CN116502662A

CN116502662A - Method, device, medium, equipment and unmanned warehouse for identifying wrong shelf of archive warehouse

Info

Publication number: CN116502662A
Application number: CN202310293051.7A
Authority: CN
Inventors: 邓昱晨; 朱波; 朱峰林宏; 李刚
Original assignee: Shenjiang Wanguo Data Information Co ltd
Current assignee: Shenjiang Wanguo Data Information Co ltd
Priority date: 2023-03-23
Filing date: 2023-03-23
Publication date: 2023-07-28

Abstract

The disclosure relates to the technical field of file management, in particular to a wrong shelf identification method, device, medium, equipment and unmanned warehouse of a file warehouse. The method is based on ultra-high frequency RFID implementation, wherein: the RFID tag is adhered to a corresponding file, the RFID reader-writer is fixed on a grabbing arm device of an unmanned file warehouse, and the RFID reader-writer moves along with the grabbing arm device to form a multi-degree-of-freedom RFID scanning system, and the method comprises the following steps: acquiring a real-time signal intensity value of an RFID tag corresponding to the file to be positioned, which is acquired by a multi-degree-of-freedom RFID scanning system; comparing the real-time signal intensity value with reference signal intensity values of different areas in a reference field, and identifying whether the file to be positioned is misplaced; the reference field is a reference signal intensity value distribution field obtained based on a reference RFID tag at a known position and RFID readers/writers at different positions. According to the technical scheme, the file error frame identification to be located is realized, and meanwhile hardware input cost and maintenance cost of system operation are reduced.

Description

Method, device, medium, equipment and unmanned warehouse for identifying wrong shelf of archive warehouse

Technical Field

The disclosure relates to the technical field of file management, in particular to a wrong shelf identification method, device, medium, equipment and unmanned warehouse of a file warehouse.

Background

Files in the file warehouse can be misplaced when being stored, namely, the phenomenon of misplacement of files is caused. The file misplacement refers to that the file is not placed at a specified position, as shown in fig. 1, the file placed at the storage position a is stored at the storage position B according to the specification, but the file is not placed at the specified storage position B, which belongs to the file misplacement. File misplacement can lead to confusion in file management and even raise security risks for files.

Aiming at the problem of file misplacement, except for manual inspection, a set of radio frequency identification (Radio Frequency Identification, RFID) tags and RFID readers are configured for each file storage bin of the compact shelf in the related technical scheme, the RFID readers are arranged below the storage bin, the corresponding RFID tags are adhered to files, and the RFID readers are used for scanning the corresponding RFID tags to judge whether file misplacement occurs. Because the scheme needs to configure an RFID tag and an RFID reader-writer for each storage compartment of the compact shelf, the hardware cost is high, the maintenance workload is ensured to be large, and the scheme is not suitable for use in a large archive warehouse.

Disclosure of Invention

In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a method, a device, a medium, a device and an unmanned warehouse for identifying a wrong shelf of a file warehouse, which are beneficial to reducing hardware input cost and maintenance cost of system operation while realizing the wrong shelf identification of a file to be positioned.

In a first aspect, an embodiment of the present disclosure provides a method for identifying a wrong shelf of an unmanned archive warehouse, where the method is implemented based on an ultrahigh frequency RFID, an RFID tag is attached to a corresponding archive, an RFID reader is fixed on a gripping arm device of the unmanned archive warehouse, and the RFID reader moves along with the gripping arm device to form a multi-degree-of-freedom RFID scanning system; the method comprises the following steps:

acquiring a real-time signal intensity value of an RFID tag corresponding to the file to be positioned, which is acquired by the multi-degree-of-freedom RFID scanning system;

comparing the real-time signal intensity value with reference signal intensity values of different areas in a reference field, and identifying whether the file to be positioned is misplaced;

the reference field is a reference signal intensity value distribution field of different areas acquired by utilizing RFID readers-writers at different positions based on a plurality of reference RFID tags at known positions.

In some embodiments, before the comparing the real-time signal strength value to the reference signal strength value for a different region in the reference field, the method further comprises:

acquiring a reference field;

the system comprises a plurality of reference RFID tags at known positions, wherein the plurality of reference RFID tags at the known positions comprise pre-placed reference RFID tags and/or RFID tags corresponding to on-shelf files of an unmanned archive warehouse in an initialized state;

the known positions corresponding to the plurality of reference RFID tags at least comprise a top corner position and a center position of the file rack.

