CN112333626B - Position determination method and device, computer readable storage medium and electronic equipment - Google Patents
Position determination method and device, computer readable storage medium and electronic equipment Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
Abstract
The disclosure belongs to the technical field of warehouse management, and relates to a position determination method and device, a computer readable storage medium and electronic equipment. The method comprises the following steps: performing information fusion on first positioning information acquired according to the ultra-wideband technology and second positioning information acquired according to the Bluetooth positioning technology to obtain estimated positioning information; if the picking task is not finished, acquiring picking positioning information of the picking task, and determining the picking positioning information as positioning information of a target position; and if the goods picking task is finished, determining the positioning information of the target position according to the first positioning information and the pre-estimated positioning information. On one hand, the positioning accuracy of the target position is improved, the positioning time delay of the target position is reduced, the labor cost and the positioning cost are reduced, and the positioning accuracy and the positioning timeliness are optimized; on the other hand, the fine management, accurate management and control and reasonable scheduling of the storage control center are realized, and the management level of the intelligent park is improved.
Description
Technical Field
The present disclosure relates to the field of warehouse management technologies, and in particular, to a position determining method, a position determining apparatus, a computer-readable storage medium, and an electronic device.
Background
When goods are stored and taken in the logistics storage industry, manual operation is usually required. When the goods need to be transported, the goods to be stored and taken are transported to the appointed position manually. However, in the logistics park, there are many people and vehicles, and the variety of goods is various, and the target position is difficult to determine by this way, which can cause the problems of high labor cost and low efficiency, especially the picking-up link in the warehouse.
The positioning in the warehouse cannot be realized by a global positioning system, and the positioning by a mobile hotspot (Wi-Fi) and a Bluetooth positioning technology can only reach the accuracy of several meters, so the positioning accuracy is lower. Although the ultra-wideband technology has high positioning accuracy, the ultra-wideband technology is very expensive in a warehouse, the positioning accuracy is greatly influenced by the laying of the base station, and the installation and debugging process is too complex to be suitable.
In view of the above, there is a need in the art to develop a new method and apparatus for determining a position.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
An object of the present disclosure is to provide a position determining method, a position determining apparatus, a computer-readable storage medium, and an electronic device, which overcome, at least to some extent, the problems of low positioning accuracy and expensive positioning cost due to the limitations of the related art.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
According to a first aspect of embodiments of the present invention, there is provided a position determination method supporting a fifth generation mobile communication technology, the method including: performing information fusion on first positioning information acquired according to the ultra-wideband technology and second positioning information acquired according to the Bluetooth positioning technology to obtain estimated positioning information; if the picking task is not finished, acquiring picking positioning information of the picking task, and determining the picking positioning information as positioning information of a target position; and if the picking task is finished, determining the positioning information of the target position according to the first positioning information and the pre-estimated positioning information.
In an exemplary embodiment of the present invention, the determining the positioning information of the target position according to the first positioning information and the estimated positioning information includes: estimating displacement positioning information according to the first positioning information, and comparing the displacement positioning information with the estimated positioning information; if the displacement positioning information is larger than the estimated positioning information, determining the positioning information of the target position according to the walking track on the positioning map corresponding to the picking task; and if the displacement positioning information is less than or equal to the estimated positioning information, determining the positioning information of the target position according to the information points on the positioning map.
In an exemplary embodiment of the present invention, the determining the location information of the target location according to the walking track on the location map corresponding to the picking task includes: respectively determining track information points corresponding to the estimated positioning information and the displacement positioning information on a walking track of a positioning map corresponding to the picking task; and acquiring reference position information of a reference information point, and determining positioning information of the target position according to the reference position information and the track information point.
In an exemplary embodiment of the present invention, the determining the positioning information of the target position according to the information points on the positioning map includes: calculating the distance between the displacement positioning information and the information point on the positioning map, and determining a first information point corresponding to the displacement positioning information; calculating the distance between the predicted positioning information and the information point on the positioning map, and determining a second information point corresponding to the predicted positioning information; and determining the positioning information of the target position according to the comparison result of the first information point and the second information point.
In an exemplary embodiment of the invention, after obtaining the estimated positioning information, the method further includes: calculating the first positioning information and the pre-estimated positioning information, and comparing a calculation result with a preset threshold value; if the calculation result is smaller than or equal to the preset threshold value, determining that the pre-estimated positioning information is the positioning information of the target position; and if the calculation result is larger than the preset threshold value, determining whether the picking task is finished.
In an exemplary embodiment of the present invention, the performing information fusion on the first positioning information obtained according to the ultra-wideband technology and the second positioning information obtained according to the bluetooth positioning technology to obtain the estimated positioning information includes: acquiring first positioning information obtained according to a super-bandwidth technology, and acquiring second positioning information obtained according to a Bluetooth positioning technology; respectively determining a first weight and a second weight corresponding to the first positioning information and the second positioning information according to an information fusion rule; and performing weighted summation calculation on the first positioning information, the second positioning information, the first weight and the second weight to obtain estimated positioning information.
