CN108896043A - Shopping cart positioning system and method, computer equipment and readable storage medium storing program for executing - Google Patents
Shopping cart positioning system and method, computer equipment and readable storage medium storing program for executing Download PDFInfo
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- CN108896043A CN108896043A CN201810810803.1A CN201810810803A CN108896043A CN 108896043 A CN108896043 A CN 108896043A CN 201810810803 A CN201810810803 A CN 201810810803A CN 108896043 A CN108896043 A CN 108896043A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
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Abstract
The present invention discloses a kind of shopping cart positioning system and method, computer equipment and readable storage medium storing program for executing.One specific embodiment of the system include server, set on shopping cart inertial navigation module and be arranged at least one geomagnetic sensor in supermarket channel；Server, the shopping cart motion information of real-time reception inertial navigation module output, and inertial navigation positioning is carried out to shopping cart according to shopping cart motion information；Server, the also Geomagnetic signal of real-time monitoring geomagnetic sensor output, shopping cart is judged whether there is by geomagnetic sensor, if being then corrected according to the location information pair of the geomagnetic sensor inertial navigation positioning result nearest with the position of geomagnetic sensor according to Geomagnetic signal.The embodiment can realize the accurate positioning to shopping cart.
Description
Technical field
The present invention relates to field of locating technology.It is set more particularly, to a kind of shopping cart positioning system and method, computer
Standby and readable storage medium storing program for executing.
Background technique
Ali's cloud in October, 2016 is dwelt in conference, and network technology Co., Ltd of Alibaba proposes new retail for the first time
Concept, on July 8th, 2017, the unmanned supermarket of the first hand of the said firm open for business in Hangzhou.Amazon is under the line that the end of the year 2016 were released
Unmanned shop Amazon Go also formally opens to the outside world in this year.These all cause concern of the people to the following retail new model.?
Under new retail mode, unmanned service reduces the cost of labor of supermarket, but also some problems of band simultaneously, such as supermarket
Shopping guide, shopping cart are the problems such as super incity positions, wherein shopping cart super incity positioning be the major issue to be solved it
One.
The patent application that publication No. is CN105548961A discloses a kind of localization method, shopping cart, server and shopping
Vehicle positioning system, the shopping cart positioning system by the transmission time of wireless signal determine between shopping cart and multiple base stations away from
From may be implemented the positioning of shopping cart, but in the positioning method that uses of the shopping cart positioning system, wireless signal is between base station
Transmission be highly prone to the influences of the factors such as stream of people in supermarket, so as to cause positioning accuracy decline, or even cannot achieve positioning.
Publication No. is that CN106741082A proposes a kind of intelligent steering supermarket shopping car, the intelligent steering supermarket shopping car
It is positioned based on GPS satellite signal, but GPS signal is usually weaker in environment indoors, therefore the intelligent steering supermarket shopping
The positioning accuracy of vehicle is low, or even cannot achieve positioning.
Inertial navigation is a kind of independent of external information, also not to the self-aid navigation mode of external radiation energy, because
The positioning of this inertial navigation is one of common positioning method in indoor positioning, but inertial navigation positioning can have accumulated error, fixed
The error of position time longer accumulation can be bigger, and therefore, the positioning accuracy positioned using only inertial navigation is not also high.
Accordingly, it is desirable to provide one kind can carry out pinpoint shopping cart positioning system and method, computer to shopping cart
Equipment and readable storage medium storing program for executing.
Summary of the invention
The purpose of the present invention is to provide one kind shopping cart can be carried out pinpoint shopping cart positioning system and method,
Computer equipment and readable storage medium storing program for executing.
In order to achieve the above objectives, the present invention adopts the following technical solutions：
First aspect present invention provides a kind of shopping cart positioning system, leads including server, set on the inertia of shopping cart
Model plane block and at least one geomagnetic sensor for being arranged in supermarket channel；
The server, the shopping cart motion information of real-time reception inertial navigation module output, and moved according to shopping cart
Information carries out inertial navigation positioning to shopping cart；
The server, the also Geomagnetic signal of real-time monitoring geomagnetic sensor output, judge whether there is according to Geomagnetic signal
Shopping cart passes through geomagnetic sensor, if then recently according to the position of the location information pair of geomagnetic sensor and geomagnetic sensor
Inertial navigation positioning result is corrected.