In some embodiments, the acquiring a reference field comprises:

moving the multi-degree-of-freedom RFID scanning system to a plurality of different positions, and scanning each reference RFID label to obtain a signal intensity value of each reference RFID label corresponding to each different position;

determining signal strength values of storage positions where the reference RFID tags are not placed corresponding to different positions by interpolation based on the signal strength values of the plurality of reference RFID tags at the known positions corresponding to the different positions;

the reference field is constructed based on signal strength values of the plurality of reference RFID tags at the known locations corresponding to the different locations and signal strength values of the storage locations of the non-placed reference RFID tags corresponding to the different locations.

In some embodiments, the acquiring the real-time signal strength value of the RFID tag corresponding to the file to be located acquired by the multi-degree of freedom RFID scanning system includes:

controlling the multi-degree-of-freedom RFID scanning system to traverse the plurality of different positions;

and reading the RFID labels corresponding to the files to be positioned at all positions by utilizing the multi-degree-of-freedom RFID scanning system, and obtaining corresponding real-time signal intensity values.

In some embodiments, the comparing the real-time signal strength value with reference signal strength values of different areas in a reference field, and identifying whether the file to be located is misplaced, includes:

comparing the real-time signal strength values corresponding to the plurality of different positions with the reference signal strength values;

and determining that the file to be positioned is misplaced when the real-time signal strength value is different from the reference signal strength value for all the positions in the plurality of different positions.

In some embodiments, the method further comprises:

after determining that the file to be positioned is misplaced, determining, for each of the plurality of different positions, a matching lattice corresponding to a reference signal strength value that is the same as a real-time signal strength value of an RFID tag corresponding to the file to be positioned;

and taking an intersection set based on the positions of all the matching check bits, and determining the current position of the file to be positioned.

In a second aspect, the embodiment of the disclosure further provides a wrong shelf identification device of the unmanned archive storehouse, the device is realized based on ultrahigh frequency RFID, an RFID tag is attached to a corresponding archive, an RFID reader is fixed on a grabbing arm device of the unmanned archive storehouse, and the RFID reader moves along with the grabbing arm device to form a multi-degree-of-freedom RFID scanning system; the device comprises:

the data acquisition unit is used for acquiring the real-time signal intensity value of the RFID tag corresponding to the file to be positioned acquired by the multi-degree-of-freedom RFID scanning system;

the data processing unit is used for comparing the real-time signal intensity value with the reference signal intensity values of different areas in the reference field, determining the position of the file to be positioned and identifying whether the file to be positioned is misplaced or not;

In a third aspect, the presently disclosed embodiments also provide a computer-readable storage medium storing a program or instructions that cause a computer to perform the steps of any of the methods as provided in the first aspect.

In a fourth aspect, an embodiment of the present disclosure further provides an electronic device, including: a processor and a memory;

the processor is operable to perform the steps of any of the methods as provided in the first aspect by invoking a program or instruction stored in the memory.

In a fifth aspect, embodiments of the present disclosure also provide an unmanned warehouse employing the steps of any one of the methods provided in the first aspect for archive shelf misplacement identification.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

the method for identifying the wrong shelf of the unmanned archive storehouse is realized based on ultrahigh frequency RFID, an RFID tag is pasted on a corresponding archive, an RFID reader-writer is fixed on a grabbing arm device of the unmanned archive storehouse, and the RFID reader-writer moves along with the grabbing arm device to form a multi-degree-of-freedom RFID scanning system; the method comprises the following steps: acquiring a real-time signal intensity value of an RFID tag corresponding to the file to be positioned, which is acquired by a multi-degree-of-freedom RFID scanning system; comparing the real-time signal intensity value with reference signal intensity values of different areas in a reference field, and identifying whether the file to be positioned is misplaced; the reference field is a reference signal intensity value distribution field of different areas acquired by utilizing RFID readers/writers at different positions based on a plurality of reference RFID tags at known positions. Therefore, based on the RFID tag positioning technology, the capture arm capable of being positioned freely by the unmanned archive warehouse system and the RFID reader-writer arranged on the capture arm are utilized to acquire the real-time signal intensity value of the RFID tag corresponding to the archive to be positioned, which is acquired by the multi-degree-of-freedom RFID scanning system, and the real-time signal intensity value of the RFID tag corresponding to the archive to be positioned is compared with the reference signal intensity values of different areas in the reference field, so that the archive to be positioned can be identified by misplacement. According to the wrong shelf identification method of the unmanned archive storehouse, the wrong shelf identification of the archive to be positioned is realized, and meanwhile, due to the fact that only the ultrahigh frequency RFID tag and one RFID reader-writer are used, the mode that the RFID reader-writer is configured for each storage compartment in the compact shelf in the related technology can be avoided, hardware input cost is reduced, and maintenance cost of system operation is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a compact shelf for storing files provided in the related art;

