CN112240769A - Positioning method, system, device and storage medium thereof - Google Patents
Positioning method, system, device and storage medium thereof Download PDFInfo
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- CN112240769A CN112240769A CN201910643218.1A CN201910643218A CN112240769A CN 112240769 A CN112240769 A CN 112240769A CN 201910643218 A CN201910643218 A CN 201910643218A CN 112240769 A CN112240769 A CN 112240769A
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- G01—MEASURING; TESTING
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Abstract
The invention discloses a positioning method, a system, a device and a storage medium thereof, wherein the method comprises the steps of identifying at least one position mark in space by a plurality of preset identification devices arranged on a positioning target to obtain an identification result corresponding to each preset identification device, wherein the positioning target is an object target for positioning; the positioning result of the positioning target is obtained by judging according to the identification results corresponding to different preset identification devices and a preset rule, a plurality of corresponding identification results are obtained by identifying the position marks through a plurality of preset identification devices, and the positioning result of the complex spatial position and state is obtained by judging according to the plurality of identification results, so that the technical problem that the positioning of various spatial positions and states of the positioning target cannot be carried out in the prior art is solved.
Description
Technical Field
The present invention relates to the field of logistics, and in particular, to a positioning method, system, device, and storage medium thereof.
Background
Currently, the positioning method for positioning the target has been an important research topic in the logistics industry, for example, the positioning target can be understood as a shuttle vehicle for loading goods, and other logistics moving units. In order to improve the goods storage efficiency and the picking efficiency, the storage in modern logistics needs to perform positioning control of various spatial positions and states on positioning targets, and the traditional positioning mode is relatively complex or the positioning judgment of multiple states cannot be realized.
The present inventors have found that at least the following problems exist in the prior art, and the prior art cannot perform positioning for a plurality of spatial positions and states of a positioning target, and has become a technical problem to be solved urgently.
Disclosure of Invention
The application provides a positioning method, which aims to identify position marks through a plurality of preset identification devices under a complex positioning environment to obtain corresponding identification results, and further judge through the identification results to obtain positioning results.
The method comprises the following steps:
identifying at least one position mark in space through a plurality of preset identification devices arranged on a positioning target to obtain an identification result corresponding to each preset identification device, wherein the positioning target is an object target for positioning;
and judging according to the identification results corresponding to different preset identification devices according to a preset rule to obtain the positioning result of the positioning target.
Optionally, the obtaining a positioning result of the positioning target according to the identification result corresponding to the different preset identification devices and according to a predetermined rule includes:
respectively converting the identification results corresponding to different preset identification devices into a plurality of corresponding preset codes according to a preset mode;
and judging according to a plurality of preset codes according to a preset rule to obtain a positioning result of the positioning target.
Optionally, the positioning target is a mobile unit traveling along a track;
the step of identifying at least one position mark in the space by a plurality of preset identification devices arranged on the positioning target to obtain an identification result corresponding to each preset identification device comprises:
and identifying at least one position mark arranged on the track by a plurality of preset identification devices arranged on the mobile unit to obtain an identification result corresponding to each preset identification device.
Optionally, the rail includes a lifting rail and a moving rail, the lifting rail is located at one end of the moving rail, and the lifting rail is connected to the moving rail when lifted to a predetermined height, so that the mobile unit can move on the moving rail and the lifting rail after the lifting rail is connected to the moving rail, wherein the position mark includes a parking position mark and a lifting position mark, the moving rail is divided into at least one parking space along the moving direction of the mobile unit, at least one parking position mark is provided on each parking space, the lifting rail is provided with the lifting position mark, and the plurality of preset identification devices include a first preset identification device and a second preset identification device;
the identification result corresponding to each preset identification device obtained by identifying at least one position mark arranged on the track through a plurality of preset identification devices arranged on the mobile unit comprises:
identifying the lifting position mark through the first preset identification device, and identifying the parking position mark through the second preset identification device to respectively obtain corresponding identification results;
the step of judging according to the identification results corresponding to different preset identification devices according to a preset rule to obtain the positioning result of the positioning target comprises the following steps:
and judging whether the mobile unit is positioned on the lifting track according to the identification result corresponding to the first preset identification device, and judging the parking position of the mobile unit as the positioning result according to the identification result corresponding to the second preset identification device.