In an exemplary embodiment of the invention, if the picking task is not completed, the picking task sequence in which the picking task is located is determined, so as to obtain the picking location information of the picking task according to the picking task sequence.
According to a second aspect of embodiments of the present invention, there is provided a position determination apparatus, the apparatus comprising: the information fusion module is configured to perform information fusion on first positioning information acquired according to the ultra-wideband technology and second positioning information acquired according to the Bluetooth positioning technology to obtain estimated positioning information; the positioning and picking module is configured to acquire picking positioning information of the picking task and determine that the picking positioning information is positioning information of a target position if the picking task is not completed; and the positioning determination module is configured to determine positioning information of the target position according to the first positioning information and the estimated positioning information if the picking task is completed.
According to a third aspect of embodiments of the present invention, there is provided an electronic apparatus including: a processor and a memory; wherein the memory has stored thereon computer readable instructions which, when executed by the processor, implement the position determination method of any of the above exemplary embodiments.
According to a fourth aspect of embodiments of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the position determination method in any of the above-described exemplary embodiments.
According to a fifth aspect of embodiments of the present invention, there is provided a position determination system supporting a fifth-generation mobile communication technology, the system including: the multi-source positioning module is used for acquiring first positioning information obtained according to the ultra-bandwidth technology and acquiring second positioning information obtained according to the Bluetooth positioning technology; the positioning navigation module is used for carrying out information fusion on the first positioning information and the second positioning information to obtain estimated positioning information; if the picking task is not finished, acquiring picking positioning information of the picking task, and determining the picking positioning information as positioning information of a target position; if the picking task is finished, determining the positioning information of the target position according to the first positioning information and the pre-estimated positioning information; the palm computer is used for determining whether the picking task is finished or not; and the map library is used for marking the first positioning information, the second positioning information, the estimated positioning information, the picking positioning information and the positioning information of the target position on a positioning map corresponding to the picking task.
As can be seen from the foregoing technical solutions, the position determining method, the position determining apparatus, the computer storage medium and the electronic device in the exemplary embodiments of the present invention have at least the following advantages and positive effects:
in the method and apparatus provided in the exemplary embodiment of the present disclosure, the positioning information of the target position is obtained by correcting the estimated positioning information obtained after information fusion is performed on the first positioning information obtained according to the ultra-wideband technology and the second positioning information obtained according to the bluetooth positioning technology. On one hand, the positioning precision of the target position is improved, the positioning time delay of the target position is reduced, the labor cost and the positioning cost are reduced, and the positioning accuracy and the positioning timeliness are optimized; on the other hand, the fine management, accurate management and control and reasonable scheduling of the storage control center are realized, and the management level of the intelligent park is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.
Fig. 1 schematically illustrates a flow chart of a method of position determination in an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic flow chart diagram illustrating a method for obtaining pre-estimated positioning information according to an exemplary embodiment of the disclosure;
FIG. 3 schematically illustrates a flow chart of a method of determining predicted positioning information in an exemplary embodiment of the disclosure;
fig. 4 schematically illustrates a flow chart of a method of determining positioning information in an exemplary embodiment of the disclosure;
fig. 5 schematically illustrates a flow chart of a method of further determining positioning information in an exemplary embodiment of the disclosure;
fig. 6 schematically illustrates a flow chart of another method of further determining positioning information in an exemplary embodiment of the present disclosure;
fig. 7 schematically illustrates a flow chart of a position determination method in an application scenario in an exemplary embodiment of the present disclosure;
fig. 8 schematically illustrates a schematic structure diagram of a position determination apparatus in an exemplary embodiment of the present disclosure;
FIG. 9 schematically illustrates an electronic device for implementing a position determination method in an exemplary embodiment of the disclosure;
FIG. 10 schematically illustrates a computer-readable storage medium for implementing a location determination method in an exemplary embodiment of the disclosure;
FIG. 11 schematically illustrates a system block diagram of a position determination system in an exemplary embodiment of the disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and the like. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
The terms "a," "an," "the," and "said" are used in this specification to denote the presence of one or more elements/components/parts/etc.; the terms "comprising" and "having" are intended to be inclusive and mean that there may be additional elements/components/etc. other than the listed elements/components/etc.; the terms "first" and "second", etc. are used merely as labels, and are not limiting on the number of their objects.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities.
In view of the problems in the related art, the present disclosure provides a position determination method supporting a fifth generation mobile communication technology. The fifth generation mobile communication technology (5G) is a latest generation cellular mobile communication technology, and is also an extension behind 4G (LTE-A, WiMax), 3G (UMTS, LTE) and 2G (gsm) systems. The main advantage of 5G networks is that the data transmission rate is much higher than previous cellular networks, up to 10Gbit/s, faster than current wired internet, 100 times faster than previous 4G LTE cellular networks. Another advantage is lower network delay (faster response time), below 1 millisecond, and 30-70 milliseconds for 4G.