The shopping cart positioning system that first aspect present invention provides, utilizes the analytical judgment to geomagnetic sensor output signal
Whether shopping cart process is had, so that the location information using geomagnetic sensor is corrected inertial navigation positioning result, it can be real
The now high accuracy positioning to the shopping cart for being generally in indoor environment.
Preferably, the server, judges whether the Geomagnetic signal curve of geomagnetic sensor output reaches fluctuation peak value, if
It is to be determined with shopping cart by geomagnetic sensor.
Preferably, the shopping cart bottom is equipped with ferromagnetic material plate.
Using this preferred mode, shopping cart can be promoted to the disturbance ability in magnetic field, be conducive to the more accurate root of server
Shopping cart is judged whether there is according to the Geomagnetic signal that geomagnetic sensor exports to pass through.
Preferably, the storing basket bottom surface of the shopping cart is ferromagnetic material loading plate.
Using this preferred mode, without being separately provided ferromagnetic material plate, but by the storing of conventional engraved structure
Basket bottom surface is directly changed to ferromagnetic material loading plate, and shopping cart is at low cost and weight will not excessively increase.
Preferably, the inertial navigation module is the inertial navigation chip of integrated tri-axial acceleration meter and three-axis gyroscope.
Inertial navigation chip is light-weight, it is small in size, convenient for setting, the positions such as the front of shopping vehicle main body can be set to.
Preferably, which includes multiple geomagnetic sensors, and the multiple geomagnetic sensor to be distributed in arrangement at equal intervals
In supermarket channel.Using this preferred mode, frequency height is corrected to the inertial navigation positioning result of shopping cart, and then right
The positioning accuracy of shopping cart is higher, and can be corrected simultaneously to the inertial navigation positioning result of multiple shopping carts.
Preferably, the geomagnetic sensor is embedded under the floor in supermarket channel.When using this preferred mode, according to
It is to judge whether there is shopping parking stall according to Geomagnetic signal that Geomagnetic signal, which judges whether there is shopping cart by geomagnetic sensor,
In geomagnetic sensor position directly above, in this way, nearest according to the location information pair of geomagnetic sensor and the position of geomagnetic sensor
The corrected correction accuracy of inertial navigation positioning result it is higher.
Second aspect of the present invention provides a kind of shopping cart localization method, including：
Real-time reception is set to the shopping cart motion information that the inertial navigation module of shopping cart exports, and is moved according to shopping cart
Information carries out inertial navigation positioning to shopping cart；
Real-time monitoring is arranged in the Geomagnetic signal of the geomagnetic sensor output in supermarket channel, is judged whether according to Geomagnetic signal
There is shopping cart by geomagnetic sensor, if then nearest according to the location information pair of geomagnetic sensor and the position of geomagnetic sensor
Inertial navigation positioning result be corrected.
The shopping cart localization method that second aspect of the present invention provides, to the analytical judgment of geomagnetic sensor output signal whether
There is shopping cart process, so that the location information using geomagnetic sensor is corrected, it can be achieved that right inertial navigation positioning result
It is generally in the high accuracy positioning of the shopping cart of indoor environment.
Preferably, described that shopping cart is judged whether there is by further comprising according to Geomagnetic signal：Judge Geomagnetic signal song
Whether line reaches fluctuation peak value, if being then determined with shopping cart by geomagnetic sensor.
Third aspect present invention provides a kind of computer equipment, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, it is realized when the processor executes described program as second aspect of the present invention mentions
The shopping cart localization method of confession.
Fourth aspect present invention provides a kind of computer readable storage medium, is stored thereon with computer program, the journey
The shopping cart localization method provided such as second aspect of the present invention is provided when sequence is executed by processor.