The present application also provides another method of positioning,
each of the parking position marks includes a first parking position mark and a second parking position mark, the first parking position mark and the second parking position mark are adjacently arranged on the moving track along the traveling direction of the moving unit, the plurality of preset identifying devices further includes a third preset identifying device for identifying the parking position mark, the second preset identifying device and the third preset identifying device are adjacently arranged on the moving unit along the traveling direction of the moving unit, and the distance between the first parking position mark and the second parking position mark is larger than the distance between the second preset identifying device and the third preset identifying device;
the obtaining of the identification result corresponding to each preset identification device by identifying at least one position mark arranged on the track through a plurality of preset identification devices arranged on the mobile unit further comprises:
the second preset identification device and the third preset identification device respectively identify the first parking position mark and the second parking position mark to obtain identification results;
the step of judging according to the identification results corresponding to different preset identification devices according to a preset rule to obtain the positioning result of the positioning target comprises the following steps:
and judging the relative position of the mobile unit and the parking space according to the identification results identified by the second preset identification device and the third preset identification device to be used as the positioning result.
The present application further provides a positioning system, the system comprising: a control system and a plurality of preset identification devices;
the control system is used for identifying at least one position mark in space through a plurality of preset identification devices arranged on a positioning target to obtain an identification result corresponding to each preset identification device, wherein the positioning target is an object target for positioning, and the control system is also used for judging according to the identification results corresponding to different preset identification devices and according to a preset rule to obtain a positioning result of the positioning target.
Optionally, the control system is further configured to respectively convert the identification results corresponding to different preset identification devices into a plurality of corresponding preset codes according to a predetermined manner, and determine according to a predetermined rule according to the plurality of preset codes to obtain the positioning result of the positioning target.
Optionally, the system further comprises a track, wherein:
the positioning target is a mobile unit, the mobile unit runs along the track, a plurality of preset equipment devices are arranged on the mobile unit, and the position mark is arranged on the track;
the control system is further configured to identify at least one position mark disposed on the track through a plurality of preset identification devices disposed on the mobile unit to obtain an identification result corresponding to each preset identification device.
Optionally, the rail includes a lifting rail and a moving rail, the lifting rail is located at one end of the moving rail, and the lifting rail is connected to the moving rail when lifted to a predetermined height, so that the mobile unit can move on the moving rail and the lifting rail after the lifting rail is connected to the moving rail, wherein the position mark includes a parking position mark and a lifting position mark, the moving rail is divided into at least one parking space along the moving direction of the mobile unit, at least one parking position mark is provided on each parking space, the lifting rail is provided with the lifting position mark, and the plurality of preset identification devices include a first preset identification device and a second preset identification device;
the control system is also used for identifying the lifting position mark through a first preset identification device, and identifying the parking position mark through a second preset identification device to respectively obtain corresponding identification results; and the positioning device is also used for judging whether the mobile unit is positioned on the lifting track according to the identification result corresponding to the first preset identification device, and judging the parking position of the mobile unit as the positioning result according to the identification result corresponding to the second preset identification device.
Optionally, each of the parking position marks includes a first parking position mark and a second parking position mark, the first parking position mark and the second parking position mark are adjacently arranged on the moving track along the traveling direction of the moving unit, the plurality of preset identifying devices further includes a third preset identifying device for identifying the parking position mark, the second preset identifying device and the third preset identifying device are adjacently arranged on the moving unit along the traveling direction of the moving unit, and the distance between the first parking position mark and the second parking position mark is larger than the distance between the second preset identifying device and the third preset identifying device;
the control system is also used for the second preset identification device and the third preset identification device to identify the first parking position mark and the second parking position mark to obtain identification results, and is also used for judging the relative position of the mobile unit and the parking position according to the identification results identified by the second preset identification device and the third preset identification device to be used as the positioning result.
Optionally, the first preset identification device is a mirror reflection sensor, the second preset identification device and the third preset identification device are diffuse reflection sensors, the lifting position mark is a reflective film, the parking position mark is a long hole arranged along the moving direction of the moving unit, and two ends of the long hole are respectively used as the first parking position mark and the second parking position mark.
As can be seen from the above, based on the above embodiments, the position markers are identified by a plurality of preset identification devices in a complex positioning environment to obtain corresponding identification results, and then the positioning results are determined by the identification results. The technical problem that the prior art can not position various spatial positions and states of a positioning target is solved.
