CN110147097A - A kind of location determining method of dispensing device, device, equipment and medium - Google Patents
A kind of location determining method of dispensing device, device, equipment and medium Download PDFInfo
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- CN110147097A CN110147097A CN201910348820.2A CN201910348820A CN110147097A CN 110147097 A CN110147097 A CN 110147097A CN 201910348820 A CN201910348820 A CN 201910348820A CN 110147097 A CN110147097 A CN 110147097A
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- Prior art keywords
- dispensing device
- sensor
- running track
- influence value
- mark
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
Abstract
The embodiment of the invention discloses a kind of location determining method of dispensing device, device, equipment and media, to improve the accuracy of dispensing device positioning.The location determining method of the dispensing device, it include: the influence value for obtaining the multiple sensors being mounted in the running track of dispensing device, the mark for the sensor installed at different location in running track is different, dispensing device bottom is provided with lighting apparatus, and the illumination attribute of different dispensing device soffit lighting equipment is different；Determine that there are the sensor identifications and influence value that when dispensing device, determine the corresponding sensor of interest of dispensing device position in running track in the influence value based on multiple sensors；Based on the mark and influence value of corresponding relationship and sensor of interest between corresponding relationship, pre-stored sensor identification and the running track position between pre-stored influence value and the mark of dispensing device, determine dispensing device the location of in running track.
Description
Technical field
The present invention relates to field of locating technology, more particularly, to a kind of location determining method of dispensing device, device, equipment
And medium.
Background technique
As intelligence manufacture engineering receives the vast attention of various circles of society, "smart" products also slowly into ours
Life, and the subtle life style for changing us.For example, occurring a kind of completely new dining room mode --- intelligence at present
Energy dining room, using robot dispensing device, substitution dispatching personnel carry out food delivery.
In intelligent restaurant, dispensing device is used to be user's food delivery, runs in the running track being arranged in dining room,
When obtaining the position of dispensing device, is read by the sensor being arranged on dispensing device and paste RF tag in orbit come real
It is existing.
But use aforesaid way, it is difficult to get the exact position of dispensing device.Specifically, on the one hand, if fortune
RF tag negligible amounts on row track, then adjacent radio frequency label spacing is excessive, and dispensing device positioning accuracy is not high；Another party
It face, can be by when the sensor on dispensing device reads RF tag if increasing the quantity of the RF tag in running track
Spacing between adjacent radio frequency label is narrow and interferes with each other, and influences to position.
Summary of the invention
The embodiment of the present invention provides location determining method, device, equipment and the medium of a kind of dispensing device, matches to improve
The accuracy for sending equipment to position.
In a first aspect, the embodiment of the present invention provides a kind of location determining method of dispensing device, this method comprises:
Obtain the influence value for the multiple sensors being mounted in the running track of dispensing device, different location in running track
The mark of the sensor of place installation is different, and dispensing device bottom is provided with lighting apparatus, and different dispensing device soffit lightings are set
Standby illumination attribute is different；
Determine that there are when dispensing device, determine dispensing device place in running track in the influence value based on multiple sensors
The sensor identification and influence value of corresponding sensor of interest at position；
Based on corresponding relationship, the pre-stored sensor mark between pre-stored influence value and the mark of dispensing device
The mark and influence value for knowing the corresponding relationship and sensor of interest between running track position, determine that dispensing device is being transported
The location of on row track.
The location determining method of dispensing device provided in an embodiment of the present invention obtains the influence value of multiple sensors, in base
It determines in running track in the influence value of multiple sensors there are when dispensing device, passes through determining dispensing device position pair
The sensor identification and influence value for the sensor of interest answered, and based between pre-stored influence value and the mark of dispensing device
Corresponding relationship, the corresponding relationship between pre-stored sensor identification and running track position and sensor of interest
Mark and influence value determine dispensing device the location of in running track, to realize to dispensing device precise positioning, with
It is compared in the prior art using the localization method of RF tag, improves the accuracy of dispensing device positioning.
In a kind of possible embodiment, method provided in an embodiment of the present invention further include:
Based on corresponding relationship, the pre-stored sensor mark between pre-stored influence value and the mark of dispensing device
The mark and influence value for knowing the corresponding relationship and sensor of interest between running track position, determine that dispensing device is being transported
The location of on row track, comprising:
Induction based on corresponding relationship and sensor of interest between pre-stored influence value and the mark of dispensing device
Value, determines the corresponding target dispensing device of the influence value of sensor of interest；
Mark based on corresponding relationship and sensor of interest between pre-stored sensor identification and running track position
Know, determines sensor of interest corresponding target position in running track；
Target position is determined as position of the target dispensing device in running track.