Beneficial effects of the present invention are as follows：
Technical solution of the present invention can be accurately positioned shopping cart, and its is at low cost, locating speed is fast, anti-interference
Ability is strong.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing；
Fig. 1 shows the top view of shopping cart positioning system provided in an embodiment of the present invention.
Fig. 2 shows the schematic diagrames of shopping cart in shopping cart positioning system provided in an embodiment of the present invention.
Fig. 3, which is shown, judges whether there is the schematic illustration that shopping cart passes through geomagnetic sensor according to Geomagnetic signal.
Fig. 4 shows the flow chart of shopping cart localization method provided in an embodiment of the present invention.
Fig. 5 shows the structural schematic diagram of server provided in an embodiment of the present invention.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
As Fig. 1 and Fig. 2 jointly shown in, An embodiment provides a kind of shopping cart positioning system, including clothes
Business device 10, set on shopping cart 20 inertial navigation module 21 and be arranged at least one geomagnetic sensor 30 in supermarket channel,
In, supermarket channel example region between each shelf 40 as shown in figure 1；
Server 10, the shopping cart motion information that real-time reception inertial navigation module 21 exports, and moved according to shopping cart
Information carries out inertial navigation positioning to shopping cart 20；
The Geomagnetic signal that server 10, also real-time monitoring geomagnetic sensor 30 export, judges whether there is according to Geomagnetic signal
Shopping cart 20 passes through geomagnetic sensor 30, if then according to the position of the location information pair of geomagnetic sensor 30 and geomagnetic sensor 30
Nearest inertial navigation positioning result is set to be corrected.
Shopping cart positioning system provided in this embodiment, using the analytical judgment to 30 output signal of geomagnetic sensor whether
There is the process of shopping cart 20, so that the location information using geomagnetic sensor 30 is corrected inertial navigation positioning result, it can be real
The now high accuracy positioning to the shopping cart 20 for being generally in indoor environment.Wherein, geomagnetic sensor 30 is exported due to only utilizing
Whether the analytical judgment of signal has the process of shopping cart 20, therefore does not need to carry out ground magnetic orientation, avoids and builds in located space
This complicated previous work of vertical fingerprint database.In addition, due to only utilizing the analysis to 30 output signal of geomagnetic sensor to sentence
It is disconnected whether to have the process of shopping cart 20,30 sensings of geomagnetic sensor can be kept small by choosing the modes such as model or adjusting sensing range
Magnetic field in range, and then avoid the earth magnetism that multiple shopping carts 20 are reflected in the output of geomagnetic sensor 30 to the disturbance in magnetic field
The problems such as signal, it is ensured that the accuracy of correction further promotes positioning accuracy.To sum up, shopping cart provided in this embodiment is fixed
Position system, positioning accuracy is high, hardware cost is low, locating speed is fast and strong antijamming capability.
As shown in Fig. 2, shopping cart 20 in the present embodiment includes shopping vehicle main body 22, shopping vehicle main body 22 include vehicle frame,
The conventional components such as storing basket, wheel and handlebar, above-mentioned each component with it is identical in the prior art, details are not described herein.In addition, this
In embodiment, wireless transport module can be set in shopping cart 20, by wireless transmission methods such as WIFI by inertial navigation module 21
The shopping cart motion information of output is sent to server 10, and geomagnetic sensor 30 can be defeated by its by wired or wireless transmission mode
Geomagnetic signal out is sent to server 10.
It in the present embodiment, is being not concerned with specific which shopping cart 20 is in what position, it is whole to only focus on all shopping carts 20
Distribution situation in the case where, inertial navigation module 21 to the shopping cart that server 10 is sent moves letter by wireless transport module
Breath, if paying close attention to specific which shopping cart 20 is in what position, can will be wirelessly transferred mould without information such as shopping cart numbers
Block is configured to that the mark for representing the information such as shopping cart number is added in shopping cart motion information when sending shopping cart motion information
Know symbol.
It is understood that inertial navigation positioning can pass through it needs to be determined that initial reference point predicts initial position in other words
Shopping cart pick-and-place regional export position is set as to the initial position of inertial navigation, server 10 picks and places region according to shopping cart and goes out
The shopping cart motion information that mouth position and inertial navigation module 21 export carries out inertial navigation positioning to shopping cart 20.
