CN113353523B

CN113353523B - Positioning method, device and equipment of logistics transportation equipment and storage medium

Info

Publication number: CN113353523B
Application number: CN202110632405.7A
Authority: CN
Inventors: 张雷
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2021-06-07
Filing date: 2021-06-07
Publication date: 2022-09-30
Anticipated expiration: 2041-06-07
Also published as: CN113353523A

Abstract

The invention discloses a positioning method, a positioning device, equipment and a storage medium of logistics transportation equipment. The method comprises the following steps: shooting the target position identification code through a shooting device on the logistics transportation equipment; wherein the target location identification code is disposed at a target ground area; determining target position identification information contained in the target position identification code, and determining position deviation information of the logistics transportation equipment relative to the target position identification code; the technical scheme of the invention can simplify the construction mode when the position identification code is set, reduce the construction difficulty and cost, improve the construction efficiency, and realize accurate positioning of the logistics transportation equipment when the construction mode of the position identification code does not meet the precision requirement.

Description

Positioning method, device and equipment of logistics transportation equipment and storage medium

Technical Field

The embodiment of the invention relates to the technical field of control, in particular to a positioning method, a positioning device, positioning equipment and a storage medium of logistics transportation equipment.

Background

With the continuous increase of economy, the enormous demand prompts the logistics industry in China to make an effort to change from labor type to technology type. The commodity circulation transportation equipment that has functions such as transport, pile up neatly, letter sorting has solved storage commodity circulation and has highly relied on manual work, the high problem of operation cost as the important infrastructure of wisdom commodity circulation.

The logistics transportation equipment realizes self-service carrying goods shelf task execution according to orders through sensing, positioning, planning, control and other technologies, wherein the most core technology is a positioning technology. The navigation and positioning mode based on the position identification code has the leading advantage in the navigation and positioning mode of the logistics transportation equipment by virtue of the advantages of high precision and small occupied space. When the logistics transportation equipment advances, the self pose is changed by acquiring the navigation information of the position identification code.

In the process of implementing the invention, at least the following technical problems are found in the prior art: when the position identification code is actually pasted, the identification code needs to be generated according to a planned coordinate point position, and the position identification code is accurately pasted on a cross point position of the ground marking line according to a strict precision requirement in a specified direction, so that the accurate positioning of the logistics transportation equipment is ensured, and the high-precision operation is further realized. This undoubtedly increases the construction difficulty, construction time, and construction cost when setting the position identification code. If the construction mode of the position identification code does not meet the precision requirement, the logistics transportation equipment cannot be accurately positioned.

Disclosure of Invention

The embodiment of the invention provides a positioning method, a positioning device and a storage medium of logistics transportation equipment, which can accurately position the logistics transportation equipment when the construction mode of a position identification code does not meet the precision requirement, thereby simplifying the construction mode when the position identification code is set, reducing the construction difficulty and cost and improving the construction efficiency.

In a first aspect, an embodiment of the present invention provides a method for positioning logistics transportation equipment, including:

shooting the target position identification code through a shooting device on the logistics transportation equipment; wherein the target location identification code is disposed at a target ground area;

determining target position identification information contained in the target position identification code, and determining position deviation information of the logistics transportation equipment relative to the target position identification code;

sending the target position identification information and the position deviation information to a dispatching device so as to enable the dispatching device to determine target system position coordinate information corresponding to the target position identification information based on a mapping relation between pre-stored position identification information and system position coordinate information, determine actual position deviation information of the logistics transportation device relative to a target ground reference position identification according to the received position deviation information and pre-stored position deviation information of the target position identification code relative to the target ground reference position identification, and position the logistics transportation device according to the actual position deviation information and the target system position coordinate information; wherein the target ground reference location indicator is disposed at the target ground area.