In a kind of possible embodiment, method provided in an embodiment of the present invention further include:
Illumination attribute includes one or more of: brightness, color.
In a kind of possible embodiment, method provided in an embodiment of the present invention further include:
Dispensing device is sent to part or all of dispensing device the location of in running track.
The location determining method of dispensing device provided in an embodiment of the present invention determines dispensing device institute in running track
After the position at place, dispensing device is sent to part or all of dispensing device the location of in running track, so that portion
Point or whole dispensing device obtain the position of the dispensing device, in order to control between the operation of dispensing device and dispensing device
Avoidance.
Second aspect, the embodiment of the present invention provide a kind of position determining means of dispensing device, which includes:
Receiving unit is run for obtaining the influence value for the multiple sensors being mounted in the running track of dispensing device
The mark for the sensor installed at different location on track is different, and dispensing device bottom is provided with lighting apparatus, difference dispatching
The illumination attribute of device bottom lighting apparatus is different；
First processing units, for determining that there are dispensing devices in running track in the influence value based on multiple sensors
When, determine the sensor identification and influence value of the corresponding sensor of interest of dispensing device position；
The second processing unit, for based between pre-stored influence value and the mark of dispensing device corresponding relationship,
The mark and induction of corresponding relationship and sensor of interest between pre-stored sensor identification and running track position
Value determines dispensing device the location of in running track.
In a kind of possible embodiment, the second processing unit of device provided in an embodiment of the present invention is specifically used for:
Induction based on corresponding relationship and sensor of interest between pre-stored influence value and the mark of dispensing device
Value, determines the corresponding target dispensing device of the influence value of sensor of interest；
Mark based on corresponding relationship and sensor of interest between pre-stored sensor identification and running track position
Know, determines sensor of interest corresponding target position in running track；
Target position is determined as position of the target dispensing device in running track.
In a kind of possible embodiment, in device provided in an embodiment of the present invention, illumination attribute includes following one kind
It is or a variety of: brightness, color.
In a kind of possible embodiment, device provided in an embodiment of the present invention further include:
Transmission unit is set for dispensing device to be sent to partly or entirely dispatching the location of in running track
It is standby.
The third aspect, the embodiment of the present application provide a kind of location determining device of dispensing device, comprising: at least one
Device, at least one processor and computer program instructions stored in memory are managed, when computer program instructions are processed
Device realizes the method that the embodiment of the present application first aspect provides when executing.
Fourth aspect, the embodiment of the present application provide a kind of computer readable storage medium, are stored thereon with computer journey
The method that the embodiment of the present application first aspect provides is realized in sequence instruction when computer program instructions are executed by processor.
Detailed description of the invention
Fig. 1 is a kind of schematic flow diagram of the location determining method of dispensing device provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic illustration of the location determining method of dispensing device provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of the position determining means of dispensing device provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of the location determining device of dispensing device provided in an embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawing, to the location determining method of dispensing device provided in an embodiment of the present invention, device, equipment and Jie
The specific embodiment of matter is described in detail.
As shown in Figure 1, the embodiment of the present invention provides a kind of location determining method of dispensing device, comprising the following steps:
S101, obtains the influence value of multiple sensors being mounted in the running track of dispensing device, in running track not
Different with the mark for the sensor installed at position, dispensing device bottom is provided with lighting apparatus, different dispensing device bottoms
The illumination attribute of lighting apparatus is different.
In the dispensing device being previously mentioned in the embodiment of the present invention, the bottom of each dispensing device is provided with lighting apparatus,
The illumination attribute of lighting apparatus set by different dispensing device bottoms is different.Wherein, illumination attribute can include but is not limited to:
Color, brightness.
It should be noted that the illumination attributes of lighting apparatus can be brightness on dispensing device in the embodiment of the present invention,
It can be color etc. or brightness and color, it is not limited in the embodiment of the present invention.
When it is implemented, lighting apparatus can be LED light, it is also possible to other luminescent devices, the present invention does not limit this
It is fixed.
When it is implemented, the illumination of different number can be set in different dispensing devices bottom if illumination attribute is brightness
Equipment, to form the illumination of different brightness in different dispensing device bottoms, for example, a LED light is arranged in the bottom dispensing device a,
Two LED light are arranged in the bottom dispensing device b, and three LED light are arranged in the bottom dispensing device c；If illumination attribute is color, different
The lighting apparatus of different colours can be set in dispensing device bottom, to form the light of different colours in different dispensing device bottoms
According to for example, a yellow LED lamp is arranged in the bottom dispensing device a, a green LED lamp is arranged in the bottom dispensing device b, and dispatching is set
A red LED lamp is arranged in the standby bottom c.