In some optional implementations of the present embodiment, server 10 judges the earth magnetism that geomagnetic sensor 30 exports
Whether signal curve reaches fluctuation peak value, if being then determined with shopping cart 20 passes through geomagnetic sensor 30.
As shown in figure 3, server 10, which judges whether there is shopping cart 20 according to Geomagnetic signal, to be passed through using this implementation
The principle of geomagnetic sensor 30 is：In fixed position, intensity is constant in earth magnetic field.When shopping cart 20 enters in magnetic field
When can make the disturbance of magnetic field of corresponding position, disturbance of magnetic field of the geomagnetic sensor 30 based on sensing that shopping cart 20 passes through, output
Geomagnetic signal will appear fluctuation.The Geomagnetic signal curve that geomagnetic sensor 30 exports is representing shopping cart 20 just when reaching fluctuation peak value
Well pass through geomagnetic sensor 30, under the floor that geomagnetic sensor 30 is embedded in supermarket channel, shopping cart 20 just past
Geomagnetic sensor 30 is that shopping cart 20 is placed exactly in 30 position directly above of geomagnetic sensor.In addition, when can be tested by early period pair
Shopping cart 20 is analyzed by the Geomagnetic signal curve that geomagnetic sensor 30 during geomagnetic sensor 30 exports, and makes to service
The Geomagnetic signal curve that device 10 prestores the output of geomagnetic sensor 30 substantially fluctuates the mode of peak value, realizes real-time and accuracy
Higher inertial navigation positioning result correction.
In some optional implementations of the present embodiment, 20 bottom of shopping cart is equipped with ferromagnetic material plate.Using this
Implementation can promote shopping cart 20 to the disturbance ability in magnetic field, be conducive to server 10 more accurately according to geomagnetic sensor 30
The Geomagnetic signal of output judges whether there is the process of shopping cart 20.
In some optional implementations of the present embodiment, the storing basket bottom surface of shopping cart 20 is ferromagnetic material loading plate
23.Using this implementation, without ferromagnetic material plate is separately provided, but the storing basket bottom surface of conventional engraved structure is straight
It connects and is changed to ferromagnetic material loading plate 23, shopping cart 20 is at low cost and weight will not excessively increase.
In some optional implementations of the present embodiment, inertial navigation module 21 includes three axis accelerometer and three axis
Gyroscope.Further, inertial navigation module 21 is the inertial navigation chip of integrated tri-axial acceleration meter and three-axis gyroscope.Inertia
Navigation chip is light-weight, it is small in size, convenient for setting, the positions such as the front of shopping vehicle main body 22 can be set to.
In some optional implementations of the present embodiment, which includes multiple geomagnetic sensors 30, multiple earth magnetism
Sensor 30 is arranged in supermarket channel to be distributed at equal intervals.It is fixed to the inertial navigation of shopping cart 20 using this implementation
The position corrected frequency of result is high and then higher to the positioning accuracy of shopping cart 20, and can be simultaneously to multiple shopping carts 20
Inertial navigation positioning result is corrected.
In some optional implementations of the present embodiment, geomagnetic sensor 30 is embedded under the floor in supermarket channel.
When using this implementation, judging whether there is shopping cart 20 by geomagnetic sensor 30 according to Geomagnetic signal is according to earth magnetism
Signal judges whether there is shopping cart 20 and is located at 30 position directly above of geomagnetic sensor, in this way, according to geomagnetic sensor 30
The location information pair inertial navigation positioning result corrected correction accuracy nearest with the position of geomagnetic sensor 30 is higher.
As shown in figure 4, another embodiment of the present invention provides a kind of shopping cart localization methods, including：
Real-time reception is set to the shopping cart motion information that the inertial navigation module of shopping cart exports, and is moved according to shopping cart
Information carries out inertial navigation positioning to shopping cart；
Real-time monitoring is arranged in the Geomagnetic signal of the geomagnetic sensor output in supermarket channel, is judged whether according to Geomagnetic signal
There is shopping cart by geomagnetic sensor, if then nearest according to the location information pair of geomagnetic sensor and the position of geomagnetic sensor
Inertial navigation positioning result be corrected.