Drawings
FIG. 1 is a schematic diagram of a process 100 of a positioning method according to the present invention;
FIG. 2 is a schematic diagram of a process 200 of the positioning method of the present invention;
FIG. 3 is a flow chart 300 illustrating a positioning method according to the present invention;
FIG. 4 is a flowchart 400 illustrating a positioning method according to the present invention;
FIG. 5 is a schematic diagram of a positioning system according to the present invention;
FIG. 6 is a schematic diagram showing the positional relationship between the second preset identification device and the third preset identification device and the corresponding slot holes according to the present invention;
description of the labeling:
1 Mobile unit
2 first Preset identification device
3 second Preset identification device
4 third Preset identification device
5 lifting position mark
6 seam
7 parking position mark
71 first berth stop sign
72 second berth stop sign
8 lifting rail
9 moving track
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples.
In one embodiment, in order to improve the goods storage efficiency and the picking efficiency in modern warehousing, the goods are loaded in a mode of running a shuttle car on the rails, wherein the rails are in multiple layers and comprise lifting rails and moving rails. One end of the moving track is provided with a section of lifting track for ascending and descending of the shuttle car, the lifting track is butted with the moving track when lifted to a preset height, the shuttle car can be lifted on the lifting track, equipment or devices for loading cargos are arranged on the moving track corresponding to different positions to load cargos for the shuttle car, namely if the shuttle car is understood as a positioning target, a plurality of positions on the moving track need to be positioned, so that the shuttle car can be lifted or lifted by utilizing the lifting track. In such a complex environment, the prior art cannot position the shuttle.
Fig. 1 is a schematic diagram of a process 100 of a positioning method according to the present invention. As shown in fig. 1, in an embodiment, there is provided a positioning method, including:
s201, identifying at least one position mark in space through a plurality of preset identification devices arranged on a positioning target to obtain an identification result corresponding to each preset identification device, wherein the positioning target is an object target for positioning;
in this step, a specific method for identifying the positioning target is provided. Specifically, at least one position mark in the space is recognized using a plurality of preset recognition devices provided on the positioning target. It should be noted that a plurality of preset recognition devices can respectively perform recognition to obtain corresponding different recognition results.
S202, judging according to the identification results corresponding to different preset identification devices and according to a preset rule to obtain the positioning result of the positioning target.
In this step, the determination is performed according to the identification results corresponding to the different preset identification devices, and it should be noted that the obtained identification results are multiple ones obtained by the different preset identification devices, so that different combinations of the multiple identification results and different corresponding values can obtain different positioning results.
In this embodiment, a specific method for locating a positioning target is provided, in which a plurality of different preset identification devices are used to identify a position mark in a space, and a plurality of identification results are obtained by identifying the position mark. And judging the positioning target according to a preset rule by utilizing different combination modes of a plurality of identification results, and finally obtaining the positioning result of the positioning target. The predetermined rule here can be understood as the correspondence of different combinations of a plurality of recognition results and in particular with different positioning results.
Fig. 2 is a schematic diagram of a process 200 of the positioning method according to the present invention. As shown in fig. 2, in an embodiment, the obtaining a positioning result of the positioning target according to the identification results corresponding to different preset identification devices and according to a predetermined rule includes:
s201, respectively converting the identification results corresponding to different preset identification devices into a plurality of corresponding preset codes according to a preset mode;
in this step, a method for corresponding different preset identification devices to preset codes is provided for convenience of control, because the preset identification devices often identify analog quantities, subsequent preset programming and control can be facilitated by converting the analog quantities into digital quantities, it is pointed out that the respective conversion of a plurality of identification results can be converted into a plurality of preset codes, and the arrangement sequence of the preset codes can also be used as the basis for subsequent judgment of positioning results.
S202, judging according to a plurality of preset codes and a preset rule to obtain a positioning result of the positioning target.
In this step, the positioning result of the positioning target is judged according to the numerical values or the arrangement sequence of the plurality of preset codes. As above, the predetermined rule can be understood as the corresponding relationship between the preset encoded numerical value or the arrangement order and the positioning result.
In this embodiment, a specific method for obtaining a positioning result of a positioning target by determining values and an arrangement order of a plurality of preset codes after different recognition results are converted into a plurality of corresponding preset codes is provided.
In one embodiment, the positioning target is a mobile unit traveling along a track;
the step of identifying at least one position mark in the space by a plurality of preset identification devices arranged on the positioning target to obtain an identification result corresponding to each preset identification device comprises:
and identifying at least one position mark arranged on the track by a plurality of preset identification devices arranged on the mobile unit to obtain an identification result corresponding to each preset identification device.