When it is implemented, dispensing device is run in pre-set running track, at the different location in running track
Multiple sensors are installed, the mark of different sensors is different.Wherein, the mark of sensor, for identifying different sensors,
Digital representation can be used in it, and other symbols, which also can be used, indicates that it is not limited in the embodiment of the present invention.
It should be noted that the type of sensor can be selected according to the illumination attributes of dispensing device soffit lighting equipment
It selects, for example, sensor can choose optical sensor when distinguishing different dispensing devices by the lighting apparatus of different brightness；Again
For example, sensor can choose color sensor etc. when distinguishing different dispensing devices by the lighting apparatus of different colours.
It should be noted that installation site, the mark of sensor of the quantity of sensor, sensor in running track are equal
It can choose according to actual needs, which is not limited by the present invention.Equidistantly pacified in the following examples of the present invention with five sensors
In running track, and the mark of five sensors is respectively 1,2,3,4 and 5, peace of five sensors in running track
Holding position, as shown in Figure 2.
In an example it is assumed that the influence value of sensor is 0, sensing when sensor position is without dispensing device
When device position has dispensing device, the influence value of sensor is not 0, then as illustrated in fig. 2, it is assumed that dispensing device a is being sensed
1 position of device, dispensing device b then obtain the influence value of multiple sensors in running track in 5 position of sensor
When, the influence value for getting sensor 2, sensor 3 and sensor 4 is 0, and the influence value of sensor 1 and sensor 5 is not
0, for example, the influence value of sensor 1 is 40, the influence value of sensor 5 is 90.
S102 determines that there are when dispensing device, determine that dispatching is set in running track in the influence value based on multiple sensors
The sensor identification and influence value of the standby corresponding sensor of interest of position.
It whether there is dispensing device in running track at each sensor when it is implemented, first determining according to influence value, really
Surely after there is dispensing device, the sensor identification and influence value of the corresponding sensor of interest of dispensing device position are determined.
Above-mentioned example is still continued to use, when due to sensor position without dispensing device, the influence value of sensor is 0, is passed
When sensor position has dispensing device, the influence value of sensor is not 0, therefore, in the influence value for getting 5 sensors
Afterwards, the influence value of sensor 2, sensor 3 and sensor 4 is 0, and the influence value of sensor 1 is 40, the influence value of sensor 5
It is 90, hence, it can be determined that 1 position of sensor and 5 position of sensor have dispensing device, 2 place of sensor
At position, 3 position of sensor and 4 position of sensor be without dispensing device.Determining 1 position of sensor
With 5 position of sensor there are after dispensing device, sensor 1 and sensor 5 can be determined as sensor of interest.
S103, based on the corresponding relationship between pre-stored influence value and the mark of dispensing device, pre-stored biography
The mark and influence value of corresponding relationship and sensor of interest between sensor mark and running track position, determine that dispatching is set
The standby location in running track.
Wherein, for identifying different dispensing devices, number or letter can be used to be indicated the mark of dispensing device,
Other symbols, which can be used, indicates that it is not limited in the embodiment of the present invention.
When it is implemented, based between pre-stored influence value and the mark of dispensing device corresponding relationship, in advance deposit
The mark and influence value of corresponding relationship and sensor of interest between the sensor identification and running track position of storage determine
Dispensing device when the location of in running track, can mark first based on pre-stored influence value and dispensing device it
Between corresponding relationship and sensor of interest influence value, determine the corresponding target dispensing device of the influence value of sensor of interest, so
Mark afterwards based on corresponding relationship and sensor of interest between pre-stored sensor identification and running track position determines
Target position is finally determined as target dispensing device in operation rail by sensor of interest corresponding target position in running track
Position on road.
Above-mentioned example is still continued to use, the mark and influence value of sensor of interest are sensor 1, influence value 40 and sensor 5, sense
It should value 90.Assuming that influence value 40 is corresponding to match in corresponding relationship between pre-stored influence value and the mark of dispensing device
The a that is identified as of equipment is sent, the corresponding dispensing device of influence value 90 is identified as b, then can determine 1 position of sensor
Dispensing device is dispensing device a, and the dispensing device of 5 position of sensor is dispensing device b.