FIG. 2 is a schematic diagram of an application scenario for file misplacement identification provided in the related art;

fig. 3 is a flowchart illustrating a method for identifying a wrong shelf of an unmanned archive warehouse according to an embodiment of the disclosure;

fig. 4 is a schematic view of an application scenario of a multi-degree-of-freedom RFID scanning system according to an embodiment of the present disclosure;

fig. 5 is a schematic diagram of an application scenario in which an RFID scanning system scans an on-shelf archive at different locations according to an embodiment of the present disclosure;

FIG. 6 is a schematic illustration of interpolation computation provided in an embodiment of the disclosure;

FIG. 7 is a schematic diagram of a reference field of construction provided by an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of an auxiliary positioning file according to an embodiment of the disclosure;

FIG. 9 is a schematic diagram of determining possible locations of a file misplaced to be located based on a reference RSSI feature value according to an embodiment of the present disclosure;

FIG. 10 is a schematic diagram illustrating an intersection among matching bins for multiple scan positions according to an embodiment of the present disclosure;

FIG. 11 is a schematic structural diagram of a device for identifying a wrong shelf of an unmanned archive storehouse according to an embodiment of the present disclosure;

fig. 12 is a schematic hardware structure of an electronic device according to an embodiment of the disclosure.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.

The file misplacement refers to that files are not placed at specified positions, as shown in fig. 1, the storage grid of the compact shelf is used for placing files. For example, a file placed in storage compartment a is not placed in a specified storage compartment B, which is a wrong file rack. File misplacement can lead to confusion in file management and even raise security risks for files.

Aiming at the technical problems, a set of RFID tag and RFID reader-writer is configured for each file storage position of the compact shelf in the related technology. Fig. 2 is a schematic diagram of an application scenario of file misplacement identification provided in the related art. As shown in fig. 2, the RFID reader 22 is disposed below the storage space, the corresponding RFID tag 21 is attached to the file, and the RFID reader 22 scans the corresponding RFID tag 21 to determine whether the file is misplaced. Because the scheme needs to configure the RFID tag 21 and the RFID reader-writer 22 for each storage compartment of the compact shelf, the hardware cost is high, the maintenance workload is high, and the scheme is not suitable for large archives.

Aiming at the technical problems mentioned in the related art, the embodiment of the disclosure provides a wrong shelf identification method of an unmanned archive warehouse, which can realize wrong shelf identification of an archive to be positioned, and simultaneously avoid the mode of configuring an RFID reader for each storage compartment in a compact shelf in the related art due to the fact that only an ultrahigh frequency RFID tag and one RFID reader are used, thereby being beneficial to reducing hardware input cost and reducing maintenance cost of system operation.

Exemplary description will be made on a method, an apparatus, a storage medium, an electronic device, and an unmanned archive warehouse for identifying a wrong shelf of the unmanned archive warehouse according to an embodiment of the present disclosure, with reference to fig. 3 to 12.

Fig. 3 is a flowchart illustrating a method for identifying a wrong shelf of an unmanned archive warehouse according to an embodiment of the disclosure. The method is suitable for application scenes in which wrong shelf identification needs to be carried out on the unmanned archive warehouse. The method can be executed by the wrong shelf identification device of the unmanned archive warehouse, which is provided by the embodiment of the disclosure, and can be realized in a software and/or hardware mode. As shown in fig. 3, the method for identifying the wrong shelf of the unmanned archive storehouse comprises the following steps:

s301, acquiring a real-time signal intensity value of an RFID tag corresponding to the file to be positioned, which is acquired by the multi-degree-of-freedom RFID scanning system.