In this embodiment, a specific method is provided for the mobile unit to travel on the track, and to identify the position mark set on the track by using a plurality of preset identification devices set on the mobile unit, and then to perform the subsequent determination.
Fig. 3 is a schematic diagram of a flow 300 of the positioning method according to the present invention, as shown in fig. 3, in an embodiment, the identifying at least one position mark disposed on the track by a plurality of preset identifying devices disposed on the mobile unit to obtain an identification result corresponding to each preset identifying device includes:
the track comprises a lifting track and a moving track, the lifting track is positioned at one end of the moving track, and the lifting track is connected with the moving track when lifted to a preset height, so that the moving unit can move on the moving track and the lifting track after the lifting track is connected with the moving track, wherein the position mark comprises a parking position mark and a lifting position mark, at least one parking space is divided on the moving track along the moving direction of the moving unit, at least one parking position mark is arranged on each parking space, the lifting track is provided with the lifting position mark, and the preset identification devices comprise a first preset identification device and a second preset identification device;
s301, identifying the lifting position mark through a first preset identification device, and identifying the parking position mark through a second preset identification device to respectively obtain corresponding identification results;
in this step, based on the structural arrangement of the moving rail and the lifting rail, the lifting position mark is recognized by the first preset recognition device, and the parking position mark is recognized by the second preset recognition device.
S302, judging whether the mobile unit is positioned on the lifting track according to the identification result corresponding to the first preset identification device, and judging the parking position of the mobile unit according to the identification result corresponding to the second preset identification device to be used as the positioning result.
In this step, a method for identifying whether the mobile unit is located on the lifting track and the parking position of the mobile unit is provided, and it is noted that the identification result of the second preset identification device is counted by a counter, and when the mobile unit moves along the lifting track, the counter can continuously record a number in an overlapping or descending manner every time the second preset identification device identifies the parking position mark, and the parking position where the mobile unit is located is judged by the counter number.
In the embodiment, a specific positioning method based on the above structure is provided, in which the first preset identification device is used to identify the lifting position mark, the second preset identification device is used to identify the parking position mark, and corresponding identification results are obtained, and then the positioning result of the mobile unit is determined according to the different identification results and the predetermined rule. Specifically, the identification result corresponding to the first preset identification device judges whether the mobile unit is positioned on the lifting track, and the parking position of the mobile unit is judged as the positioning result according to the identification result corresponding to the second preset identification device. It should be noted that whether the mobile unit is located on the lifting track or not and the parking position on the moving track is a composite positioning result, the mobile unit can be positioned only by respectively identifying through a plurality of different preset identification devices and judging to obtain a final positioning result according to different identification results.
Fig. 4 is a schematic view of a flow 400 of the positioning method of the present invention, as shown in fig. 4, in an embodiment, each of the parking position marks includes a first parking position mark and a second parking position mark, the first parking position mark and the second parking position mark are adjacently disposed on the moving track along the traveling direction of the moving unit, the plurality of preset identifying means further includes a third preset identifying means for identifying the parking position mark, the second preset identifying means and the third preset identifying means are adjacently disposed on the moving unit along the traveling direction of the moving unit, and the distance between the first parking position mark and the second parking position mark is greater than the distance between the second preset identifying means and the third preset identifying means;
the obtaining of the identification result corresponding to each preset identification device by identifying at least one position mark arranged on the track through a plurality of preset identification devices arranged on the mobile unit further comprises:
s401, the second preset identification device and the third preset identification device respectively identify the first parking position mark and the second parking position mark to obtain identification results;
the present step includes, in addition to the first preset identifying means and the second preset identifying means in the above-described embodiments, a third preset identifying means for identifying the parking position mark, and the parking position mark in the present step includes the first parking position mark and the second parking position mark.
S402, judging the relative position of the mobile unit and the parking space according to the identification results identified by the second preset identification device and the third preset identification device to be used as the positioning result.
In this step, the relative position of the mobile unit to the parking space can be judged based on the recognition results of the first and second parking position marks by the second and third preset recognition means.
In this embodiment, a specific method for positioning the relative position of the mobile unit and the parking space is provided, in which a corresponding recognition result is obtained by recognizing the first parking position mark and the second parking position mark of each parking space through two preset recognition devices, i.e. the second preset recognition device and the third preset recognition device, and the relative position of the mobile unit and the parking space is determined, that is, not only which parking space the mobile unit is in, but also a specific position range of the parking space is determined.