Assuming that sensor 1 is corresponding in corresponding relationship between pre-stored sensor identification and running track position
Position is A point in running track, and the corresponding position of sensor 2 is B point in running track, and corresponding position is C in running track
Point, corresponding position are D point in running track, and corresponding position is E point in running track, then based on the above-mentioned sensing determined
The dispensing device of 1 position of device is dispensing device a, and the dispensing device of 5 position of sensor is dispensing device b, can
To determine A point of the dispensing device a in running track, E point of the dispensing device b in running track.
In a kind of possible embodiment, method provided in an embodiment of the present invention is determining dispensing device in operation rail
Behind position on road, dispensing device can also be sent to part or all of dispensing device the location of in running track.
When it is implemented, after determining position of the dispensing device in running track, by dispensing device in running track
Location is sent to the dispensing device being currently running in running track, for avoidance between dispensing device or information exchange.
Preferably, after determining position of the dispensing device in running track, dispensing device is locating in running track
Position be sent to synchronization and be currently running the dispensing device run on track.
As shown in figure 3, the embodiment of the present invention provides a kind of position determining means of dispensing device, which includes:
Receiving unit 201 is transported for obtaining the influence value for the multiple sensors being mounted in the running track of dispensing device
The mark for the sensor installed at different location on row track is different, and dispensing device bottom is provided with lighting apparatus, and difference is matched
Send the illumination attribute of device bottom lighting apparatus different.
First processing units 202, for determining in running track that there is dispatching sets in the influence value based on multiple sensors
When standby, the sensor identification and influence value of the corresponding sensor of interest of dispensing device position are determined.
The second processing unit 203, for based on the corresponding pass between pre-stored influence value and the mark of dispensing device
The mark and sense of corresponding relationship and sensor of interest between system, pre-stored sensor identification and running track position
It should be worth, determine dispensing device the location of in running track.
In a kind of possible embodiment, the second processing unit 303 of device provided in an embodiment of the present invention is specifically used
In:
Induction based on corresponding relationship and sensor of interest between pre-stored influence value and the mark of dispensing device
Value, determines the corresponding target dispensing device of the influence value of sensor of interest；
Mark based on corresponding relationship and sensor of interest between pre-stored sensor identification and running track position
Know, determines sensor of interest corresponding target position in running track；
Target position is determined as position of the target dispensing device in running track.
In a kind of possible embodiment, in device provided in an embodiment of the present invention, illumination attribute includes following one kind
It is or a variety of: brightness, color.
In a kind of possible embodiment, device provided in an embodiment of the present invention, further includes:
Transmission unit 204, for dispensing device to be sent to part or all of dispatching the location of in running track
Equipment.
In addition, the location determining method and device in conjunction with the dispensing device of Fig. 1-Fig. 3 the embodiment of the present application described can be with
It is realized by the location determining device of dispensing device.The position that Fig. 4 shows dispensing device provided by the embodiments of the present application determines
The hardware structural diagram of equipment.
The location determining device of dispensing device may include processor 301 and the storage for being stored with computer program instructions
Device 302.
Specifically, above-mentioned processor 301 may include central processing unit (CPU) or specific integrated circuit
(Application Specific Integrated Circuit, ASIC), or may be configured to implement implementation of the present invention
One or more integrated circuits of example.
Memory 302 may include the mass storage for data or instruction.For example it rather than limits, memory
302 may include hard disk drive (Hard Disk Drive, HDD), floppy disk drive, flash memory, CD, magneto-optic disk, tape or logical
With the combination of universal serial bus (Universal Serial Bus, USB) driver or two or more the above.It is closing
In the case where suitable, memory 302 may include the medium of removable or non-removable (or fixed).In a suitable case, it stores
Device 302 can be inside or outside data processing equipment.In a particular embodiment, memory 302 is nonvolatile solid state storage
Device.In a particular embodiment, memory 302 includes read-only memory (ROM).In a suitable case, which can be mask
ROM, programming ROM (PROM), erasable PROM (EPROM), the electric erasable PROM (EEPROM), electrically-alterable ROM of programming
(EAROM) or the combination of flash memory or two or more the above.
Processor 301 is by reading and executing the computer program instructions stored in memory 302, to realize above-mentioned implementation
The location determining method of one of example dispensing device.
In one example, the location determining device of dispensing device may also include communication interface 303 and bus 310.Wherein,
As shown in figure 4, processor 301, memory 302, communication interface 303 connect by bus 310 and complete mutual communication.
Communication interface 303 is mainly used for realizing in the embodiment of the present invention between each module, device, unit and/or equipment
Communication.
