(5) Composing an RSSI sequence for each tag
For a tag k in the drawer cabinet, the RSSI value read by the antenna at the ith position can be represented as RSSIk(i) Where k denotes the sequence number of the kth tag, RSSIk(1)、RSSIk(2)、...、RSSIk(i) Respectively indicating the reader antenna at position A1、A2And AiWhen the strength of the return signal of the tag k is received, the corresponding reader antenna position set is { Z }k(1),Zk(2),...,Zk(i) In which Z isk(1)、Zk(2)、...、Zk(i) Respectively indicating the reader antenna at position A1、A2And AiThe coordinate value on the Z axis corresponds to all the elements in the two sets to form the RSSI sequence of tag k, which can be expressed as: { (Z)k(1),RSSIk(1))、(Zk(2),RSSIk(2))、...、(Zk(i),RSSIk(i))}。
(6) Antenna coordinate based on RSSI maximum value
Of the RSSI sequences of tag k, the maximum value in the RSSI sequence is compared and expressed as
Figure BDA0002445243560000041
The coordinate value of the corresponding reader antenna on the Z axis is expressed as
Figure BDA0002445243560000042
The position coordinate set of the antenna of the label in the drawer based on the maximum RSSI value is
Figure BDA0002445243560000043
(7) Label layering based on DBSCAN algorithm
The label layering process using the DBSCAN algorithm is as follows:
1) in an actual application scene of label layering, antenna position coordinates based on the maximum RSSI value are taken as an analysis data set, and the antenna position coordinates are set into
Figure BDA0002445243560000044
Where k is the number of tags and is also the number of antenna location coordinates.
2) Checking antenna coordinates of a certain tag based on RSSI maximum value
Figure BDA0002445243560000045
Eps field of
Figure BDA0002445243560000046
If field
Figure BDA0002445243560000047
If the number of objects contained is less than MinPts, the coordinates are marked
Figure BDA0002445243560000048
As boundary points or noise points.
3) If 2) middle field
Figure BDA0002445243560000049
The number of objects in (1) is more than or equal to MinPts, and the coordinates are marked
Figure BDA00024452435600000410
Is a core point, and a new cluster is established, and the domain is divided into
Figure BDA00024452435600000411
And all antenna coordinates are added to cluster C.
4) Field of examination
Figure BDA0002445243560000051
Of unprocessed labels
Figure BDA0002445243560000052
If field
Figure BDA0002445243560000053
Containing at least MinPts objects, then
Figure BDA0002445243560000054
Cluster C is added to the coordinates that fall into any one cluster.
Until all the antenna coordinates are classified, the coordinate data are divided into S clusters, the labels in the drawers are correspondingly divided into S layers, and the DBSCAN algorithm is stopped.
The invention can effectively read the article labels in the drawer under the condition of non-line of sight for the article labels in a closed space such as the drawer, and can well classify the layer in which the article labels are positioned.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (6)

1. A drawer label layered positioning method based on DBSCAN algorithm is characterized by comprising the following steps:
acquiring original RSSI data of a drawer RFID label;
preprocessing original RSSI data;
finding the maximum RSSI value in the sequence according to the RSSI sequence of each label, and obtaining the antenna coordinate position based on the maximum RSSI value;
and classifying the antenna coordinates based on the maximum RSSI value by using a DBSCAN algorithm, and carrying out layered positioning on the labels.
2. The drawer label layered positioning method based on the DBSCAN algorithm as claimed in claim 1, wherein the RSSI raw data of all labels in the drawer cabinet is obtained as follows:
s11, placing the reader antenna at the top end of the drawer cabinet, and moving downwards at a constant speed by clinging to the external antenna of the drawer until the antenna reaches the ground;
and S12, when the antenna is at each position, the power of the transmitted signal of the reader is kept unchanged, the antenna continuously transmits energy to the tags in the moving process, and a set of original data returned by each tag is recorded.