The working process and the basic principle are as follows:
the present application is further explained based on the above-mentioned structure of the moving unit and the track, and it should be noted that the following contents are only examples for better understanding of the present application and are not specific limitations of the present application.
Fig. 5 is a schematic structural diagram of the positioning system of the present invention, and as shown in fig. 5, the at least one position mark disposed on the track is identified by a plurality of preset identification devices disposed on the mobile unit, so as to obtain an identification result corresponding to each preset identification device.
The mobile unit is understood to be a shuttle car that travels on a track, it is noted that the shuttle car is not one, but can be positioned by the method of the present application for each shuttle car.
The track comprises a lifting track and a moving track, the lifting track is positioned at one end of the moving track and is connected with the moving track when lifted to a preset height, so that the moving unit can move on the moving track and the lifting track after the lifting track is connected with the moving track, wherein the position mark comprises a parking position mark and a lifting position mark, at least one parking position is divided on the moving track along the moving direction of the moving unit, at least one parking position mark is arranged on each parking position, the lifting track is provided with the lifting position mark, and the plurality of preset identification devices comprise a first preset identification device and a second preset identification device;
identifying the lifting position mark through a first preset identification device, and identifying the parking position mark through a second preset identification device and a third preset identification device to respectively obtain corresponding identification results;
it is to be noted that a parking space is to be understood as meaning the fixed positions of the various loads on the moving track, at which the automated load handling equipment or personnel are located, at which the shuttle vehicle can sort the loads.
The identification of the lifting position mark by the first preset identification means can be simply understood as identifying the lifting position mark when the shuttle car arrives at the lifting track, and then the shuttle car can identify the lifting position mark as an identification result.
The shuttle vehicle needs to be parked at different parking positions according to the above description, the parking positions on the moving track can be a plurality of fixed positions, the parking position marks on the plurality of parking positions can be identified by the second preset identification means, and the count can be performed by a built-in counter, for example, the first parking position at one end of the moving track where the lifting track is not provided is counted as 1, the count is accumulated every time the shuttle vehicle passes the parking position mark on one parking position as the shuttle vehicle travels on the moving track, when the shuttle vehicle moves to the last parking position mark at the other end of the moving track, the counter assumes to be accumulated to N, and assumes to be provided with a parking position mark on the lifting track next to the other end of the moving track, at this time, if the shuttle vehicle is on the lifting track, the counter can accumulate to N +1, alternatively, the counter may decrement the count, such as each time the stop position marker is identified when the shuttle is traveling in reverse.
And comprehensively judging the identification results of the first preset identification device and the second preset identification device to obtain the specific position of the shuttle car on the track, so as to realize positioning.
The following explains that the identification results corresponding to different preset identification devices are respectively converted into a plurality of corresponding preset codes in a preset mode for corresponding explanation.
Each of the parking position marks includes a first parking position mark and a second parking position mark, the first parking position mark and the second parking position mark being adjacently disposed on the moving track in the traveling direction of the moving unit, the plurality of preset identifying means further includes a third preset identifying means for identifying the parking position mark, and the second preset identifying means and the third preset identifying means being adjacently disposed on the moving unit in the traveling direction of the moving unit, a distance between the first parking position mark and the second parking position mark being larger than a distance between the second preset identifying means and the third preset identifying means;
for example, the first preset identification device may be understood as a mirror reflection sensor, and the elevation position mark may be marked by a reflective film. The second preset identification means can be understood as a diffuse sensor and the parking position mark can be marked by an aperture, the first parking position mark and the second parking position mark being understood as the two ends of a long hole.
It is assumed that if one parking position mark is provided between the elevation position mark and the moving rail on the elevation rail and the parking position marks are each provided in a long hole structure including a first parking position mark and a second parking position mark, and when the elevation position mark is recognized by the first preset recognition means, the second preset recognition means and the third preset recognition means are located just between the first parking position mark and the second parking position. In addition, for better close to some application scenes, a gap seam can occur between the lifting track and the moving track, and the identification results of the second preset identification device and the third preset identification device can also be influenced. In addition, it should be noted that the width of the seam should be smaller than the distance between the first and second parking position marks, the distance between the seam and the parking position mark should be greater than the distance between the second and third preset identification means and also greater than the distance between the first preset identification means and the second or third preset identification means, and the second and third preset identification means are located in the elongated hole when the first preset identification means identifies the up-down position mark.