In a second aspect, an embodiment of the present invention provides a method for positioning logistics transportation equipment, including:

controlling the logistics transportation equipment to run along a path in the system map according to a scheduling instruction sent by the scheduling equipment, and when the logistics transportation equipment runs to each ground area: shooting a current position identification code arranged at a current ground area through a shooting device on the logistics transportation equipment;

determining current position identification information contained in the current position identification code, and determining current position deviation information of the current position identification code relative to a current ground reference position identification, wherein the current ground reference position identification is arranged at the current ground area;

and sending the current position identification information and the current position deviation information to the dispatching equipment so that the dispatching equipment determines current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, and stores the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information.

In a third aspect, an embodiment of the present invention provides a method for positioning logistics transportation equipment, including:

receiving target position identification information sent by logistics transportation equipment and position deviation information of the logistics transportation equipment relative to the target position identification code; the target position identification information is position identification information contained in the target position identification code shot by a shooting device on the logistics transportation equipment; the target position identification code is arranged at a target ground area;

determining target system position coordinate information corresponding to the target position identification information based on a mapping relation between pre-stored position identification information and system position coordinate information;

determining actual position deviation information of the logistics transportation equipment relative to a target ground reference position mark according to position deviation information of the logistics transportation equipment relative to the target position identification code and pre-stored position deviation information of the target position identification code relative to the target ground reference position mark, wherein the target ground reference position mark is arranged at the target ground area;

and positioning the logistics transportation equipment according to the actual position deviation information and the target system position coordinate information.

In a fourth aspect, an embodiment of the present invention provides a method for positioning logistics transportation equipment, including:

sending a scheduling instruction to the logistics transportation equipment to control the logistics transportation equipment to run along a path in the system map;

receiving current position identification information and current position deviation information sent by logistics transportation equipment when the logistics transportation equipment operates to a current ground area; the current position identification information is position identification information contained in a current position identification code arranged at the current ground area, the current position deviation information is position deviation information of the current position identification code relative to a current ground reference position identification, and the current ground reference position identification is arranged at the current ground area;

and determining current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, and storing the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information.

In a fifth aspect, an embodiment of the present invention further provides a positioning device for logistics transportation equipment, where the positioning device includes:

the first shooting module is used for shooting the target position identification code through a shooting device on the logistics transportation equipment; wherein the target location identification code is disposed at a target ground area;

the first determination module is used for determining target position identification information contained in the target position identification code and determining position deviation information of the logistics transportation equipment relative to the target position identification code;

the first sending module is used for sending the target position identification information and the position deviation information to dispatching equipment so that the dispatching equipment determines target system position coordinate information corresponding to the target position identification information based on a mapping relation between pre-stored position identification information and system position coordinate information, determines actual position deviation information of the logistics transportation equipment relative to a target ground reference position identification according to the received position deviation information and the pre-stored position deviation information of the target position identification code relative to the target ground reference position identification, and positions the logistics transportation equipment according to the actual position deviation information and the target system position coordinate information; wherein the target ground reference location indicator is disposed at the target ground area.

In a sixth aspect, an embodiment of the present invention further provides a positioning device for logistics transportation equipment, where the positioning device includes:

the second shooting module is used for controlling the logistics transportation equipment to run along a path in the system map according to the scheduling instruction sent by the scheduling equipment, and when the logistics transportation equipment runs to each ground area: shooting a current position identification code arranged at a current ground area through a shooting device on the logistics transportation equipment;

a second determining module, configured to determine current location identification information included in the current location identification code, and determine current location deviation information of the current location identification code relative to a current ground reference location identification, where the current ground reference location identification is located in the current ground area;

and the second sending module is used for sending the current position identification information and the current position deviation information to the dispatching equipment so as to enable the dispatching equipment to determine current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, and store the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information.