Specifically, the RFID tag is adhered to each part of archives, the RFID reader-writer is fixed on the grabbing arm device of the unmanned archives warehouse, and the RFID reader-writer moves along with the grabbing arm device, so that the grabbing arm device can move freely in multiple directions, and a multi-degree-of-freedom RFID scanning system is formed.

The RFID tag adopts an ultrahigh frequency RFID tag, and correspondingly the RFID reader-writer adopts an ultrahigh frequency RFID reader-writer. Based on the method, the multi-degree-of-freedom RFID scanning system can realize remote coverage and detection so as to realize the scanning of the RFID tags of the files.

The main principle of RFID is a process of reading, writing and identifying a marking medium by using radio waves. The RFID reader writes data in a specific format to the RFID tag, and then attaches the tag to the surface of the object to be identified. The RFID reader-writer can also read and identify the electronic data stored in the electronic tag in a contactless manner, so that the functions of long-distance, contactless acquisition, wireless transmission and the like of object identification information are realized.

Exemplary, fig. 4 is a schematic application scenario diagram of a multi-degree-of-freedom RFID scanning system according to an embodiment of the present disclosure. As shown in fig. 4, the files on the compact shelving are all stuck with RFID tags, and the multi-degree-of-freedom RFID scanning system uses a gripping arm device capable of freely moving in X, Y and Z axes in the unmanned file warehouse system, and by integrating the RFID reader 22 on the gripping arm 23, the RFID tags of the files on the compact shelving can be scanned at any determined position so as to acquire real-time signal intensity values, which can be simply called RSSI characteristic values, of the RFID tags corresponding to the files to be positioned.

Compared with the prior art, for example, as shown in fig. 2, the method for identifying the wrong shelf of the unmanned archive warehouse provided by the embodiment of the disclosure adopts the multi-degree-of-freedom RFID scanning system, and the RFID scanning system uses the ultrahigh frequency RFID tag and one RFID reader-writer, so that the manner of configuring the RFID reader-writer for each storage compartment of the compact shelf can be avoided, the hardware input cost can be reduced, and the maintenance cost of the system operation can be reduced.

In some embodiments, acquiring the real-time signal strength value of the RFID tag corresponding to the file to be located acquired by the multi-degree of freedom RFID scanning system includes:

controlling the multi-degree-of-freedom RFID scanning system to traverse a plurality of different positions;

and reading the RFID tags corresponding to the files to be positioned at all positions by utilizing the multi-degree-of-freedom RFID scanning system to obtain corresponding real-time signal intensity values.

Specifically, referring to fig. 4, the multi-degree-of-freedom RFID scanning system 20 may be moved to different positions, that is, the multi-degree-of-freedom RFID scanning system 20 may be controlled to traverse a plurality of different positions, scan the RFID tag corresponding to the file to be located at each position, and read the RSSI characteristic value of the RFID tag corresponding to the file to be located.

Fig. 5 is a schematic diagram of an application scenario in which an RFID scanning system scans an on-shelf archive at different locations according to an embodiment of the present disclosure. As shown in fig. 5, p1, p2, p3, p4, p5 respectively represent positions of the RFID scanning system when the RFID scanning system reads the RFID tag, that is, the RFID scanning system traverses a plurality of different positions, and reads the RFID tag corresponding to the file to be located at the positions p1, p2, p3, p4, and p5 to obtain the RSSI characteristic value of the RFID tag corresponding to the file to be located, where the read RSSI characteristic value may be recorded as R ₀ (i, j, k). Wherein i is equal to or less than 1 and equal to or less than m, j is equal to or less than 1 and equal to or less than n, k is equal to or less than 1 and equal to or less than s, i represents the layer number of the compact shelving, j represents the position of a storage grid, k represents the position of an RFID tag corresponding to an file to be positioned when the RFID scanning system reads, for example, the k position can be at least one of the positions of p1, p2, p3, p4 and p5 in FIG. 5.

S302, comparing the real-time signal intensity value with the reference signal intensity values of different areas in the reference field, and identifying whether the file to be positioned is misplaced.

Specifically, in this step, based on the real-time signal strength value of the RFID tag corresponding to the file to be located obtained in S301, the real-time signal strength value of the RFID tag corresponding to the file to be located is compared with the reference signal strength values of different areas in the reference field, and whether the file to be located is misplaced is identified based on the comparison result.