We then make the following definitions:
when the first preset identification device (the identification result is represented by A) identifies the lifting position mark, the mark is marked as 1, and otherwise, the mark is marked as 0.
When the second preset identifying means (the identification result thereof is denoted by B) and the third preset identifying means (the identification result thereof is denoted by C) identify the parking position mark or the seam, it is denoted by 0, and otherwise it is denoted by 1. If the first and second parking position marks are both ends of the long hole, it can be understood that when the second and third preset recognition means pass through the long hole, they are marked as 0, and the range outside the long hole is marked as 1.
When the shuttle car runs from the Nth parking place to the lifting track, the change of the preset code is as follows:
in the first state, if all the preset identification devices of the shuttle vehicle do not identify the corresponding position mark, a is 0, B is 1, and C is 1.
In the second state, when the second preset identification device of the shuttle vehicle enters the long hole, a is 0, B is 0, and C is 1.
In the third state, when the third preset identification device of the shuttle vehicle enters the long hole, a is 0, B is 0, and C is 0.
In the fourth state, when the second preset identification device of the shuttle car exits the long hole, a is 0, B is 1, and C is 0.
In the fifth state, when the third preset identification device of the shuttle car exits the long hole, a is 0, B is 1, and C is 1.
In the sixth state, when the second preset identification device of the shuttle vehicle contacts the seam, a is 0, B is 0, and C is 1.
In the seventh state, when the second preset identification device of the shuttle vehicle no longer contacts the seam, a is 0, B is 1, and C is 1.
In the eighth state, when the third preset identification device of the shuttle vehicle contacts the seam, a is 0, B is 1, and C is 0.
In the ninth state, when the third preset identification device of the shuttle vehicle no longer contacts the seam, a is 0, B is 1, and C is 1.
In the tenth state, when the second preset identification device of the shuttle car enters the long hole on the lifting track, a is 0, B is 0, and C is 1.
In the eleventh state, when the third preset identification device of the shuttle car enters the long hole on the lifting track, a is 0, B is 0, and C is 0.
In the twelfth state, when the first preset identification device of the shuttle car identifies the lifting position mark, a is equal to 1, B is equal to 0, and C is equal to 0.
And when all the processes are finished, the program considers that the shuttle car has arrived at the designated position of the lifting track, and the lifting track can be controlled by the PLC to lift.
In summary, it can be seen that such a complicated positioning procedure is not at all possible if it is simply achieved by the prior art methods. It should be noted that the values of the predetermined codes correspond to different positioning results, the sequence of the predetermined code arrangement, and the predetermined code arrangement manner of each state can correspond to different positioning results.
Parking position precision control and adjustment:
fig. 6 is a schematic diagram of the position relationship between the second preset identification device and the third preset identification device and the corresponding slot hole of the present invention, as shown in fig. 6, the required accuracy is ± m, the distance between the second preset identification device and the third preset identification device is L1, the length of the rectangular hole is L, and the length of L1 is adjusted during arrangement, so that the distances between the second preset identification device and the third preset identification device and the two ends of the slot hole are both m1, and m1 is not more than m.
In one embodiment, the present application further provides a positioning system comprising: a control system and a plurality of preset identification devices;
the control system is used for identifying at least one position mark in space through a plurality of preset identification devices arranged on a positioning target to obtain an identification result corresponding to each preset identification device, wherein the positioning target is an object target for positioning, and the control system is also used for judging according to the identification results corresponding to different preset identification devices and according to a preset rule to obtain a positioning result of the positioning target.
In an embodiment, the control system is further configured to respectively convert the identification results corresponding to different preset identification devices into a plurality of corresponding preset codes according to a predetermined manner, and determine according to a predetermined rule according to the plurality of preset codes to obtain the positioning result of the positioning target.
In an embodiment, the system further comprises a track, wherein:
the positioning target is a mobile unit 1, the mobile unit 1 runs along the track, a plurality of preset equipment devices are arranged on the mobile unit 1,
the control system is further configured to identify at least one position mark disposed on the track through a plurality of preset identification devices disposed on the mobile unit 1 to obtain an identification result corresponding to each preset identification device.