Bus 310 includes hardware, software or both, and the component of the location determining device of dispensing device is coupled to each other one
It rises.For example it rather than limits, bus may include accelerated graphics port (AGP) or other graphics bus, enhancing industrial standard frame
Structure (EISA) bus, front side bus (FSB), super transmission (HT) interconnection, Industry Standard Architecture (ISA) bus, infinite bandwidth interconnection,
Low pin count (LPC) bus, memory bus, micro- channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-
Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association part (VLB) bus or
The combination of other suitable buses or two or more the above.In a suitable case, bus 310 may include one
Or multiple buses.Although specific bus has been described and illustrated in the embodiment of the present invention, the present invention considers any suitable bus
Or interconnection.
The location determining device of the dispensing device can execute the position determination side of the dispensing device in the embodiment of the present invention
Method, to realize the location determining method in conjunction with Fig. 1 dispensing device described.
In addition, in conjunction with the location determining method of the dispensing device in above-described embodiment, the embodiment of the present invention can provide one kind
Computer readable storage medium is realized.Computer program instructions are stored on the computer readable storage medium；The computer
The location determining method of one of above-described embodiment dispensing device is realized when program instruction is executed by processor.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although the preferred embodiment of the application has been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the application range.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of location determining method of dispensing device, which is characterized in that this method comprises:
Obtain the influence value for the multiple sensors being mounted in the running track of the dispensing device, difference in the running track
The mark for the sensor installed at position is different, and the dispensing device bottom is provided with lighting apparatus, different dispensing device bottoms
The illumination attribute of portion's lighting apparatus is different；
It determines in the running track in the influence value based on the multiple sensor there are when dispensing device, determines the dispatching
The sensor identification and influence value of the corresponding sensor of interest of equipment position；
Based between pre-stored influence value and the mark of dispensing device corresponding relationship, pre-stored sensor identification with
The mark and influence value of corresponding relationship and the sensor of interest between running track position, determine the dispensing device
The location of in the running track.
2. the method according to claim 1, wherein described based on pre-stored influence value and dispensing device
Corresponding relationship, pre-stored sensor identification between mark and the corresponding relationship between running track position and described
The mark and influence value of sensor of interest determine the dispensing device the location of in the running track, comprising:
Induction based on corresponding relationship and the sensor of interest between pre-stored influence value and the mark of dispensing device
Value, determines the corresponding target dispensing device of the influence value of the sensor of interest；
Mark based on corresponding relationship and the sensor of interest between pre-stored sensor identification and running track position
Know, determines the sensor of interest corresponding target position in the running track；
The target position is determined as position of the target dispensing device in the running track.
3. the method according to claim 1, wherein the illumination attribute includes one or more of: brightness,
Color.
4. the method according to claim 1, wherein the method also includes:
The dispensing device is sent to part or all of dispensing device the location of in the running track.
5. a kind of position determining means of dispensing device, which is characterized in that the device includes:
Receiving unit, it is described for obtaining the influence value of multiple sensors in the running track for being mounted on the dispensing device
The mark for the sensor installed at different location in running track is different, and the dispensing device bottom is provided with lighting apparatus,
The illumination attribute of different dispensing device soffit lighting equipment is different；
First processing units, for determining in the running track that there is dispatching sets in the influence value based on the multiple sensor
When standby, the sensor identification and influence value of the corresponding sensor of interest of the dispensing device position are determined；
The second processing unit, for based between pre-stored influence value and the mark of dispensing device corresponding relationship, in advance
The mark and induction of corresponding relationship and the sensor of interest between the sensor identification and running track position of storage
Value determines the dispensing device the location of in the running track.
6. device according to claim 5, which is characterized in that described the second processing unit is specifically used for:
Induction based on corresponding relationship and the sensor of interest between pre-stored influence value and the mark of dispensing device
Value, determines the corresponding target dispensing device of the influence value of the sensor of interest；
Mark based on corresponding relationship and the sensor of interest between pre-stored sensor identification and running track position
Know, determines the sensor of interest corresponding target position in the running track；
The target position is determined as position of the target dispensing device in the running track.
7. device according to claim 5, which is characterized in that the illumination attribute includes one or more of: brightness,
Color.
8. device according to claim 5, which is characterized in that described device further include:
Transmission unit, for the dispensing device to be sent to part or all of dispatching the location of in the running track
Equipment.
9. a kind of location determining device of dispensing device characterized by comprising at least one processor, at least one storage
The computer program instructions of device and storage in the memory, when the computer program instructions are executed by the processor
Shi Shixian method for example of any of claims 1-4.
10. a kind of computer readable storage medium, is stored thereon with computer program instructions, which is characterized in that when the calculating
Such as method of any of claims 1-4 is realized when machine program instruction is executed by processor.
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