In a seventh aspect, an embodiment of the present invention further provides a positioning device for logistics transportation equipment, where the device includes:

the first receiving module is used for receiving target position identification information sent by the logistics transportation equipment and position deviation information of the logistics transportation equipment relative to the target position identification code; the target position identification information is position identification information contained in the target position identification code shot by a shooting device on the logistics transportation equipment; the target position identification code is arranged at a target ground area;

the third determining module is used for determining target system position coordinate information corresponding to the target position identification information based on a mapping relation between pre-stored position identification information and system position coordinate information;

a fourth determining module, configured to determine actual position deviation information of the logistics transportation device relative to a target ground reference position identifier according to position deviation information of the logistics transportation device relative to a target position identifier and pre-stored position deviation information of the target position identifier relative to the target ground reference position identifier, where the target ground reference position identifier is located in the target ground area;

and the first positioning module is used for positioning the logistics transportation equipment according to the actual position deviation information and the target system position coordinate information.

In an eighth aspect, an embodiment of the present invention further provides a positioning device for logistics transportation equipment, where the positioning device includes:

the third sending module is used for sending a scheduling instruction to the logistics transportation equipment so as to control the logistics transportation equipment to run along a path in the system map;

the second receiving module is used for receiving current position identification information and current position deviation information which are sent when the logistics transportation equipment runs to a current ground area; the current position identification information is position identification information contained in a current position identification code arranged at the current ground area, the current position deviation information is position deviation information of the current position identification code relative to a current ground reference position identification, and the current ground reference position identification is arranged at the current ground area;

and the first storage module is used for determining current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, and storing the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information.

In a ninth aspect, an embodiment of the present invention further provides a logistics transportation apparatus, where the apparatus includes:

a vehicle body;

a shooting device arranged at the center of the vehicle body;

one or more processors;

a memory for storing one or more programs,

when the one or more programs are executed by the one or more processors, the one or more processors implement the method for positioning a logistics transportation apparatus according to any embodiment of the invention.

In a tenth aspect, an embodiment of the present invention further provides a scheduling apparatus, where the apparatus includes:

one or more processors;

a memory for storing one or more programs,

In an eleventh aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for locating a logistics transportation apparatus according to any embodiment of the present invention.

The embodiment of the invention shoots the identification code of the target position through the shooting device on the logistics transportation equipment; determining target position identification information contained in the target position identification code, and determining position deviation information of the logistics transportation equipment relative to the target position identification code; sending the target position identification information and the position deviation information to a dispatching device, so that the dispatching device determines target system position coordinate information corresponding to the target position identification information based on a mapping relation between pre-stored position identification information and system position coordinate information, determines actual position deviation information of the logistics transportation device relative to the target ground reference position identification according to the received position deviation information and pre-stored position deviation information of the target position identification code relative to the target ground reference position identification, and positions the logistics transportation device according to the actual position deviation information and the target system position coordinate information, thereby realizing that when a construction mode of a position identification code does not meet the precision requirement, namely the set position identification code has position deviation with the ground reference position identification, can carry out the effect of accurate location to commodity circulation haulage equipment, because this scheme of adoption can not set up the position identification code according to the required precision, consequently can simplify the construction mode when setting up the position identification code, reduce the construction degree of difficulty and cost, improve the efficiency of construction.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1a is a flowchart of a positioning method of logistics transportation equipment in a first embodiment of the invention;

FIG. 1b is a diagram illustrating a setting position of a target position identification code in the prior art;

FIG. 1c is a diagram of a system map according to a first embodiment of the present invention;

fig. 1d is a schematic diagram of a setting position of a target position identifier according to a first embodiment of the present invention;

fig. 2 is a flowchart of a positioning method of logistics transportation equipment in a second embodiment of the invention;

fig. 3 is a flowchart of a positioning method of logistics transportation equipment in a third embodiment of the invention;

fig. 4 is a flowchart of a positioning method of a logistics transportation device in a fourth embodiment of the invention;

fig. 5 is a flowchart of a positioning method of a logistics transportation device in the fifth embodiment of the invention;

fig. 6 is a flowchart of a positioning method of logistics transportation equipment in a sixth embodiment of the invention;

fig. 7 is a schematic structural diagram of a positioning device of logistics transportation equipment in a seventh embodiment of the invention;

fig. 8 is a schematic structural diagram of a positioning device of logistics transportation equipment in an eighth embodiment of the invention;

fig. 9 is a schematic structural diagram of a positioning device of logistics transportation equipment in a ninth embodiment of the invention;

fig. 10 is a schematic structural diagram of a positioning device of logistics transportation equipment in a tenth embodiment of the invention;