Whether shopping cart localization method provided in this embodiment has shopping to the analytical judgment of geomagnetic sensor output signal
Vehicle passes through, to be corrected to inertial navigation positioning result using the location information of geomagnetic sensor, it can be achieved that usual place
In the high accuracy positioning of the shopping cart of indoor environment.
In some optional implementations of the present embodiment, shopping cart is judged whether there is according to Geomagnetic signal and is passed through into one
Step includes：Judge whether Geomagnetic signal curve reaches fluctuation peak value, if being then determined with shopping cart by geomagnetic sensor.
It should be noted that the work of shopping cart localization method provided in this embodiment and above-mentioned shopping cart positioning system
Principle and workflow are similar, and related place is referred to above description, and details are not described herein.
As shown in figure 5, the computer system for being suitable for being used to realize the server 10 in above-mentioned shopping cart positioning system, including
Central processing unit (CPU) can be loaded into according to the program being stored in read-only memory (ROM) or from storage section
Program in random access storage device (RAM) and execute various movements appropriate and processing.In RAM, it is also stored with computer
Various programs and data needed for system operatio.CPU, ROM and RAM are connected by bus by this.Input/input (I/O) connects
Mouth is also connected to bus.
I/O interface is connected to lower component:Importation including keyboard, mouse etc.；Including such as liquid crystal display
And the output par, c of loudspeaker etc. (LCD) etc.；Storage section including hard disk etc.；And including such as LAN card, modulation /demodulation
The communications portion of the network interface card of device etc..Communications portion executes communication process via the network of such as internet.Driver
It is connected to I/O interface as needed.Detachable media, such as disk, CD, magneto-optic disk, semiconductor memory etc., according to need
It installs on a drive, in order to be mounted into storage section as needed from the computer program read thereon.
Particularly, according to the present embodiment, the process of flow chart description above may be implemented as computer software programs.Example
Such as, the present embodiment includes a kind of computer program product comprising the computer being tangibly embodied on computer-readable medium
Program, above-mentioned computer program include the program code for method shown in execution flow chart.In such embodiments, should
Computer program can be downloaded and installed from network by communications portion, and/or be mounted from detachable media.
Flow chart and schematic diagram in attached drawing, illustrate the system of the present embodiment, method and computer program product can
The architecture, function and operation being able to achieve.In this regard, each box in flow chart or schematic diagram can represent a mould
A part of block, program segment or code, a part of above-mentioned module, section or code include one or more for realizing rule
The executable instruction of fixed logic function.It should also be noted that in some implementations as replacements, function marked in the box
It can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated can actually be basic
It is performed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that
Each box and signal and/or the combination of the box in flow chart in schematic diagram and/or flow chart, can use and execute rule
The dedicated hardware based systems of fixed functions or operations is realized, or can use the group of specialized hardware and computer instruction
It closes to realize.
As on the other hand, the present embodiment additionally provides a kind of nonvolatile computer storage media, the non-volatile meter
Calculation machine storage medium can be nonvolatile computer storage media included in above-mentioned apparatus in above-described embodiment, can also be with
It is individualism, without the nonvolatile computer storage media in supplying terminal.Above-mentioned nonvolatile computer storage media
It is stored with one or more program, when said one or multiple programs are executed by an equipment, so that above equipment：
Real-time reception is set to the shopping cart motion information that the inertial navigation module of shopping cart exports, and is moved according to shopping cart
Information carries out inertial navigation positioning to shopping cart；
Real-time monitoring is arranged in the Geomagnetic signal of the geomagnetic sensor output in supermarket channel, is judged whether according to Geomagnetic signal
There is shopping cart by geomagnetic sensor, if then nearest according to the location information pair of geomagnetic sensor and the position of geomagnetic sensor
Inertial navigation positioning result be corrected.
