CN108873884B - Positioning system and method of small rail car - Google Patents
Positioning system and method of small rail car Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention relates to a positioning system and a positioning method of a rail trolley, which are designed for ensuring that scanning of a point and a point of the trolley is not missed and further accurately positioning the rail trolley. The system of the present invention comprises: the trolley processor judges whether the scanning information output by the photoelectric sensor is wrong, if not, the scanning information is analyzed to obtain decimal numbers corresponding to the positioning position, and the positioning of the current positioning position of the trolley is finished; if the trolley processor is wrong, the trolley processor outputs wrong feedback information to the remote server, the remote server feeds back decimal numbers corresponding to the current positioning position to the trolley processor according to the decimal numbers of the positioning position on the trolley by inquiring a prestored positioning position sequence table, and positioning of the current positioning position of the trolley is finished. The invention can pass the millimeter level of positioning accuracy through the scanning and identification of the photoelectric scanner.
Description
Technical Field
The invention belongs to the field of medical logistics transmission, and relates to a positioning system and method of a rail trolley.
Background
Currently, hospitals in various places are gradually changing from single diagnosis and treatment to comprehensive medical service organizations integrating prevention, emergency treatment, diagnosis, treatment, rehabilitation and research into a whole. Accompanying with the high concentration of personnel, the logistics demand is increasing day by day, and inspection samples, pathological samples, various medicine transfusions, blood products, operation packages, document documents and the like can not guarantee timely and accurate delivery under the traditional logistics mode. The development delay of the in-hospital logistics becomes a bottleneck for restricting the realization of modern hospitals, and the high-efficiency and reliable logistics plays an immeasurable role in improving the diagnosis rate, reducing the treatment cost and even saving the lives of patients. A hospital logistics transport system represented by a "medical rail logistics transport system" or the like is beginning to be increasingly equipped in hospitals, and rail logistics carts are an indispensable component of the system.
However, the RFID technology is mostly used for positioning the track logistics trolley at present, the track is made of aluminum alloy materials and has absorption capacity on electromagnetic waves, and in addition, electric equipment along the track sometimes has interference signals, and the trolley often has the phenomenon of missing reading when passing through an RFID label; meanwhile, the distance of the identification tag is determined by the strength of the RFID signal, millimeter-scale positioning is difficult to realize, and the identification distance is unstable.
In view of the above-mentioned drawbacks, the present designer is actively making research and innovation to create a positioning system and method for a rail car, so that the rail car has industrial utility value.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a positioning system and method for a rail car, which can prevent the car from missing the positioning position and can accurately perform positioning.
In order to achieve the above object, the present invention provides a positioning system for a rail car, comprising:
the position bar code card is arranged at each positioning position on a track where the trolley runs, each positioning position corresponds to a unique decimal number, a coding region is arranged on the position bar code card, 16 thin codes are arranged on the coding region and represent a decimal number, the thin codes are m reflective strips and n non-reflective strips, two adjacent thin codes are reflective strips or non-reflective strips, and the two thin codes form a coarse code, wherein m + n =16, and m is more than 5 and less than or equal to 16;
the photoelectric sensor is arranged on the trolley, scans the position bar code cards arranged at each positioning position and outputs scanning information to the trolley processor;
the trolley processor is in communication connection with the photoelectric sensor in a wired or wireless mode, judges whether the scanning information output by the photoelectric sensor is wrong or not,
if the scanning information is correct, analyzing the scanning information to obtain decimal digits corresponding to the positioning position, and positioning the current positioning position of the trolley;
if the scanning information is wrong, outputting error feedback information to a remote server by a trolley processor, and finishing the positioning of the current positioning position of the trolley by the remote server by inquiring a prestored positioning position sequence table and outputting decimal numbers corresponding to the current positioning position to the trolley processor according to the decimal numbers of the positioning position on the trolley, wherein the positioning position sequence table is the decimal numbers corresponding to each positioning position on the track and the sequence of the decimal numbers, and the sequence is the sequence of the first and the second passing positioning positions of the track trolley.