Fig. 1 shows a flow chart of a position determination method, which, as shown in fig. 1, comprises at least the following steps:
and S110, performing information fusion on the first positioning information acquired according to the ultra-wideband technology and the second positioning information acquired according to the Bluetooth positioning technology to obtain estimated positioning information.
And S120, if the picking task is not finished, acquiring picking positioning information of the picking task, and determining the picking positioning information as positioning information of the target position.
And S130, if the picking task is finished, determining the positioning information of the target position according to the first positioning information and the pre-estimated positioning information.
In an exemplary embodiment of the present disclosure, the positioning information of the target position is obtained by correcting the estimated positioning information obtained after information fusion is performed on the first positioning information obtained according to the ultra-wideband technology and the second positioning information obtained according to the bluetooth positioning technology. On one hand, the positioning precision of the target position is improved, the positioning time delay of the target position is reduced, the labor cost and the positioning cost are reduced, and the positioning accuracy and the positioning timeliness are optimized; on the other hand, the fine management, accurate management and control and reasonable scheduling of the storage control center are realized, and the management level of the intelligent park is improved.
The respective steps of the position determination method are explained in detail below.
In step S110, information fusion is performed on the first positioning information obtained according to the ultra-wideband technology and the second positioning information obtained according to the bluetooth positioning technology, so as to obtain estimated positioning information.
In an exemplary embodiment of the present disclosure, an Ultra Wide Band (UWB) technology is a new type of wireless communication technology. Ultra-wideband technology allows signals to have bandwidths on the order of megahertz by directly modulating the impulse with very steep rise and fall times. The bluetooth positioning technology is a technology for positioning based on a Received Signal Strength Indicator (RSSI) and based on a trilateral positioning principle.
In an alternative embodiment, fig. 2 is a schematic flow chart of a method for obtaining the estimated positioning information, as shown in fig. 2, the method at least includes the following steps: in step S210, first positioning information obtained according to the ultra-wideband technology is obtained, and second positioning information obtained according to the bluetooth positioning technology is obtained. The first location information and the second location information may be location information of the picker obtained at the present time. The first positioning information may be a UWB positioning signal transmitted by a UWB positioning base station received by the UWB unit, and the first positioning information may be obtained by calculating a first distance between the mobile station and the UWB positioning base station according to the UWB positioning signal and further according to the position information of the UWB positioning base station and the first distance.
Because the UWB positioning signal transmitted by the UWB positioning base station is attenuated differently with the change of the distance during the transmission process, the attenuation is affected by the environment. And according to the intensity of the UWB positioning signal received by the receiving end, the distance between the receiving end and the UWB positioning base station is positioned through the RSSI. The UWB positioning signal may carry the transmission time of the positioning signal transmitted by the UWB positioning base station. And after receiving the UWB positioning signal, the receiving end determines the receiving time for receiving the positioning signal transmitted by the UWB positioning base station, and further calculates the transmission time of the UWB positioning signal according to the receiving time and the transmitting time. Then, the distance between the receiving end and the UWB positioning base station can be calculated according to the transmission time and the signal transmission speed. The signal transmission speed may use the speed of light.
And selecting a plurality of UWB positioning signals, and respectively taking the positions of a plurality of UWB positioning base stations corresponding to the plurality of UWB positioning signals as the center of a circle and the distances corresponding to the plurality of UWB positioning base stations as the radius to obtain a plurality of first positioning circles. And obtaining first positioning information according to the intersection area determined by the plurality of first positioning circles. The number of the plurality of UWB positioning signals may be 2, 3, or 4, and the like, which is not particularly limited in this exemplary embodiment.
The second positioning information may be a bluetooth positioning signal transmitted by the bluetooth positioning base station received by the bluetooth unit, the second distance between the mobile station and the bluetooth positioning base station is calculated according to the bluetooth positioning signal, and the second positioning information is obtained according to the position information and the second distance of the bluetooth positioning base station. The bluetooth positioning base station can use the bluetooth 4.0 protocol, and the base station signal of the bluetooth positioning base station using the bluetooth 4.0 protocol can be accurate to the millimeter level and can support the range of 50 meters at most.
Because the positioning signal transmitted by the bluetooth positioning base station can have different attenuations along with the change of the distance in the transmission process, the attenuation magnitude can be influenced by the environment. And according to the intensity of the Bluetooth positioning signal received by the receiving end, positioning the distance between the receiving end and the Bluetooth through the RSSI. The bluetooth positioning signal may carry the transmission time of the positioning signal transmitted by the bluetooth positioning base station. And after receiving the Bluetooth positioning signal, the receiving end determines the receiving time for receiving the positioning signal of the Bluetooth positioning base station. And calculating the transmission time of the Bluetooth positioning signal according to the receiving time and the transmitting time, and further calculating the distance between the receiving end and the Bluetooth positioning base station according to the transmission time and the signal transmission speed.