In the description of the present invention, it should be noted that the orientation or positional relationship of the instructions such as term " on ", "lower" is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.Unless otherwise clearly defined and limited, term " installation ", " connected ", " connection " shall be understood in a broad sense, example
Such as, it may be fixed connection or may be dismantle connection, or integral connection；It can be mechanical connection, be also possible to be electrically connected
It connects；It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
It should also be noted that, in the description of the present invention, relational terms such as first and second and the like are only used
Distinguish one entity or operation from another entity or operation, without necessarily requiring or implying these entities or
There are any actual relationship or orders between operation.Moreover, the terms "include", "comprise" or its any other change
Body is intended to non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wrapped
Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article
Or the element that equipment is intrinsic.In the absence of more restrictions, the element limited by sentence "including a ...", and
It is not excluded in process, method, article or equipment in the process, method, article or apparatus that includes the element that there is also other identical elements.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention for those of ordinary skill in the art on the basis of the above description can be with
It makes other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to the present invention
The obvious changes or variations extended out of technical solution still in the scope of protection of the present invention.
Claims (11)
1. a kind of shopping cart positioning system, which is characterized in that including server, set on the inertial navigation module and arrangement of shopping cart
At least one geomagnetic sensor in supermarket channel；
The server, the shopping cart motion information of real-time reception inertial navigation module output, and according to shopping cart motion information
Inertial navigation positioning is carried out to shopping cart；
The server, the also Geomagnetic signal of real-time monitoring geomagnetic sensor output, judge whether there is shopping according to Geomagnetic signal
Vehicle passes through geomagnetic sensor, if the then inertia nearest with the position of geomagnetic sensor according to the location information pair of geomagnetic sensor
Navigator fix result is corrected.
2. shopping cart positioning system according to claim 1, which is characterized in that the server judges geomagnetic sensor
Whether the Geomagnetic signal curve of output reaches fluctuation peak value, if being then determined with shopping cart by geomagnetic sensor.
3. shopping cart positioning system according to claim 1, which is characterized in that the shopping cart bottom is equipped with ferromagnetic material
Plate.
4. shopping cart positioning system according to claim 3, which is characterized in that the storing basket bottom surface of the shopping cart is iron
Magnetic material loading plate.
5. shopping cart positioning system according to claim 1, which is characterized in that the inertial navigation module is integrated three axis
The inertial navigation chip of accelerometer and three-axis gyroscope.
6. shopping cart positioning system according to claim 1, which is characterized in that the system includes multiple geomagnetic sensors,
The multiple geomagnetic sensor is arranged in supermarket channel to be distributed at equal intervals.
7. shopping cart positioning system according to claim 1, which is characterized in that it is logical that the geomagnetic sensor is embedded in supermarket
Under the floor in road.
8. a kind of shopping cart localization method, which is characterized in that including：
Real-time reception is set to the shopping cart motion information that the inertial navigation module of shopping cart exports, and according to shopping cart motion information
Inertial navigation positioning is carried out to shopping cart；
Real-time monitoring is arranged in the Geomagnetic signal of the geomagnetic sensor output in supermarket channel, judges whether there is purchase according to Geomagnetic signal
Object vehicle passes through geomagnetic sensor, if being then used to according to the position of the location information pair of geomagnetic sensor and geomagnetic sensor is nearest
Property navigator fix result is corrected.
9. shopping cart localization method according to claim 8, which is characterized in that described to be judged whether there is according to Geomagnetic signal
Shopping cart is by further comprising：Judge whether Geomagnetic signal curve reaches fluctuation peak value, if being then determined with shopping cart process
Geomagnetic sensor.
10. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor realizes method as claimed in claim 8 or 9 when executing described program.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Method as claimed in claim 8 or 9 is realized when execution.
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| CN201810810803.1A CN108896043A (en) | 2018-07-23 | 2018-07-23 | Shopping cart positioning system and method, computer equipment and readable storage medium storing program for executing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111464590A (en) * | 2020-03-05 | 2020-07-28 | 深圳市元征科技股份有限公司 | Delivery control method for shopping cart, server, and storage medium |
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