FIG. 11 is a schematic structural diagram of a logistics transportation equipment in an eleventh embodiment of the invention;

fig. 12 is a schematic structural diagram of a scheduling apparatus in a twelfth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

Example one

Fig. 1a is a flowchart of a method for positioning logistics transportation equipment according to an embodiment of the present invention, where this embodiment is applicable to a situation where the logistics transportation equipment in warehouse logistics is positioned based on a location identification code, and the method may be executed by a positioning apparatus of the logistics transportation equipment in an embodiment of the present invention, and the apparatus may be implemented in a software and/or hardware manner, and may generally be integrated in the logistics transportation equipment. As shown in fig. 1a, the method specifically includes the following steps:

s110, shooting the target position identification code through a shooting device on the logistics transportation equipment; wherein the target location identification code is disposed at a target ground area.

The logistics transportation equipment is equipment applied to operation such as goods transfer and handling in storage, sorting centers and goods transportation paths, and for example, the logistics transportation equipment can be an AGV trolley.

As shown in fig. 1b, the position identification code may be a two-dimensional code identifier disposed on the ground by means of pasting or the like, and is used for positioning and navigating the logistics transportation equipment. The position identification code is generally marked with position identification information and a position identification code coordinate system, wherein the position identification code coordinate system comprises an origin, an X-axis direction and a Y-axis direction.

Wherein, the ground area can be understood as the area on the ground where the position identification code is set, and the target position identification code is set at the target ground area.

In practical application, in order to enable the logistics transportation equipment to be positioned according to the position identification code pasted in the warehouse and further to implement a task of carrying goods according to an order destination by self, firstly, a travelable path of the logistics transportation equipment needs to be planned according to layout information such as a discharge position of a shelf in the warehouse, barrier information and the like, and a system map shown in fig. 1c is designed. Then, the precise marking work is carried out on the ground of the warehouse according to the path in the system map, and a code pasting grid is formed according to the marking on the ground. In order to ensure that the scribing is horizontal and vertical and can meet the accuracy requirement during scribing, a high-precision scribing instrument is often required to be used for carrying out accurate scribing. Then, a system coordinate system composed of an origin, an X axis and a Y axis is set in the patch grid based on the patch grid formed by the scribe lines, and a system coordinate of a center point of the target ground reference position mark in the grid (i.e., an intersection of the scribe line in the X axis direction and the scribe line in the Y axis direction) is determined as target system position coordinate information. And finally, generating a target position identification code according to the position coordinate information of the target system, and pasting the target position identification code at the target ground reference position identification.

In the prior art, the target position identification code is stuck to the target ground reference position identification, and the following construction requirements must be strictly followed: firstly, when generating a target position identification code, ensuring that the target position identification code contains system position coordinate information corresponding to a target position; second, when the target location identification code is pasted, as shown in fig. 1b, it is necessary to ensure that the positional deviation between the center point of the target location identification code and the center point of the target ground reference location identification in the pasting grid is within ± 0.1mm, and the angular deviation is within ± 0.1 °. Strict construction requirements make it difficult to accurately set position identification codes on the warehouse floor to ensure accurate positioning of logistics transportation equipment. If the coordinate points contained in the position identification codes are inaccurate in position and the construction mode does not meet the precision requirement, the logistics transportation equipment is difficult to be accurately positioned.

In the embodiment of the present invention, as shown in fig. 1d, a cross line formed by a line drawn in the X-axis direction of the system map and a line drawn in the Y-axis direction of the system map is determined, the cross line is determined as a target ground reference position mark 1, and an area within a certain distance of the cross point of the target ground reference position mark 1 is determined as a target ground area 2. The target area may be a square, a circle, or any other shape, and embodiments of the present invention are not limited thereto. The target position identification code 3 can be randomly arranged in the target ground area 1, and strict construction requirements of center point superposition and angle consistency do not need to be followed.