And selecting a plurality of Bluetooth positioning signals, respectively taking the positions of a plurality of Bluetooth positioning base stations corresponding to the plurality of Bluetooth positioning signals as the circle center and taking second distances corresponding to the plurality of Bluetooth positioning base stations as the radius to obtain a plurality of second positioning circles, and obtaining second positioning information according to the intersection area determined by the plurality of second positioning circles. The number of the plurality of bluetooth positioning base stations may be 2, 3, or 4, and the like, which is not particularly limited in this exemplary embodiment.
In addition, the second positioning information determined by the bluetooth positioning technology can also adopt a trilateration positioning algorithm. Specifically, in order to make the received ranging value of the bluetooth base station more accurate, the extreme values after sequencing according to the normal distribution area may be used. All the collected Bluetooth base stations can be numbered and are respectively n groups according to the numbers to solve the number of the combinations
And then carrying out trilateral positioning algorithm on the three positioning base stations of each combination once to obtain a positioning result. And assigning a weight to each positioning result according to the principle that the larger the distance is, the larger the positioning error is. Finally, the positioning result obtained from each combination is weightedAnd obtaining the final second positioning information.
In step S220, a first weight and a second weight corresponding to the first positioning information and the second positioning information are determined according to the information fusion rule. The information fusion rule may be estimated positioning information, i.e., first positioning information, first weight, and second positioning information, i.e., second weight. The first positioning information and the second positioning information may be coordinate information on a positioning map of a warehouse, a mall, an airport, or the like. Correspondingly, multiplying the x-axis coordinate and the y-axis coordinate in the coordinate information by the corresponding weight, and adding the weighted x-axis coordinate and the weighted y-axis coordinate to obtain the corresponding estimated positioning information.
Specifically, the estimated positioning information may be obtained by multiplying first positioning information obtained by the UWB technique by a first weight a to obtain a value a, multiplying second positioning information obtained by the bluetooth positioning technique by a second weight 1-a to obtain a value B, and adding the value a and the value B. Therefore, the first weight and the second weight may be set in advance, and there is a relationship between the two in which the sum value is equal to 1. In general, the first weight may be set to 4/5, the second weight may be set to 1/5, and other values may also be set, which is not limited in this exemplary embodiment.
In step S230, the first positioning information, the second positioning information, the first weight, and the second weight are subjected to weighted summation calculation to obtain estimated positioning information. Specifically, according to the estimated positioning information, the first positioning information, the second positioning information, the first weight and the second weight are substituted into a formula, and the estimated positioning information can be obtained.
In the exemplary embodiment, the UWB positioning technology and the bluetooth positioning technology are adopted to perform information fusion positioning, so that the problems that the existing positioning technology is high in power consumption, a single positioning technology is not suitable for an application scenario with high precision and information is easy to push are solved.
After the pre-estimated positioning information is determined, the precision of the pre-estimated positioning information can be further adjusted and optimized.
In an alternative embodiment, fig. 3 is a schematic flow chart of a method for determining predicted positioning information, as shown in fig. 3, the method at least includes the following steps: in step S310, the first positioning information and the estimated positioning information are calculated, and the calculation result is compared with a preset threshold. Specifically, the first positioning information and the estimated positioning information may be calculated in a manner that a calculation result is the first positioning information — the estimated positioning information. The preset threshold may be a preset numerical value for determining the calculation result, and may be specifically set according to the size of the positioning map, which is not particularly limited in this exemplary embodiment.
In step S320, if the calculation result is less than or equal to the preset threshold, it is determined that the estimated positioning information is the positioning information of the target position. And when the calculation result does not exceed the preset threshold, the current estimated positioning information deviation is small, and the current estimated positioning information deviation can be directly used. Therefore, the estimated positioning information is used as positioning information indicating the position of the target to which the picker or other target to be positioned needs to go.
In step S330, if the calculation result is greater than the preset threshold, it is determined whether the picking task is completed. When the calculation result exceeds the preset threshold value, the estimated positioning information deviation is large, and the estimated positioning information cannot be used for indicating the target position of the target. Thus, when the target is a picker, it may be further determined whether the picker has received a pick task at that time. Specifically, whether a picking message exists on a Personal Digital Assistant (PDA for short) held by a picker can be determined.
In the exemplary embodiment, whether the estimated positioning information is available or not is judged, the judgment mode is simple and accurate, and a basis is provided for further correcting the estimated positioning information.
In step S120, if the picking task is not completed, the picking location information of the picking task is obtained, and the picking location information is determined as the location information of the target location.
In an exemplary embodiment of the present disclosure, when all of the order picking tasks currently performed by the order picker are not completed, indicating that there are order picking tasks to be performed, the location information where the order picking tasks are located may be further determined.