Further, the cart processor includes:
the acquisition time recording unit records the acquisition time T of the photoelectric sensor scanning each reflective strip or non-reflective stripK；
The scanning information judging unit is used for presetting a deviation threshold value X allowed by the previous and later acquisition time, comparing a deviation Y between the current acquisition time and the last acquisition time with the deviation threshold value X, and if Y is less than or equal to X, the current acquisition time is valid to obtain K acquisition times; if Y is larger than X, the acquisition time is invalid, error feedback information is output to the remote server, if the scanning information is wrong, the trolley processor outputs the error feedback information to the remote server, and the remote server outputs decimal numbers corresponding to the current positioning position to the trolley processor;
the scanning information analysis unit divides the sum of the K acquisition times by 16 to obtain an acquisition time beat T of the position bar code card, and determines whether each scanned reflective strip or non-reflective strip is a coarse code or a fine code according to the obtained acquisition time beat TCode, acquisition time T if reflecting or notKIf the light reflection strip is less than or equal to 1.5T, the light reflection strip or the non-light reflection strip is judged to be a fine code; if the collection time T of the reflective strip or the non-reflective stripKIf the light reflection bar is more than 1.5T, judging that the light reflection bar or the non-light reflection bar is a coarse code consisting of two fine codes; and carrying out pairwise XOR operation on the 16 reflective strip or non-reflective strip thin codes to obtain binary coded numbers, and converting the binary coded numbers into decimal numbers.
Furthermore, the remote server also comprises a positioning information checking unit, the positioning information checking unit is used for inquiring a prestored positioning position sequence table to verify the decimal number corresponding to the current positioning position output by the scanning information analysis unit, and if the decimal number output by the trolley processor is correct, the decimal number is not processed; and if the decimal number output by the trolley processor is wrong, the remote server outputs the correct decimal number to the trolley processor.
Further, the length of the coding area on the position bar code card is not less than 80 mm.
In order to achieve the aim, the positioning method of the rail trolley comprises the following steps:
the method comprises the following steps that a position bar code card is arranged at each positioning position on a track where a trolley runs, each positioning position corresponds to a unique decimal number, a coding region is arranged on the position bar code card, 16 thin codes are arranged on the coding region and represent a decimal number, the thin codes are m reflective strips and n non-reflective strips, two adjacent thin codes are reflective strips or non-reflective strips, and the two thin codes form a coarse code, wherein m + n =16, and m is more than 5 and less than or equal to 16;
scanning the position bar code card to obtain scanning information;
judging whether the scanning information output by the photoelectric sensor is wrong or not,
if the scanning information is correct, analyzing the scanning information to obtain decimal digits corresponding to the positioning position, and positioning the current positioning position of the trolley;
and if the scanning information is wrong, outputting wrong feedback information to a remote server, and the remote server feeds back decimal numbers corresponding to the current positioning position to a trolley processor by inquiring a prestored positioning position sequence table according to the decimal numbers of the positioning position on the trolley, so as to complete the positioning of the current positioning position of the trolley, wherein the positioning position sequence table is the sequence ordering of the decimal numbers corresponding to each positioning position on the track and the decimal numbers, and the sequence ordering is the sequence of the first and the second passing positioning positions of the trolley on the track.
Further, the method for analyzing the scanning information specifically includes:
recording the acquisition time T of the photoelectric sensor for scanning each reflective strip or non-reflective stripK；
Presetting a deviation threshold value X allowed by the previous and last acquisition time, comparing a deviation Y between the current acquisition time and the last acquisition time with the deviation threshold value X, and if Y is less than or equal to X, the current acquisition time is valid, and obtaining K acquisition times; if Y is larger than X, the acquisition time is invalid, error feedback information is output to a remote server, and the remote server outputs decimal numbers corresponding to the current positioning position to a trolley processor;
dividing the sum of the K acquisition times by 16 to obtain an acquisition time beat T of the position bar code card, determining each scanned light reflecting bar or non-light reflecting bar as a coarse code or a fine code according to the obtained acquisition time beat T, and if the acquisition time T of the light reflecting bar or the non-light reflecting bar is larger than the acquisition time T of the light reflecting bar or the non-light reflecting barKIf the light reflection strip is less than or equal to 1.5T, the light reflection strip or the non-light reflection strip is judged to be a fine code; if the collection time T of the reflective strip or the non-reflective stripKIf the light reflection bar is more than 1.5T, judging that the light reflection bar or the non-light reflection bar is a coarse code consisting of two fine codes; and carrying out pairwise XOR operation on the 16 reflective strip or non-reflective strip thin codes to obtain binary coded numbers, and converting the binary coded numbers into decimal numbers.
Further, the remote server side inquires a pre-stored positioning position sequence table to verify the decimal number corresponding to the current positioning position, and if the decimal number is correct, the decimal number is not processed; and if the decimal number is wrong, the remote server side outputs the correct decimal number.