The reference field is a reference signal intensity value distribution field of different areas acquired by utilizing RFID readers/writers at different positions based on a plurality of reference RFID tags at known positions. Based on a plurality of reference RFID labels at known positions, the files are scanned at a plurality of positions by using a one-to-one correspondence relationship between the plurality of reference RFID labels and the storage grid positions through an RFID scanning system so as to obtain reference signal intensity value distribution fields of different areas. How to acquire the reference signal intensity value distribution fields of different regions is detailed below.

In some embodiments, prior to comparing the real-time signal strength value to the reference signal strength value for a different region in the reference field, the method further comprises:

a reference field is acquired.

Specifically, in combination with the above, the reference field is acquired before comparing the real-time signal strength value with the reference signal strength values of different areas in the reference field; after the reference field is acquired, the real-time signal strength value can be compared with the reference signal strength values of different areas in the reference field to identify whether the file to be positioned is misplaced.

Wherein the plurality of reference RFID tags at known locations may include pre-placed reference RFID tags; the RFID tag corresponding to the on-shelf file in the initialized state of the unmanned file warehouse can be included, so that the files can be ensured to be in correct placement positions; the system also comprises a pre-placed reference RFID tag and an RFID tag corresponding to the on-shelf archive of the unmanned archive warehouse in an initialized state; the embodiments of the present disclosure are not particularly limited thereto.

In order to ensure high accuracy of the reference field, the known positions corresponding to the plurality of reference RFID tags at least include a top corner position and a center position of the file compact shelf. If the initialized in-place file already covers the top angle position and the center position of the file frame, other reference labels can be not placed any more; if the initialized in-place file does not completely cover the top angle position and the center position of the file frame, the reference label is supplemented by manual placement so as to ensure high accuracy of the reference field.

In some embodiments, acquiring the reference field includes:

moving the multi-degree-of-freedom RFID scanning system to a plurality of different positions, and scanning each reference RFID label to obtain signal intensity values of each reference RFID label corresponding to each different position;

a reference field is constructed based on the signal strength values of the plurality of reference RFID tags at the known locations corresponding to the different locations and the signal strength values of the storage bins where no reference RFID tag is placed corresponding to the different locations.

Specifically, referring to fig. 4, the RFID scanning system is moved to different locations, the reference RFID tags are scanned, and the signal strength values of each reference RFID tag corresponding to the different locations are read. In order to distinguish the RSSI characteristic value of the RFID label corresponding to the file to be positioned, each acquired signal intensity value of the reference RFID label corresponding to each different position is called as the reference RSSI characteristic value for short.

In general, four corner positions and center points of the compact shelf can be taken as scanning positions, so that reference RSSI characteristic values of each reference RFID tag in a plurality of scanning directions can be fully recorded. The different scan locations may be numbered and recorded in the manner shown in fig. 5, with p1, p2, p3, p4, and p5 representing the locations where the RFID scanning system reads the reference RFID tag, respectively.

For a compact shelf with n storage cells in each layer, and after being scanned by an RFID scanning system with s positions, the reference RSSI characteristic value of each storage cell can be recorded as R (i, j, k). Where 1.ltoreq.i.ltoreq.m, 1.ltoreq.j.ltoreq.n, 1.ltoreq.k.ltoreq.s, i represents the number of layers of the compact shelving, j represents the location of the storage bin, k represents the location where the RFID scanning system reads the reference RFID tag, e.g., the k location may be at least one of the p1, p2, p3, p4, and p5 locations in FIG. 5.

With continued reference to fig. 4, the RFID scanning system is moved to different positions to scan the on-shelf archive to which the reference RFID tag is attached, thereby obtaining the reference RSSI characteristic value of the corresponding storage bin. And determining the reference RSSI characteristic value of the storage cell without the reference RFID tag in the compact shelf by Newton interpolation according to the scanned reference RSSI characteristic value of the storage cell. Specifically, the reference RSSI characteristic value of each storage bin where the reference RFID tag is not placed is determined by the reference RSSI characteristic value of the adjacent stuck reference RFID tag on the same layer.