In one embodiment, the track comprises a lifting track 8 and a moving track 9, the lifting track 8 is positioned at one end of the moving track 9, and the lifting track 8 is connected with the moving track 9 when lifted to a predetermined height, so that the moving unit 1 can move on the moving track 9 and the lifting track 8 after the lifting track 8 is connected with the moving track 9, wherein the position marks comprise parking position marks 7 and lifting position marks 5, at least one parking space is divided on the moving track 9 along the moving direction of the moving unit 1, the parking position mark 7 is arranged on each parking space, the lifting track 8 is provided with the lifting position marks 5, and the preset identification devices comprise a first preset identification device 2 and a second preset identification device 3;
the control system is further configured to recognize the lifting position marks 5 through a first preset recognition device 2, recognize the parking position marks 7 through a second preset recognition device 3, and respectively obtain corresponding recognition results, and further configured to determine whether the mobile unit 1 is located on the lifting track 8 according to the recognition result corresponding to the first preset recognition device 2, and determine the parking position of the mobile unit 1 as the positioning result according to the recognition result corresponding to the second preset recognition device 3.
In one embodiment, each of said parking position marks comprises a first parking position mark 71 and a second parking position mark 72, said first parking position mark 71 and said second parking position mark 72 being arranged adjacent to each other on said moving track 9 in the travelling direction of said mobile unit 1, said plurality of preset identification means further comprises a third preset identification means 4, said third preset identification means 4 identifying said parking position mark 7, and said second preset identification means 3 and said third preset identification means 4 being arranged adjacent to each other on said mobile unit 1 in the travelling direction of said mobile unit 1, the distance between said first parking position mark 71 and said second parking position mark 72 being greater than or equal to the distance between said second preset identification means 3 and said third preset identification means 4;
the control system is further configured to identify the first parking position mark 71 and the second parking position mark 72 by the second preset identifying device 3 and the third preset identifying device 4 to obtain an identification result, and further configured to determine the relative position of the mobile unit 1 and the parking space as the positioning result according to the identification result identified by the second preset identifying device 3 and the third preset identifying device 4.
In one embodiment, the first preset identification device 2 is a mirror reflection sensor, the second preset identification device 3 and the third preset identification device 4 are diffuse reflection sensors, the lifting position mark 5 is a reflective film, the parking position mark 7 is a long hole arranged along the moving direction of the moving unit 1, and two ends of the long hole are respectively used as the first parking position mark 71 and the second parking position mark 72.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (11)
1. A method of positioning, the method comprising:
identifying at least one position mark in space through a plurality of preset identification devices arranged on a positioning target to obtain an identification result corresponding to each preset identification device, wherein the positioning target is an object target for positioning;
and judging according to the identification results corresponding to different preset identification devices according to a preset rule to obtain the positioning result of the positioning target.
2. The method according to claim 1, wherein obtaining the positioning result of the positioning target according to the identification result corresponding to different preset identification devices and according to a predetermined rule comprises:
respectively converting the identification results corresponding to different preset identification devices into a plurality of corresponding preset codes according to a preset mode; and judging according to a plurality of preset codes according to a preset rule to obtain a positioning result of the positioning target.
3. The positioning method according to claim 1 or 2, wherein the positioning target is a mobile unit traveling along a track;
the step of identifying at least one position mark in the space by a plurality of preset identification devices arranged on the positioning target to obtain an identification result corresponding to each preset identification device comprises:
and identifying at least one position mark arranged on the track by a plurality of preset identification devices arranged on the mobile unit to obtain an identification result corresponding to each preset identification device.
4. The positioning method according to claim 3,
the track comprises a lifting track and a moving track, the lifting track is positioned at one end of the moving track, and the lifting track is connected with the moving track when lifted to a preset height, so that the moving unit can move on the moving track and the lifting track after the lifting track is connected with the moving track, wherein the position mark comprises a parking position mark and a lifting position mark, at least one parking space is divided on the moving track along the moving direction of the moving unit, at least one parking position mark is arranged on each parking space, the lifting track is provided with the lifting position mark, and the preset identification devices comprise a first preset identification device and a second preset identification device;
the identification result corresponding to each preset identification device obtained by identifying at least one position mark arranged on the track through a plurality of preset identification devices arranged on the mobile unit comprises:
identifying the lifting position mark through the first preset identification device, and identifying the parking position mark through the second preset identification device to respectively obtain corresponding identification results;
the step of judging according to the identification results corresponding to different preset identification devices according to a preset rule to obtain the positioning result of the positioning target comprises the following steps:
and judging whether the mobile unit is positioned on the lifting track according to the identification result corresponding to the first preset identification device, and judging the parking position of the mobile unit as the positioning result according to the identification result corresponding to the second preset identification device.