Illustratively, when the logistics transportation equipment runs to the target ground area, the target position identification code arranged at the target ground area is shot by a shooting device on the logistics transportation equipment, wherein the shooting device can be a camera, an image sensor or other equipment with an image acquisition function.

S120, determining target position identification information contained in the target position identification code, and determining position deviation information of the logistics transportation equipment relative to the target position identification code.

The target position identification information is unique identification information of the target position identification code and is used for distinguishing different target position identification codes. The target position identification information may be a set of character strings composed of numbers, letters or symbols of arbitrary number of digits. For example, the target location identification code may be 100200100500, a010001, or 1001-2010. When generating the target position identification codes, the target position identification information may be allocated to each target position identification code in a random allocation manner, or the target position identification information may be allocated to each target position identification code in a serial number manner, which is not limited in the present invention.

And when the position deviation information of the logistics transportation equipment relative to the target position identification code indicates that the logistics transportation equipment runs to the setting area of the target position identification code, the deviation value between the actual position of the logistics transportation equipment and the position of the target position identification code, and the position deviation information can comprise an offset distance and an offset angle.

Illustratively, the target position identification information contained in the target position identification code is determined by reading the target position identification code, and the position deviation information of the logistics transportation equipment relative to the target position identification code is determined according to the offset distance and the offset angle between the center of the logistics transportation equipment and the center of the target position identification code.

Optionally, determining the position deviation information of the logistics transportation device relative to the target position identification code includes:

determining a central point of the logistics transportation equipment and a central point of the target position identification code;

determining a second transverse displacement value and a second longitudinal displacement value of the central point of the logistics transportation equipment relative to the central point of the target position identification code, and determining a second angle deviation value of a set direction coordinate axis of the logistics transportation equipment relative to the set direction coordinate axis of the target position identification code;

and determining the position deviation information of the logistics transportation equipment relative to the target position identification code according to the second transverse displacement value, the second longitudinal displacement value and the second angle deviation value.

The center point of the logistics transportation equipment can be a gravity center point of the logistics transportation equipment, a middle point of a center line of the logistics transportation equipment, or a designated position point on the logistics transportation equipment.

The second transverse displacement value is a displacement value of the central point of the logistics transportation equipment relative to the central point of the target position identification code in the X-axis direction of the target position identification code; the second longitudinal displacement value is a displacement value of the central point of the logistics transportation equipment relative to the central point of the target position identification code in the Y-axis direction of the target position identification code.

The setting direction coordinate axis may be an X-axis direction or a Y-axis direction. The second angle deviation value may be an angle deviation value of an X-axis direction coordinate axis of the logistics transportation equipment with respect to an X-axis direction coordinate axis of the target position identification code, or may be an angle deviation value of a Y-axis direction coordinate axis of the logistics transportation equipment with respect to a Y-axis direction coordinate axis of the target position identification code.

And determining the position deviation information of the logistics transportation equipment relative to the target position identification code through the second transverse displacement value, the second longitudinal displacement value and the second angle deviation value, and correcting the position deviation of the logistics transportation equipment when the logistics transportation equipment runs to the target position identification code.

S130, the target position identification information and the position deviation information are sent to a dispatching device, so that the dispatching device determines target system position coordinate information corresponding to the target position identification information based on a mapping relation between pre-stored position identification information and system position coordinate information, determines actual position deviation information of the logistics transportation device relative to a target ground reference position identification according to the received position deviation information and the pre-stored position deviation information of the target position identification code relative to the target ground reference position identification, and positions the logistics transportation device according to the actual position deviation information and the target system position coordinate information.

The target ground reference position mark is arranged at the target ground area, can be a cross line formed by a lineation line in the X-axis direction of the system map and a lineation line in the Y-axis direction of the system map, and serves as a position reference line of the warehouse ground to provide a walking path for the logistics transportation equipment.