Illustratively, fig. 6 is a schematic illustration of interpolation computation provided in an embodiment of the disclosure. As shown in fig. 6, the position x of the storage compartment _t And x _t+1 The position j of the storage cell position is the same layer as the position x of the storage cell position of the non-attached reference RFID label _t And x _t+1 Is the position of the affixed reference RFID tag adjacent to the position j of the storage bin. The reference RSSI characteristic value for the j position of the bin when the RFID scanning system is in the k position can be calculated using the following disclosure:

therefore, based on the signal intensity values of the plurality of reference RFID labels at the known positions corresponding to different positions and the signal intensity values of the storage cells where the reference RFID labels are not placed corresponding to different positions, the reference RSSI characteristic value of each storage cell in the compact shelf can be built, and then a reference RSSI characteristic value base line graph can be obtained, namely a reference field is built.

Illustratively, FIG. 7 is a schematic diagram of a build reference field provided by embodiments of the present disclosure. As shown in fig. 7, the positions to which the reference RFID tag and the RFID reader-writer move are fixed, so that a reference RSSI characteristic value base map of the position where the reference RFID tag is located can be drawn in a space region. For areas not covered by the reference RFID tag, the reference RSSI characteristic values of the spatial positions can be based on the reference RSSI characteristic values of the reference RFID tag positions, and the calculation and the confirmation are carried out by an interpolation mode based on the spatial propagation rule of the RFID signal. As shown in fig. 7, the spatial area is divided into a plurality of grids, the reference RSSI characteristic value of the reference RFID tag in the grid can be directly determined, and the area without the reference RFID tag in the grid can be obtained by interpolation calculation through the reference RSSI characteristic value of the adjacent reference tag area. Through the mode, the base line graph of the reference RSSI characteristic values of different areas in the space can be drawn, namely, the reference field is constructed.

In other embodiments, multiple ultra-high frequency RFID readers may also be provided for multiple scanning locations. By providing a limited number of ultrahigh frequency RFID readers, the configuration of readers for each storage compartment of the compact shelf in the related art, such as in fig. 2, can also be avoided, and the hardware structure can be simplified, which is beneficial to the cost reduction.

It should be noted that, to ensure that the base line diagram covers the entire compact shelving, if the on-shelf files on the current compact shelving cannot cover two end points of each layer of the compact shelving, auxiliary positioning files with RFID tags attached to the corresponding storage locations need to be temporarily placed. Exemplary, as shown in fig. 8, fig. 8 is a schematic diagram of an assisted positioning archive according to an embodiment of the disclosure.

In some embodiments, comparing the real-time signal strength value with reference signal strength values of different areas in a reference field, identifying whether the file to be localized is misplaced, includes:

comparing the real-time signal intensity values corresponding to the different positions with the reference signal intensity values;

Specifically, in combination with the above, the RFID scanning system is moved to a plurality of different positions to scan the RSSI characteristic values of the RFID tags corresponding to the files to be located, respectively, and the read RSSI characteristic values may be recorded as R ₀ (i, j, k). Based on the basic line diagram of the reference RSSI characteristic values in the reference field, the reference RSSI characteristic values of the files to be positioned are respectively acquired for a plurality of different positions, and the acquired reference RSSI characteristic values can be recorded as R (i, j, k). Thus, p1, such as shown in FIG. 5, can separately obtain R of the file to be located at the same location ₀ (i, j, p 1) and R (i, j, p 1), and comparing R ₀ Whether (i, j, p 1) and R (i, j, p 1) are the same; correspondingly, R of the obtained files to be positioned are respectively compared at other positions ₀ Whether (i, j, k) and R (i, j, k) are the same; when R of the file to be located is acquired for all positions in a plurality of different positions ₀ When (i, j, k) and R (i, j, k) are different, then the file to be located is determined to be misplaced.

By determining the RSSI characteristic value R read at each scanning position ₀ Whether (i, j, k) is the same as the reference RSSI characteristic value R (i, j, k) can avoid the interference of accidental factors, and is beneficial to improving the judgment accuracy.

In some embodiments, the method further comprises:

after determining that the file to be positioned is misplaced, determining, for each of a plurality of different positions, a matching lattice bit corresponding to a reference signal strength value identical to a real-time signal strength value of an RFID tag corresponding to the file to be positioned;

and acquiring an intersection set based on the positions of all the matching grid positions, and determining the current position of the file to be positioned.