5. The positioning method according to claim 4,
each of the parking position marks includes a first parking position mark and a second parking position mark, the first parking position mark and the second parking position mark are adjacently arranged on the moving track along the traveling direction of the moving unit, the plurality of preset identifying devices further includes a third preset identifying device for identifying the parking position mark, the second preset identifying device and the third preset identifying device are adjacently arranged on the moving unit along the traveling direction of the moving unit, and the distance between the first parking position mark and the second parking position mark is larger than the distance between the second preset identifying device and the third preset identifying device;
the obtaining of the identification result corresponding to each preset identification device by identifying at least one position mark arranged on the track through a plurality of preset identification devices arranged on the mobile unit further comprises:
the second preset identification device and the third preset identification device respectively identify the first parking position mark and the second parking position mark to obtain identification results;
the step of judging according to the identification results corresponding to different preset identification devices according to a preset rule to obtain the positioning result of the positioning target comprises the following steps:
and judging the relative position of the mobile unit and the parking space according to the identification results identified by the second preset identification device and the third preset identification device to be used as the positioning result.
6. A positioning system, characterized in that the system comprises: a control system and a plurality of preset identification devices;
the control system is used for identifying at least one position mark in space through a plurality of preset identification devices arranged on a positioning target to obtain an identification result corresponding to each preset identification device, wherein the positioning target is an object target for positioning, and the control system is also used for judging according to the identification results corresponding to different preset identification devices and according to a preset rule to obtain a positioning result of the positioning target.
7. The positioning system according to claim 6, wherein the control system is further configured to convert the identification results corresponding to different preset identification devices into a plurality of corresponding preset codes according to a predetermined manner, and determine the positioning result of the positioning target according to the preset codes and a predetermined rule.
8. The positioning system according to claim 6 or 7, further comprising a track, wherein:
the positioning target is a mobile unit, the mobile unit runs along the track, a plurality of preset equipment devices are arranged on the mobile unit, and the position mark is arranged on the track;
the control system is further configured to identify at least one position mark disposed on the track through a plurality of preset identification devices disposed on the mobile unit to obtain an identification result corresponding to each preset identification device.
9. The positioning system according to claim 8, wherein the rail comprises a lifting rail and a moving rail, the lifting rail is located at one end of the moving rail, and the lifting rail is connected to the moving rail when lifted to a predetermined height, so that the mobile unit can move on the moving rail and the lifting rail after the lifting rail is connected to the moving rail, wherein the position mark comprises a parking position mark and a lifting position mark, the moving rail is divided into at least one parking space along a moving direction of the mobile unit, at least one parking position mark is provided on each parking space, the lifting rail is provided with the lifting position mark, and the plurality of preset identification devices comprise a first preset identification device and a second preset identification device;
the control system is also used for identifying the lifting position mark through a first preset identification device, and identifying the parking position mark through a second preset identification device to respectively obtain corresponding identification results; and the positioning device is also used for judging whether the mobile unit is positioned on the lifting track according to the identification result corresponding to the first preset identification device, and judging the parking position of the mobile unit as the positioning result according to the identification result corresponding to the second preset identification device.
10. The positioning system according to claim 9, wherein each of said parking position marks comprises a first parking position mark and a second parking position mark, said first parking position mark and said second parking position mark being adjacently disposed on said moving rail in the traveling direction of said mobile unit, said plurality of said preset identifying means further comprises a third preset identifying means for identifying said parking position mark, and said second preset identifying means and said third preset identifying means being adjacently disposed on said mobile unit in the traveling direction of said mobile unit, a distance between said first parking position mark and said second parking position mark being larger than a distance between said second preset identifying means and said third preset identifying means;
the control system is also used for the second preset identification device and the third preset identification device to identify the first parking position mark and the second parking position mark to obtain identification results, and is also used for judging the relative position of the mobile unit and the parking position according to the identification results identified by the second preset identification device and the third preset identification device to be used as the positioning result.
11. The positioning system according to claim 10, wherein the first preset identification means is a mirror reflection sensor, the second preset identification means and the third preset identification means are diffuse reflection sensors, the elevation position is marked with a reflective film, the parking position is marked with a long hole arranged along the moving direction of the moving unit, and both ends of the long hole are respectively marked with the first parking position and the second parking position.
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