By the scheme, the positioning system and the method of the rail trolley at least have the following advantages:
according to the position bar code card rule, each position bar code card has at least 5 spaced light reflecting strips, and the photoelectric sensor is almost impossible to simultaneously miss-scan 5 light reflecting parts of one code, namely, the phenomenon of miss-reading is almost impossible to generate. Especially when the current code is a guide code of the track, if the scanning is missed, the system cannot dispatch the trolley.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a position bar code card of the track trolley positioning system of the present invention;
fig. 2 is a code scanning processing flow chart of the positioning method of the rail car of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example 1
Referring to fig. 1 and 2, a positioning system for a rail car according to a preferred embodiment of the present invention includes: the position bar code card 1 is arranged at each positioning position on a track where a trolley runs, each positioning position corresponds to a unique decimal number, a coding region is arranged on the position bar code card, 16 thin codes are arranged on the coding region and represent a decimal number, the thin codes are m reflective strips 111 and n non-reflective strips 121, two adjacent thin codes are reflective strips and form a reflective coarse code 11, two adjacent thin codes are non-reflective strips and form a non-reflective coarse code 12, wherein m + n =16, and m is more than 5 and less than or equal to 16;
the photoelectric sensor is arranged on the trolley, scans the position bar code cards arranged at each positioning position and outputs scanning information to the trolley processor;
the trolley processor is in communication connection with the photoelectric sensor in a wired or wireless mode, judges whether the scanning information output by the photoelectric sensor is wrong or not,
if the scanning information is correct, analyzing the scanning information to obtain decimal digits corresponding to the positioning position, and positioning the current positioning position of the trolley;
and if the scanning information is wrong, outputting error feedback information to a remote server by the trolley processor, and feeding back decimal numbers corresponding to the current positioning position to the trolley processor by the remote server through inquiring a prestored positioning position sequence table according to the decimal numbers of the positioning position on the trolley, so as to complete the positioning of the current positioning position of the trolley, wherein the positioning position sequence table is the sequence of the decimal numbers corresponding to each positioning position on the track and the decimal numbers, and the sequence is the sequence of the positioning positions of the trolley passing through the track firstly and then secondly.
In this embodiment, when the trolley travels on the track, the photoelectric sensor outputs emitted light to the coding region, the photoelectric sensor receives the reflected light and outputs a high level to the trolley processor, and the photoelectric sensor does not receive the reflected light and outputs a low level to the trolley processor; or the photoelectric sensor receives the reflected light and outputs a low level to the trolley processor, and the photoelectric sensor does not receive the reflected light and outputs a high level to the trolley processor; the trolley processor carries out XOR operation on the received high and low level signals to obtain a result of a coarse code, one coarse code corresponds to one bit in a binary system, and the trolley processor calculates the binary code obtained by scanning into a decimal position bar code card and outputs the decimal position bar code card to the trolley driving controller. For example: the coding effective area is between two white codes on the two sides at most, and the total length is 80 mm. The white part can reflect light to be 1, the black part does not reflect light to be 0, the whole effective area is divided into 16 fine codes, each code must start with the white part, 1 and 1 represent combination to be 0, 0 and 0 combine to be 0, 1 and 0 or 0 and 1 combine to be 1, namely an exclusive-or mode, two fine codes form a coarse code in a group, each coarse code represents one bit in a binary system, black and white interval codes are distributed, and the last code is a check code, so the coding range is 1 to 127. Taking 1 as an example, the original binary code is 00000001, and 16 splitting codes are performed by the above rule: 1100110011001011, consistent with the first code 001 in fig. 1.
The position bar code card is arranged at a positioning position on the track, the photoelectric sensor is installed on the trolley, the trolley runs on the track, when the trolley passes through the position bar code card, the photoelectric sensor scans the position bar code card to generate high and low levels, the high and low levels are output to the trolley processor, the trolley processor calculates the decimal position bar code card after corresponding processing and uploads the decimal position bar code card to the control equipment, and receives a control command, and the advancing, retreating, stopping and speed regulation of the trolley are realized through the control motor.