Specifically, after determining that the files to be located are misplaced, for each scanning position, the RSSI characteristic value of the files to be located is scanned. After the RSSI characteristic value of the file to be positioned is determined, acquiring a reference RSSI characteristic value identical to the RSSI characteristic value of the file to be positioned through a reference RSSI characteristic value base line diagram in a reference field, and determining a corresponding storage bin based on the reference RSSI characteristic value. For a high frequency RFID reader with a fixed scan position, the RSSI values of the RFID tags corresponding to different bins may be the same, so there may be more than one bin matching the RSSI characteristic value.

Illustratively, fig. 9 is a schematic diagram of determining a possible location of an archive shelf to be located based on a reference RSSI characteristic value according to an embodiment of the present disclosure. On the basis of fig. 5 and 7, in conjunction with fig. 9, fig. 9 exemplarily shows that the scanning position is p1, and there are three positions of the file to be positioned, such as the position of the dashed box.

Based on the above, for a plurality of scanning positions, the matching lattice corresponding to each scanning position is obtained, so that the matching lattice corresponding to each scanning position can be obtained; and taking intersection sets of the matching lattice positions corresponding to each scanning position, so as to determine the current position of the file to be positioned.

Illustratively, fig. 10 is a schematic diagram of intersection among a plurality of matching bins for scanning positions according to an embodiment of the present disclosure. Based on fig. 5 and 7, three scanning positions p1, p2 and p3 are exemplarily shown in the left drawing, each scanning position corresponds to a plurality of matching grid positions such as the dashed frame position in the left drawing, and the plurality of matching grid positions corresponding to each scanning position are combined and intersected to determine a matching grid position, which is like the dashed frame position in the right drawing, and the matching grid position can determine the current position where the file to be located is located.

Based on the same inventive concept, the embodiment of the disclosure also provides a wrong shelf identification device of the unmanned archive storehouse, the device is realized based on the ultrahigh frequency RFID, the RFID tag is pasted on the corresponding archive, the RFID reader-writer is fixed on the grabbing arm device of the unmanned archive storehouse, and the RFID reader-writer moves along with the grabbing arm device to form a multi-degree-of-freedom RFID scanning system.

Fig. 11 is a schematic structural diagram of a wrong shelf identification device of an unmanned archive storehouse according to an embodiment of the present disclosure. As shown in fig. 11, the apparatus includes: a data acquisition unit 41, configured to acquire a real-time signal intensity value of an RFID tag corresponding to the file to be located acquired by the multi-degree-of-freedom RFID scanning system; the data processing unit 42 is configured to compare the real-time signal strength value with reference signal strength values of different areas in the reference field, determine a location of the file to be located, and identify whether the file to be located is misplaced; the reference field is a reference signal intensity value distribution field of different areas acquired by utilizing RFID readers/writers at different positions based on a plurality of reference RFID tags at known positions.

In some embodiments, the apparatus further comprises a reference field acquisition unit; before comparing the real-time signal intensity value with the reference signal intensity values of different areas in the reference field, the reference field acquisition unit is used for acquiring the reference field; the system comprises a plurality of reference RFID tags at known positions, wherein the plurality of reference RFID tags at the known positions comprise pre-placed reference RFID tags and/or RFID tags corresponding to on-shelf files of an unmanned archive warehouse in an initialized state; the known locations corresponding to the plurality of reference RFID tags include at least a top corner location and a center location of the file shelf.

In some embodiments, the reference field acquisition unit is specifically configured to:

In some embodiments, the data acquisition unit 41 is specifically configured to:

In some embodiments, the data processing unit 42 is specifically configured to:

In some embodiments, the apparatus further comprises:

the first determining unit is used for determining, after determining that the file to be positioned is misplaced, for each of a plurality of different positions, a matching bit corresponding to a reference signal strength value identical to a real-time signal strength value of an RFID tag corresponding to the file to be positioned.

And the second determining unit is used for determining the current position of the file to be positioned based on the intersection set of the positions of all the matched grid positions.

The wrong shelf identification device of the unmanned archive storehouse provided in the above embodiment can execute any of the wrong shelf identification methods of the unmanned archive storehouse provided in the above embodiments, and has the same or corresponding beneficial effects, and will not be described in detail herein.

The disclosed embodiments also provide a computer-readable storage medium storing a program or instructions that cause a computer to perform the steps of any one of the unmanned archive storehouse misplacement identification methods provided in the above-described embodiments.