In an optional embodiment, if the picking task is not completed, the picking task sequence where the picking task is located is determined, so as to obtain the picking positioning information of the picking task according to the picking task sequence. Wherein, the order picking task sequence can be obtained by ordering a plurality of order picking tasks. The sorting criteria may be the urgency of the picking task, the generation time of the picking task, the type of order of the picking task, etc., and the present exemplary embodiment is not particularly limited thereto. When there is a picking order, the location information of the picking order sequence is displayed on the picker's PDA. Therefore, after the position information of the order picking tasks and the sorting mode of the order picking tasks are determined, the order picking positioning information of the order picking tasks to be processed currently can be determined. Thus, the pick location information may be used as location information indicating a target location for a picker to go.
In step S130, if the picking task is completed, the positioning information of the target position is determined according to the first positioning information and the estimated positioning information.
In an exemplary embodiment of the present disclosure, the target location to which the picker is to go may be indicated when the picking task has been completed, indicating that the picker has no picking tasks to perform at that time.
In an alternative embodiment, fig. 4 shows a flowchart of a method for determining positioning information, and as shown in fig. 4, the method at least includes the following steps: in step S410, the displacement positioning information is estimated according to the first positioning information, and the displacement positioning information is compared with the estimated positioning information. Because the estimated positioning information has a larger proportion of the first positioning information, the displacement positioning information can be the first positioning information, and the estimated positioning information is obtained by considering the time difference between the estimated positioning information and the current measurement and the condition of the walking speed of the order picker. Specifically, the estimation may be performed in a manner of shifting the positioning information to the first positioning information + the second positioning information. And because the second positioning information is obtained by positioning through the Bluetooth positioning technology, the positive and negative of the second positioning information can be determined according to the walking direction of the order picker. For example, when the direction of travel of the picker is to the left based on the first positioning information, it may be determined that the second positioning information is a negative value; when the direction of travel of the picker is to the right based on the first positioning information, it may be determined that the second positioning information is a positive value. In addition, the positive/negative determination may be made in accordance with the forward or backward direction, and the present exemplary embodiment is not particularly limited in this regard.
After the displacement positioning information is estimated according to the first positioning information, the displacement positioning information and the estimated positioning information can be compared, and the positioning information of the target position can be further determined.
In step S420, if the displacement positioning information is greater than the estimated positioning information, the positioning information of the target position is determined according to the traveling track on the positioning map corresponding to the picking task.
In an alternative embodiment, fig. 5 shows a flow chart of a method for further determining positioning information, as shown in fig. 5, the method at least includes the following steps: in step S510, track information points corresponding to the estimated positioning information and the displacement positioning information are determined on the travel track of the positioning map corresponding to the picking task, respectively. The positioning map can be used as a map indicating information such as a walking track of a picker and a location of a pick-up point. A positioning map is generally composed of nodes, routes, and task points. The node may be a coordinate on a positioning map, the route may include parameters such as a start node, an end node, a traveling direction, a traveling speed, and the like, the start node is a start position of the order picker, and the end node is a target position of the order picker. The positioning map can be planned by the dispatching system for the order picker, and after receiving the task instruction, the dispatching system can go to the order picking point and other task points to complete corresponding tasks.
The specific way of determining the track Information Point on the walking track may be to make a perpendicular line on the walking track according to the node corresponding to the estimated positioning Information to obtain a first Information Point (Point of Information, POI for short) closest to the walking track; and drawing a perpendicular line on the walking track according to the node corresponding to the displacement positioning information to obtain a second information point closest to the walking track. Therefore, two information points obtained on the travel track can be used as track information points.
In step S520, reference position information of the reference information point is obtained, and positioning information of the target position is determined according to the reference position information and the track information point. The reference information point may be an information point on the previous travel track, and further, reference position information corresponding to the information point may be obtained on the positioning map. The distance between the two track information points can be calculated according to the reference position information, and one track information point with the smaller distance is used as a point for indicating the order of the order picker, so that the position information of the track information point is the positioning information of the target position.
In the exemplary embodiment, a method for determining the positioning information of the target position according to the walking track is provided, the pre-estimated positioning information is corrected, and the accuracy of real-time positioning is improved.
In step S430, if the displacement positioning information is less than or equal to the estimated positioning information, the positioning information of the target position is determined according to the information points on the positioning map.
In an alternative embodiment, fig. 6 shows a schematic flow chart of another method for further determining location information, and as shown in fig. 6, the method at least includes the following steps: in step S610, the distance between the displaced positioning information and the information point on the positioning map is calculated, and the first information point corresponding to the displaced positioning information is determined. After determining the information points on the positioning map, corresponding points may be determined on the positioning map according to the displacement positioning information, and euclidean distances between the points and the information points are respectively calculated. Euclidean distance is a commonly used definition of distance, and refers to the true distance between two points in m-dimensional space, or the natural length of a vector (the distance of the point from the origin). The euclidean distance in two and three dimensions is the actual distance between two points. In addition, other distance calculation formulas or methods may be used, and the exemplary embodiment is not particularly limited thereto.