In this embodiment, the cart processor includes:
the acquisition time recording unit records the acquisition time T of the photoelectric sensor scanning each reflective strip or non-reflective stripK；
The scanning information judging unit is used for presetting a deviation threshold value X allowed by the previous and later acquisition time, comparing a deviation Y between the current acquisition time and the last acquisition time with the deviation threshold value X, and if Y is less than or equal to X, the current acquisition time is valid to obtain K acquisition times; if Y is larger than X, the acquisition time is invalid, error feedback information is output to the remote server, if the scanning information is wrong, the trolley processor outputs the error feedback information to the remote server, and the remote server outputs decimal numbers corresponding to the current positioning position to the trolley processor;
the scanning information analysis unit divides the sum of the K acquisition times by 16 to obtain an acquisition time beat T of the position bar code card, determines each scanned reflective bar or non-reflective bar as a coarse code or a fine code according to the obtained acquisition time beat T, and if the acquisition time T of the reflective bar or the non-reflective bar is not the sameKIf the light reflection strip is less than or equal to 1.5T, the light reflection strip or the non-light reflection strip is judged to be a fine code; if the collection time T of the reflective strip or the non-reflective stripKIf the light reflection bar is more than 1.5T, judging that the light reflection bar or the non-light reflection bar is a coarse code consisting of two fine codes; fine coding of 16 reflective strips or non-reflective stripsAnd performing XOR operation on every two rows to obtain binary coded numbers, and converting the binary coded numbers into decimal numbers.
Example 2
In the positioning system of the rail trolley in this embodiment, on the basis of embodiment 1, the remote server further includes a positioning information verification unit, the positioning information verification unit queries a pre-stored positioning position sequence table to verify a decimal number corresponding to the current positioning position output by the scanning information analysis unit, and if the decimal number output by the trolley processor is correct, the decimal number is not processed; and if the decimal number output by the trolley processor is wrong, the remote server outputs the correct decimal number to the trolley processor.
Compared with the embodiment 1, the decimal digits converted after secondary judgment are subjected to secondary verification by inquiring the pre-stored positioning position sequence table according to the remote server, and the accuracy of trolley positioning is ensured.
Example 3
The method for positioning the rail trolley in this embodiment can be applied to the above embodiments 1 and 2, and the method includes: the method comprises the following steps that a position bar code card is arranged at each positioning position on a track where a trolley runs, each positioning position corresponds to a unique decimal number, a coding region is arranged on the position bar code card, 16 thin codes are arranged on the coding region and represent a decimal number, the thin codes are m reflective strips and n non-reflective strips, two adjacent thin codes are reflective strips or non-reflective strips, and the two thin codes form a coarse code, wherein m + n =16, and m is more than 5 and less than or equal to 16;
scanning the position bar code card to obtain scanning information;
judging whether the scanning information output by the photoelectric sensor is wrong or not,
if the scanning information is correct, analyzing the scanning information to obtain decimal digits corresponding to the positioning position, and positioning the current positioning position of the trolley;
and if the scanning information is wrong, outputting wrong feedback information to a remote server, and the remote server feeds back decimal numbers corresponding to the current positioning position to a trolley processor by inquiring a prestored positioning position sequence table according to the decimal numbers of the positioning position on the trolley, so as to complete the positioning of the current positioning position of the trolley, wherein the positioning position sequence table is the sequence ordering of the decimal numbers corresponding to each positioning position on the track and the decimal numbers, and the sequence ordering is the sequence of the first and the second passing positioning positions of the trolley on the track.
The method for analyzing the scanning information specifically comprises the following steps:
recording the acquisition time T of the photoelectric sensor for scanning each reflective strip or non-reflective stripK；
Presetting a deviation threshold value X allowed by the previous and last acquisition time, comparing a deviation Y between the current acquisition time and the last acquisition time with the deviation threshold value X, and if Y is less than or equal to X, the current acquisition time is valid, and obtaining K acquisition times; if Y is larger than X, the acquisition time is invalid, error feedback information is output to a remote server, and the remote server outputs decimal numbers corresponding to the current positioning position to a trolley processor;
dividing the sum of the K acquisition times by 16 to obtain an acquisition time beat T of the position bar code card, determining each scanned light reflecting bar or non-light reflecting bar as a coarse code or a fine code according to the obtained acquisition time beat T, and if the acquisition time T of the light reflecting bar or the non-light reflecting bar is larger than the acquisition time T of the light reflecting bar or the non-light reflecting barKIf the light reflection strip is less than or equal to 1.5T, the light reflection strip or the non-light reflection strip is judged to be a fine code; if the collection time T of the reflective strip or the non-reflective stripKIf the light reflection bar is more than 1.5T, judging that the light reflection bar or the non-light reflection bar is a coarse code consisting of two fine codes; and carrying out pairwise XOR operation on the 16 reflective strip or non-reflective strip thin codes to obtain binary coded numbers, and converting the binary coded numbers into decimal numbers.