3. The drawer label layered positioning method based on DBSCAN algorithm as claimed in claim 2, wherein a coordinate system is established according to the structure of the drawer cabinet, wherein the X-axis represents the length of the drawer cabinet, the Y-axis represents the width of the drawer cabinet, the Z-axis represents the height of the drawer cabinet, and the upper left corner of the drawer cabinet is taken as an origin O;
the reader antenna is placed at the top end of the drawer cabinet, the antenna is horizontal to the top end of the drawer cabinet, the reader antenna moves downwards at a constant speed along the Z-axis direction and moves to the ground from the far end O, and in the process, the antenna is always attached to the drawer;
in the moving process of the antenna, the transmitting power of the reader antenna is 20dBm, the frequency of the frequency-modulated signal is 920-928 MHZ, the label in each layer of drawer of the drawer cabinet is in an activatable range, the label can generate induced current to return the information of the label to the reader antenna through the built-in antenna, the information is processed through a computer, and the original data is processed into an RSSI sequence.
4. The drawer label layered positioning method based on DBSCAN algorithm as claimed in claim 1, wherein after the reader antenna finishes mobile reading, each label gets its original RSSI data; and processing the original RSSI data, and removing abnormal data by a hampel method.
5. The drawer label layered positioning method based on DBSCAN algorithm according to claim 1, characterized in that according to the RSSI sequence of each label, the RSSI maximum value in the sequence is found, and the antenna coordinate position based on the RSSI maximum value is obtained, specifically;
(1) composing an RSSI sequence for each tag
For a tag k in the chest of drawers, the RSSI value read by the antenna at the ith position is represented as RSSIk(i) Where k denotes the sequence number of the kth tag, RSSIk(1)、RSSIk(2)、...、RSSIk(i) Respectively indicating the reader antenna at position A1、A2And AiWhen the strength of the return signal of the tag k is received, the corresponding reader antenna position set is { Z }k(1),Zk(2),...,Zk(i) In which Z isk(1)、Zk(2)、...、Zk(i) Respectively indicating the reader antenna at position A1、A2And AiAnd (3) a coordinate value on the Z axis, wherein the RSSI sequence of the tag k can be formed by corresponding all the elements in the two sets, and is represented as: { (Z)k(1),RSSIk(1))、(Zk(2),RSSIk(2))、...、(Zk(i),RSSIk(i))}；
(2) Antenna coordinate based on RSSI maximum value
Of the RSSI sequences of tag k, the maximum value in the RSSI sequence is compared and expressed as
Figure FDA0002445243550000021
The coordinate value of the corresponding reader antenna on the Z axis is expressed as
Figure FDA0002445243550000022
The position coordinate set of the antenna of the label in the drawer based on the maximum RSSI value is
Figure FDA0002445243550000023
6. The drawer label layering positioning method based on the DBSCAN algorithm as claimed in claim 1, wherein the labels are layered by classifying the coordinates of the antenna according to the DBSCAN algorithm, and the specific method is as follows:
(1) the antenna position coordinate based on the maximum RSSI value is taken as an analysis data set, and the antenna position coordinate set is
Figure FDA0002445243550000024
Wherein k is the number of the labels and is the number of the coordinates of the antenna position;
(2) checking antenna coordinates of a certain tag based on RSSI maximum value
Figure FDA0002445243550000025
Eps field of
Figure FDA0002445243550000026
If field
Figure FDA0002445243550000027
If the number of objects contained is less than MinPts, the coordinates are marked
Figure FDA0002445243550000028
Boundary points or noise points;
(3) if field
Figure FDA0002445243550000029
The number of objects in (1) is more than or equal to MinPts, and the coordinates are marked
Figure FDA00024452435500000210
Is a core point, and a new cluster is established, and the domain is divided into
Figure FDA00024452435500000211
All antenna coordinates in the cluster C, if field
Figure FDA0002445243550000031
If the number of objects in (1) is greater than or equal to the number of objects in (2), the coordinates are marked
Figure FDA0002445243550000032
Boundary points or noise points;
(4) field of examination
Figure FDA0002445243550000033
Of unprocessed labels
Figure FDA0002445243550000034
If field
Figure FDA0002445243550000035
Containing at least MinPts objects, then
Figure FDA0002445243550000036
Adding a cluster C for the coordinates classified into any one cluster;
(5) until all the antenna coordinates are classified, the coordinate data are divided into S clusters, the labels in the drawers are correspondingly divided into S layers, and the DBSCAN algorithm is stopped.
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