After the distances between the point where the displacement positioning information is located and all the information points are obtained, the distances may be compared, and the information point closest to the point where the displacement positioning information is located is selected as the first information point.
In step S620, the distance between the estimated positioning information and the information point on the positioning map is calculated, and the second information point corresponding to the estimated positioning information is determined. After determining the information points on the positioning map, corresponding points may be determined on the positioning map according to the estimated positioning information, and the euclidean distances between the points and the information points are respectively calculated. In addition, other distance calculation formulas or methods may be used for calculation, and this exemplary embodiment is not particularly limited in this respect.
After the distances between the point where the estimated positioning information is located and all the information points are obtained, all the distances can be compared, and the information point closest to the point where the estimated positioning information is located is selected as the second information point.
In step S630, positioning information of the target position is determined according to the comparison result of the first information point and the second information point. After the first information point and the second information point are determined, a further comparison is needed. Specifically, the distances corresponding to the first information point and the second information point may be compared, and the information point with the smaller distance may be used as the point where the target position is located, and the position information of the information point may be determined as the positioning information of the target position.
In the exemplary embodiment, a method for determining positioning information of a target position according to information points is provided, which corrects pre-estimated positioning information and improves the accuracy of real-time positioning.
The position determination method in the embodiment of the present disclosure is described in detail below with reference to an application scenario.
Fig. 7 is a flowchart illustrating a position determining method in an application scenario, and as shown in fig. 7, in step S710, data initialization is performed. Specifically, it may be that the acquisition is at t0First positioning information and second positioning information of a time.
In step S720, the first positioning information and the second positioning information are fused by the multi-source fusion positioning technology to obtain the pre-estimated positioning information.
In step S730, the estimated positioning information is adjusted to obtain the positioning accuracy. Specifically, the calculation results of the first positioning information and the estimated positioning information may be compared with a preset threshold, and corresponding processing may be further performed.
In step S740, when the calculation result is less than or equal to the predetermined threshold, the positioning is updated, that is, the estimated positioning information is determined as the positioning information of the target position.
In step S750, when the calculation result is greater than the preset threshold, the estimated positioning information is further corrected by an algorithm. The specific correction algorithm is the same as the correction method shown in fig. 4, and is not described herein again.
After the estimated positioning information is corrected, it may be determined whether the picking task is completed through the PDA in step S760. And when all the picking tasks are finished, finishing the tasks. When the picking task is not complete, a further time determination may be made for the initialized time + 1.
In an exemplary embodiment of the present disclosure, the positioning information of the target position is obtained by correcting the estimated positioning information obtained after information fusion is performed on the first positioning information obtained according to the ultra-wideband technology and the second positioning information obtained according to the bluetooth positioning technology. On one hand, the positioning precision of the target position is improved, the positioning time delay of the target position is reduced, the labor cost and the positioning cost are reduced, and the positioning accuracy and the positioning timeliness are optimized; on the other hand, the fine management, accurate management and control and reasonable scheduling of the storage control center are realized, and the management level of the intelligent park is improved.
Further, in an exemplary embodiment of the present disclosure, a position determination apparatus is also provided. Fig. 8 shows a schematic structural diagram of the position determination apparatus, and as shown in fig. 8, the position determination apparatus 800 may include: the system comprises an information fusion module 810, a positioning order picking module 820 and a positioning determination module 830. Wherein:
the information fusion module 810 is configured to perform information fusion on first positioning information acquired according to the ultra-wideband technology and second positioning information acquired according to the bluetooth positioning technology to obtain estimated positioning information; a positioning and picking module 820 configured to acquire picking positioning information of the picking task and determine the picking positioning information as positioning information of the target position if the picking task is not completed; and the positioning determination module 830 is configured to determine the positioning information of the target position according to the first positioning information and the estimated positioning information if the picking task is completed.
The specific details of the position determining apparatus 800 have been described in detail in the corresponding position determining method, and therefore are not described herein again.
It should be noted that although several modules or units of the position determination device 800 are mentioned in the above detailed description, such division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
In addition, in an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.
An electronic device 900 according to such an embodiment of the invention is described below with reference to fig. 9. The electronic device 900 shown in fig. 9 is only an example and should not bring any limitations to the function and scope of use of the embodiments of the present invention.
As shown in fig. 9, the electronic device 900 is embodied in the form of a general purpose computing device. Components of electronic device 900 may include, but are not limited to: the at least one processing unit 910, the at least one storage unit 920, a bus 930 connecting different system components (including the storage unit 920 and the processing unit 910), and a display unit 940.
Wherein the storage unit stores program code that is executable by the processing unit 910 to cause the processing unit 910 to perform steps according to various exemplary embodiments of the present invention described in the above section "exemplary methods" of the present specification.
The storage unit 920 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)921 and/or a cache memory unit 922, and may further include a read only memory unit (ROM) 923.