In this embodiment, the remote server further queries a pre-stored sequence table of the positioning positions to verify the decimal numbers corresponding to the current positioning positions, and if the decimal numbers are correct, the decimal numbers are not processed; if the decimal digit is wrong, the remote server side outputs the correct decimal digit
In this embodiment, the capture function of the cart processor timer is on and in a ready state. When a trolley runs through a position bar code card, special light reflected by a photoelectric sensor reflects light through the position bar code card to generate high and low level signals and outputs the high and low level signals to a trolley processor pin, the trolley processor captures the high and low level signals and records the time value of each high and low level, each bar code aims at representing a number finally, the coarse code time is two times of the fine code time theoretically, namely the length of the coarse code is two times of the length of the fine code, but when the trolley is in actual use, if the trolley is just started, the speed of the trolley is not stable or the bar codes are not cleared and damaged, the time value of the coarse code is more than two times of the time value of the fine code, the calculated code value is an error value after the length of the fine code is calculated by combining with the speed of the trolley through an algorithm, and the system considers that the system is unreliable and needs to upload and correct errors.
Time beat is 16 time units of fine codes, binary values of codes are obtained by pairwise XOR, even check sums of the first 7 bits and the last 1 bit of the binary values of the codes are taken, error codes are reported if the even check sums indicate that the codes are scanned correctly and the even check sums are not scanned, finally the binary values of the codes are converted into decimal numbers to obtain final code values, and the position of each code is fixed on the track, so the positioning purpose is achieved.
The photoelectric sensor is almost impossible to simultaneously miss-scan the 5 light-reflecting portions of one code, i.e. the miss-reading phenomenon is almost impossible to generate. Especially when the current code is a guide code of the track, if the scanning is missed, the system cannot dispatch the trolley.
In the above embodiments, the positioning accuracy can reach millimeter level, which is especially important when the trolley is stopped on the rail transfer device for rail transfer.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A rail car positioning system, comprising:
the position bar code card is arranged at each positioning position on a track where the trolley runs, each positioning position corresponds to a unique decimal number, a coding region is arranged on the position bar code card, 16 thin codes are arranged on the coding region and represent a decimal number, the thin codes are m reflective strips and n non-reflective strips, two adjacent thin codes are reflective strips or non-reflective strips, and the two thin codes form a coarse code, wherein m + n =16, and m is more than 5 and less than or equal to 16;
the photoelectric sensor is arranged on the trolley, scans the position bar code cards arranged at each positioning position and outputs scanning information to the trolley processor;
the trolley processor is in communication connection with the photoelectric sensor in a wired or wireless mode, judges whether the scanning information output by the photoelectric sensor is wrong or not,
if the scanning information is correct, analyzing the scanning information to obtain decimal digits corresponding to the positioning position, and positioning the current positioning position of the trolley;
and if the scanning information is wrong, outputting error feedback information to a remote server by the trolley processor, and finishing the positioning of the current positioning position of the trolley by the remote server by inquiring a prestored positioning position sequence table and outputting decimal numbers corresponding to the current positioning position to the trolley processor according to the decimal numbers of the positioning position on the trolley, wherein the positioning position sequence table is the sequence of the decimal numbers and the decimal numbers corresponding to each positioning position on the track, and the sequence is the sequence of the positioning positions of the trolley passing through the track firstly and then.
2. The track trolley positioning system as claimed in claim 1, wherein the trolley processor comprises:
the acquisition time recording unit records the acquisition time T of the photoelectric sensor scanning each reflective strip or non-reflective stripK；
The scanning information judging unit is used for presetting a deviation threshold value X allowed by the previous and later acquisition time, comparing a deviation Y between the current acquisition time and the last acquisition time with the deviation threshold value X, and if Y is less than or equal to X, the current acquisition time is valid to obtain K acquisition times; if Y is larger than X, the acquisition time is invalid, error feedback information is output to the remote server, if the scanning information is wrong, the trolley processor outputs the error feedback information to the remote server, and the remote server outputs decimal numbers corresponding to the current positioning position to the trolley processor;
the scanning information analysis unit divides the sum of the K acquisition times by 16 to obtain an acquisition time beat T of the position bar code card, determines each scanned reflective bar or non-reflective bar as a coarse code or a fine code according to the obtained acquisition time beat T, and if the acquisition time T of the reflective bar or the non-reflective bar is not the sameKIf the light reflection strip is less than or equal to 1.5T, the light reflection strip or the non-light reflection strip is judged to be a fine code; if the collection time T of the reflective strip or the non-reflective stripKIf the light reflection bar is more than 1.5T, judging that the light reflection bar or the non-light reflection bar is a coarse code consisting of two fine codes; and carrying out pairwise XOR operation on the 16 reflective strip or non-reflective strip thin codes to obtain binary coded numbers, and converting the binary coded numbers into decimal numbers.