The system position coordinate information refers to position coordinate information of the target position identification code in a system map, and the system position coordinate information can be composed of a horizontal position coordinate with a preset digit number and a longitudinal position coordinate with a preset digit number. For example, if the system location coordinate information is 100100100100, it indicates that the lateral location coordinate of the target location identifier in the system map is 100100, and the lateral location coordinate of the target location identifier in the system map is 100100.

For example, after the target position identification code is set at the target position on the ground, the mapping relationship between the target position identification information corresponding to the target position identification code and the system position coordinate information of the target position is determined and stored. After the construction work of all target position identification codes in the warehouse is completed, when the dispatching logistics transportation equipment passes through the target position identification code for the first time, the position deviation information of the target position identification code relative to the target ground reference position identification is determined and stored. The pre-stored location may be in a server, a database, or other storage media, and the embodiment of the present invention is not limited thereto.

Specifically, after target position identification information and position deviation information of the logistics transportation equipment relative to the target position identification code are determined, the target position identification information and the position deviation information are sent to dispatching equipment. When receiving the target position identification information, the scheduling device determines target system position coordinate information corresponding to the target position identification information based on a mapping relation between pre-stored position identification information and system position coordinate information. The benefit of this arrangement is: the target position identification code does not contain target system position coordinate information, so that any target position identification code is arranged on the ground, and then the target system position coordinate information corresponding to the target position identification information is determined in a mapping relation mode, and the problem that in the prior art, the target position identification code containing the target system position coordinate information needs to be generated before the target position identification code is arranged at a target ground area is solved.

When the dispatching equipment receives position deviation information of the logistics transportation equipment relative to the target position identification code, determining actual position deviation information of the logistics transportation equipment relative to the target ground reference position identification according to the received position deviation information and prestored position deviation information of the target position identification code relative to the target ground reference position identification, and positioning the logistics transportation equipment according to the actual position deviation information and the target system position coordinate information. The advantages of such an arrangement are: when the construction mode at position identification code does not reach the required precision, also can be according to prestoring the target position identification code for the positional deviation information of target ground reference position sign pinpoints the commodity circulation transportation equipment, and then simplifies the construction mode when setting up the position identification code, reduces the construction degree of difficulty and cost, improves the efficiency of construction.

According to the technical scheme of the embodiment, the target position identification code is shot through a shooting device on the logistics transportation equipment; determining target position identification information contained in the target position identification code, and determining position deviation information of the logistics transportation equipment relative to the target position identification code; sending the target position identification information and the position deviation information to a dispatching device, so that the dispatching device determines target system position coordinate information corresponding to the target position identification information based on a mapping relation between pre-stored position identification information and system position coordinate information, determines actual position deviation information of the logistics transportation device relative to the target ground reference position identification according to the received position deviation information and pre-stored position deviation information of the target position identification code relative to the target ground reference position identification, and positions the logistics transportation device according to the actual position deviation information and the target system position coordinate information, thereby realizing that when a construction mode of a position identification code does not meet the precision requirement, namely the set position identification code has position deviation with the ground reference position identification, can carry out the effect of accurate location to commodity circulation haulage equipment, because this scheme of adoption can not set up the position identification code according to the required precision, consequently can simplify the construction mode when setting up the position identification code, reduce the construction degree of difficulty and cost, improve the efficiency of construction.

Example two

Fig. 2 is a flowchart of a positioning method for logistics transportation equipment in a second embodiment of the present invention, where the present embodiment is optimized based on the foregoing embodiment, and in the present embodiment, before acquiring an identification code of a target position captured by a capturing device on the logistics transportation equipment, the method further includes: controlling the logistics transportation equipment to run along a path in a system map according to the scheduling instruction sent by the scheduling equipment, and when the logistics transportation equipment runs to each ground area: shooting a current position identification code arranged at a current ground area through a shooting device on the logistics transportation equipment; determining current position identification information contained in the current position identification code, and determining current position deviation information of the current position identification code relative to a current ground reference position identification, wherein the current ground reference position identification is arranged at the current ground area; and sending the current position identification information and the current position deviation information to the dispatching equipment so that the dispatching equipment determines current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, and stores the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information. As shown in fig. 2, the method of this embodiment specifically includes the following steps:

s210, controlling the logistics transportation equipment to run along a path in a system map according to the scheduling instruction sent by the scheduling equipment, and shooting the current position identification code arranged at the current ground area through a shooting device on the logistics transportation equipment when the logistics transportation equipment runs to each ground area.