The electronic device 900 may also communicate with one or more external devices 1200 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 900, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 900 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interface 950. Also, the electronic device 900 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet) via the network adapter 960. As shown, the network adapter 940 communicates with the other modules of the electronic device 900 over the bus 930. It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with the electronic device 900, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.
In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the above-described method of the present specification. In some possible embodiments, aspects of the invention may also be implemented in the form of a program product comprising program code means for causing a terminal device to carry out the steps according to various exemplary embodiments of the invention described in the above-mentioned "exemplary methods" section of the present description, when said program product is run on the terminal device.
Referring to fig. 10, a program product 1000 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
In view of the problems in the related art, the present disclosure also provides a position determination system supporting a fifth generation mobile communication technology. The position determination system comprises at least the following modules: the multi-source positioning module is used for acquiring first positioning information obtained according to the ultra-bandwidth technology and acquiring second positioning information obtained according to the Bluetooth positioning technology; the positioning navigation module is used for carrying out information fusion on the first positioning information and the second positioning information to obtain estimated positioning information; if the picking task is not finished, acquiring picking positioning information of the picking task, and determining the picking positioning information as positioning information of a target position; if the picking task is finished, determining the positioning information of the target position according to the first positioning information and the pre-estimated positioning information; the palm computer is used for determining whether the picking task is finished; and the map library is used for marking the first positioning information, the second positioning information, the pre-estimated positioning information, the picking positioning information and the positioning information of the target position on a positioning map corresponding to the picking task.
Fig. 11 shows a system block diagram of a position determination system, as shown in fig. 11, which includes a multi-source location module 1110, a location navigation module 1120, a palm-top computer 1130, and a map library 1140. Moreover, the modules communicate with each other through a fifth generation mobile communication network, so that the characteristics of large bandwidth, low time delay and wide connection of the 5G technology are greatly exerted, congestion cannot occur when multiple users access the network simultaneously, and the smooth experience of the users is fully guaranteed.
The multi-source positioning module 1110 includes a UWB positioning unit 1111 and a bluetooth positioning unit 1112. UWB positioning unit 1111 may carry in the UWB positioning signal the transmission time of the positioning signal transmitted by the UWB positioning base station. And after receiving the UWB positioning signal, the receiving end determines the receiving time for receiving the positioning signal transmitted by the UWB positioning base station, and further calculates the transmission time of the UWB positioning signal according to the receiving time and the transmitting time. Then, the distance between the receiving end and the UWB positioning base station can be calculated according to the transmission time and the signal transmission speed. The signal transmission speed may use the speed of light. Further, a plurality of UWB positioning signals are selected, and a plurality of first positioning circles are obtained by respectively taking the positions of a plurality of UWB positioning base stations corresponding to the plurality of UWB positioning signals as the center of a circle and the distances corresponding to the plurality of UWB positioning base stations as the radius. And obtaining first positioning information according to the intersection area determined by the plurality of first positioning circles.
The positioning navigation module 1120 can perform information fusion on the first positioning information and the second positioning information to obtain pre-estimated positioning information, and perform further correction to determine the positioning information of the target position. Specifically, the first positioning information is subtracted from the estimated positioning information to obtain a corresponding calculation result, and the calculation result is compared with a preset threshold value.
And when the calculation result is less than or equal to the preset threshold value, determining the estimated positioning information as the positioning information of the target position. And when the calculation result is greater than the preset threshold value, determining whether the picking task is completed by using the PDA. Specifically, the determination may be made by whether the picker has a pick message on a PDA held by the picker.
And when the goods picking task is determined to be completed, estimating displacement positioning information related to the displacement of the goods picker according to the first positioning information, and comparing the displacement positioning information with the estimated positioning information. The specific estimation manner is consistent with step S410, and is not described herein again.
When the displacement positioning information is larger than the estimated positioning information, the positioning information of the target position can be determined according to the walking track on the positioning map in the map library 1140 corresponding to the picking task. The specific determination manner is consistent with step S420, and is not described herein again.
When the shifted positioning information is less than or equal to the estimated positioning information, the positioning information of the target position can be determined according to the information points on the positioning map in the map library 1140. The specific determination manner is consistent with step S430, and is not described herein again.
In determining the first positioning information, the second positioning information, the pre-estimated positioning information, the picking positioning information, and the positioning information of the target position, the first positioning information, the second positioning information, the picking positioning information, and the positioning information of the target position may be determined through a positioning map in the map library 1140. The positioning map can be used as a map indicating information such as a walking track of a picker and a location of a pick-up point. A positioning map is generally composed of nodes, routes, and task points. The node may be a coordinate on a positioning map, the route may include parameters such as a start node, an end node, a traveling direction, a traveling speed, and the like, the start node is a start position of the order picker, and the end node is a target position of the order picker. The positioning map can be planned by the dispatching system for the order picker, and after receiving the task instruction, the dispatching system can go to the order picking point and other task points to complete corresponding tasks.