3. The positioning system of the rail trolley as claimed in claim 2, wherein the remote server further comprises a positioning information checking unit, the positioning information checking unit checks the decimal number corresponding to the current positioning position output by the scanning information analysis unit by querying a pre-stored positioning position sequence table, and if the decimal number output by the trolley processor is correct, the decimal number is not processed; and if the decimal number output by the trolley processor is wrong, the remote server outputs the correct decimal number to the trolley processor.
4. The track trolley positioning system as claimed in claim 1, wherein the length of the code area on the position barcode card is not less than 80 mm.
5. A positioning method of a rail trolley is characterized by comprising the following steps:
the method comprises the following steps that a position bar code card is arranged at each positioning position on a track where a trolley runs, each positioning position corresponds to a unique decimal number, a coding region is arranged on the position bar code card, 16 thin codes are arranged on the coding region and represent a decimal number, the thin codes are m reflective strips and n non-reflective strips, two adjacent thin codes are reflective strips or non-reflective strips, and the two thin codes form a coarse code, wherein m + n =16, and m is more than 5 and less than or equal to 16;
scanning the position bar code card to obtain scanning information;
judging whether the scanning information output by the photoelectric sensor is wrong or not,
if the scanning information is correct, analyzing the scanning information to obtain decimal digits corresponding to the positioning position, and positioning the current positioning position of the trolley;
and if the scanning information is wrong, outputting wrong feedback information to a remote server, and the remote server feeds back decimal numbers corresponding to the current positioning position to a trolley processor by inquiring a prestored positioning position sequence table according to the decimal numbers of the positioning position on the trolley, so as to complete the positioning of the current positioning position of the trolley, wherein the positioning position sequence table is the sequence of the decimal numbers corresponding to each positioning position on the track and the decimal numbers, and the sequence is the sequence of the first and the second passing positioning positions of the trolley on the track.
6. The method for positioning a rail trolley according to claim 5, wherein the method for analyzing the scanning information specifically comprises:
recording the acquisition time T of the photoelectric sensor for scanning each reflective strip or non-reflective stripK；
Presetting a deviation threshold value X allowed by the previous and last acquisition time, comparing a deviation Y between the current acquisition time and the last acquisition time with the deviation threshold value X, and if Y is less than or equal to X, the current acquisition time is valid, and obtaining K acquisition times; if Y is larger than X, the acquisition time is invalid, error feedback information is output to a remote server, and the remote server outputs decimal numbers corresponding to the current positioning position to a trolley processor;
dividing the sum of the K acquisition times by 16 to obtain an acquisition time beat T of the position bar code card, determining each scanned light reflecting bar or non-light reflecting bar as a coarse code or a fine code according to the obtained acquisition time beat T, and if the acquisition time T of the light reflecting bar or the non-light reflecting bar is larger than the acquisition time T of the light reflecting bar or the non-light reflecting barKIf the light reflection strip is less than or equal to 1.5T, the light reflection strip or the non-light reflection strip is judged to be a fine code; if the collection time T of the reflective strip or the non-reflective stripKIf the light reflection bar is more than 1.5T, judging that the light reflection bar or the non-light reflection bar is a coarse code consisting of two fine codes; and carrying out pairwise XOR operation on the 16 reflective strip or non-reflective strip thin codes to obtain binary coded numbers, and converting the binary coded numbers into decimal numbers.
7. The positioning method of the rail trolley according to claim 6, further comprising the steps that the remote server side inquires a prestored positioning position sequence table to verify a decimal number corresponding to the current positioning position, and if the decimal number is correct, the decimal number is not processed; and if the decimal number is wrong, the remote server side outputs the correct decimal number.
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