Illustratively, the program or instructions cause the computer to perform a method for identifying a misshelf of an unmanned archive repository, the method comprising:

acquiring a real-time signal intensity value of an RFID tag corresponding to the file to be positioned, which is acquired by a multi-degree-of-freedom RFID scanning system;

the reference field is a reference signal intensity value distribution field of different areas acquired by utilizing RFID readers/writers at different positions based on a plurality of reference RFID tags at known positions.

In some embodiments, the computer executable instructions, when executed by the computer processor, may also be configured to implement the technical solutions of any of the foregoing methods for identifying a wrong shelf of an unmanned archive repository provided by the embodiments of the present disclosure, so as to achieve corresponding beneficial effects.

From the above description of embodiments, it will be apparent to those skilled in the art that the present disclosure may be implemented by means of software and necessary general purpose hardware, but may of course also be implemented by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solutions of the present disclosure may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk, or an optical disk of a computer, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods of the embodiments of the present invention.

The embodiment of the disclosure also provides an electronic device, including: one or more processors; a memory for storing one or more programs or instructions; the processor is used for implementing the steps of any one of the error shelf identification methods of the unmanned archive warehouse provided in the embodiment above by calling the program or the instruction stored in the memory, so as to realize the corresponding beneficial effects.

Fig. 12 is a schematic hardware structure of an electronic device according to an embodiment of the disclosure. As shown in fig. 12, the electronic device includes one or more processors 501 and memory 502.

The processor 501 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities and may control other components in the electronic device to perform desired functions.

Memory 502 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by the processor 501 to implement the steps of the method of identifying a misplaced archive of an unmanned archive repository, as described above, and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, and the like may also be stored in the computer-readable storage medium.

In one example, the electronic device may further include: an input device 503 and an output device 504, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

In addition, the input device 503 may also include, for example, a keyboard, a mouse, and the like.

The output device 504 may output various information to the outside, including the determined distance information, direction information, and the like. The output device 504 may include, for example, a display, speakers, a printer, and a communication network and remote output apparatus connected thereto, etc.

Of course, only some of the components of the electronic device relevant to the present disclosure are shown in fig. 12, components such as buses, input/output terminals, and the like are omitted for simplicity. In addition, the electronic device may include any other suitable components depending on the particular application.

The embodiment of the disclosure also provides an unmanned warehouse, which performs file misplacement identification by adopting the steps of any one of the method for identifying misplaced files of the unmanned warehouse provided in the embodiment, so that the method has the same or similar beneficial effects and is not repeated herein.

It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The method is characterized in that the method is realized based on ultrahigh frequency RFID, RFID tags are adhered to corresponding files, RFID readers are fixed on grabbing arm devices of the unmanned file warehouse, and the RFID readers move along with the grabbing arm devices to form a multi-degree-of-freedom RFID scanning system; the method comprises the following steps:

2. The method of claim 1, wherein prior to comparing the real-time signal strength value to a reference signal strength value for a different region in a reference field, the method further comprises:

acquiring a reference field;

3. The method of claim 2, wherein the acquiring a reference field comprises:

4. A method according to any one of claims 1-3, wherein said obtaining real-time signal strength values of RFID tags corresponding to the files to be located acquired by the multi-degree of freedom RFID scanning system comprises:

5. A method according to any one of claims 1-3, wherein said comparing said real-time signal strength values with reference signal strength values of different areas in a reference field, identifying whether said archive to be localized is misplaced, comprises:

6. The method as recited in claim 1, further comprising:

7. The wrong shelf identification device of the unmanned archive storehouse is characterized in that the device is realized based on ultrahigh frequency RFID, an RFID tag is adhered to a corresponding archive, an RFID reader-writer is fixed on a grabbing arm device of the unmanned archive storehouse, and the RFID reader-writer moves along with the grabbing arm device to form a multi-degree-of-freedom RFID scanning system; the device comprises:

8. A computer readable storage medium storing a program or instructions for causing a computer to perform the steps of the method according to any one of claims 1-6.

9. An electronic device, comprising: a processor and a memory;

the processor is adapted to perform the steps of the method according to any of claims 1-6 by invoking a program or instruction stored in the memory.

10. An unmanned warehouse characterized by file misplacement identification using the steps of the method of any one of claims 1-6.