It is worth noting that the map of locations in the map library 1140 may be two-dimensional. In addition, the display screen can be three-dimensional and displayed on an augmented reality glasses lens, or on a screen of an intelligent terminal, such as a display screen of a mobile phone, a computer, a home television, and the like.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (11)
1. A method of position determination supporting fifth generation mobile communications technology, the method comprising:
performing information fusion on first positioning information acquired according to the ultra-wideband technology and second positioning information acquired according to the Bluetooth positioning technology to obtain estimated positioning information;
if the picking task is not finished, acquiring picking positioning information of the picking task, and determining the picking positioning information as positioning information of a target position;
and if the picking task is finished, determining the positioning information of the target position according to the first positioning information and the pre-estimated positioning information.
2. The method according to claim 1, wherein the determining the positioning information of the target location according to the first positioning information and the estimated positioning information comprises:
estimating displacement positioning information according to the first positioning information, and comparing the displacement positioning information with the estimated positioning information;
if the displacement positioning information is larger than the estimated positioning information, determining the positioning information of the target position according to the walking track on the positioning map corresponding to the picking task;
and if the displacement positioning information is less than or equal to the estimated positioning information, determining the positioning information of the target position according to the information points on the positioning map.
3. The method according to claim 2, wherein the determining the location information of the target location according to the walking track on the location map corresponding to the picking task comprises:
respectively determining track information points corresponding to the estimated positioning information and the displacement positioning information on a walking track of a positioning map corresponding to the picking task;
and acquiring reference position information of a reference information point, and determining positioning information of the target position according to the reference position information and the track information point.
4. The method according to claim 2, wherein the determining the positioning information of the target position from the information points on the positioning map comprises:
calculating the distance between the displacement positioning information and the information point on the positioning map, and determining a first information point corresponding to the displacement positioning information;
calculating the distance between the predicted positioning information and the information point on the positioning map, and determining a second information point corresponding to the predicted positioning information;
and determining the positioning information of the target position according to the comparison result of the first information point and the second information point.
5. The method of claim 1, wherein after obtaining the estimated location information, the method further comprises:
calculating the first positioning information and the pre-estimated positioning information, and comparing a calculation result with a preset threshold value;
if the calculation result is smaller than or equal to the preset threshold value, determining that the pre-estimated positioning information is the positioning information of the target position;
and if the calculation result is larger than the preset threshold value, determining whether the picking task is finished.
6. The method according to claim 1, wherein the performing information fusion on the first positioning information obtained according to the ultra-wideband technology and the second positioning information obtained according to the bluetooth positioning technology to obtain the pre-estimated positioning information comprises:
acquiring first positioning information obtained according to a super-bandwidth technology, and acquiring second positioning information obtained according to a Bluetooth positioning technology;
respectively determining a first weight and a second weight corresponding to the first positioning information and the second positioning information according to an information fusion rule;
and performing weighted summation calculation on the first positioning information, the second positioning information, the first weight and the second weight to obtain estimated positioning information.
7. The method of claim 1, wherein the obtaining the picking location information of the picking task if the picking task is not completed comprises:
if the picking task is not finished, determining the picking task sequence where the picking task is located so as to obtain the picking positioning information of the picking task according to the picking task sequence.
8. A position determining apparatus, comprising:
the information fusion module is configured to perform information fusion on first positioning information acquired according to the ultra-wideband technology and second positioning information acquired according to the Bluetooth positioning technology to obtain estimated positioning information;
the positioning and picking module is configured to acquire picking positioning information of the picking task and determine that the picking positioning information is positioning information of a target position if the picking task is not completed;
and the positioning determination module is configured to determine positioning information of the target position according to the first positioning information and the estimated positioning information if the picking task is completed.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the position determination method according to any one of claims 1 to 7.
10. An electronic device, comprising:
a processor;
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the position determination method of any one of claims 1-7 via execution of the executable instructions.
11. A position determination system supporting fifth generation mobile communication technology, the system comprising:
the multi-source positioning module is used for acquiring first positioning information obtained according to the ultra-bandwidth technology and acquiring second positioning information obtained according to the Bluetooth positioning technology;
the positioning navigation module is used for carrying out information fusion on first positioning information acquired according to the ultra-bandwidth technology and second positioning information acquired according to the Bluetooth positioning technology to obtain estimated positioning information;
if the picking task is not finished, acquiring picking positioning information of the picking task, and determining the picking positioning information as positioning information of a target position;
if the picking task is finished, determining the positioning information of the target position according to the first positioning information and the pre-estimated positioning information;
the palm computer is used for determining whether the picking task is finished or not;
and the map library is used for marking the first positioning information, the second positioning information, the estimated positioning information, the picking positioning information and the positioning information of the target position on a positioning map corresponding to the picking task.
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| WO2020024355A1 (en) * | 2018-08-02 | 2020-02-06 | 平安科技（深圳）有限公司 | Method and apparatus for managing goods in warehouse, and computer device and storage medium |
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