Illustratively, after the construction work of all the target position identification codes in the warehouse is completed, the logistics transportation equipment is controlled to run along the path in the system map according to the scheduling instruction sent by the scheduling equipment, so that the logistics transportation equipment can pass through all the position identification codes, and then the target position identification information of each target position identification code is acquired. When the logistics transportation equipment runs to each target ground area, the current position identification code arranged at the current ground area is shot through the shooting device on the logistics transportation equipment.

It should be noted that the system error of the logistics transportation equipment may interfere with the current location identification information contained in the current location identification code. Therefore, before the logistics transportation equipment is controlled to run along the path in the system map, the logistics transportation equipment needs to be checked so as to ensure that the position information of the current position identification code shot by the shooting device on the logistics transportation equipment is accurate.

S220, determining current position identification information contained in the current position identification code, and determining current position deviation information of the current position identification code relative to the current ground reference position identification.

Wherein the current ground reference location indicator is provided at the current ground area. The current ground area can be understood as the ground area reached by the logistics transportation equipment at the current moment, and the ground reference position mark is set when the current ground reference position mark is set and can be understood as the ground reference position mark arranged at the current ground area.

For example, the current position identification information contained in the current position identification code is determined by reading the current position identification code, and the current position deviation information of the current position identification code relative to the current ground reference position identification is determined according to the offset distance and the offset angle between the center of the current position identification code and the center of the current ground reference position identification.

Optionally, determining the current position deviation information of the current position identification code relative to the current ground reference position identification includes:

determining a central point of the current position identification code and a central point of the current ground reference position identification;

determining a first transverse displacement value and a first longitudinal displacement value of the central point of the current position identification code relative to the central point of the current ground reference position identification, and determining a first angle deviation value of a set direction coordinate axis of the current position identification code relative to a set direction coordinate axis of the current ground reference position identification;

and determining the first transverse displacement value, the first longitudinal displacement value and the first angle deviation value as current position deviation information of the current position identification code relative to the current ground reference position identification.

The central point of the current ground reference position mark is the intersection point of two mutually vertical ground reference position marks; the first transverse displacement value is a displacement value of the central point of the current position identification code relative to the central point of the current ground reference position identification in the X-axis direction of the system map; the first longitudinal displacement value is a displacement value of the central point of the current position identification code relative to the central point of the current ground reference position identification in the Y-axis direction of the system map.

The set direction coordinate axis may be an X-axis direction or a Y-axis direction. The second angle deviation value may be an angle deviation value of an X-axis direction coordinate axis of the current position identification code with respect to an X-axis direction coordinate axis of the current ground reference position identification, or may be an angle deviation value of a Y-axis direction coordinate axis of the current position identification code with respect to a Y-axis direction coordinate axis of the current ground reference position identification.

Illustratively, a first lateral displacement value of the center point of the current position identification code and the center point of the current ground reference position identification in the X-axis direction, a first longitudinal displacement value of the center point of the current position identification code and the center point of the current ground reference position identification in the Y-axis direction, and a first angle deviation value between a set direction coordinate axis of the current position identification code and a set direction coordinate axis of the current ground reference position identification are determined, and the first lateral displacement value, the first longitudinal displacement value, and the first angle deviation value are determined as current position deviation information of the current position identification code relative to the current ground reference position identification. The advantages of such an arrangement are: the problem that the position identification code needs to be arranged at the ground reference position identification position according to strict precision requirements in the prior art is solved, the construction mode when the position identification code is arranged is simplified, the construction difficulty and cost are reduced, and the construction efficiency is improved.

And S230, sending the current position identification information and the current position deviation information to the dispatching equipment so that the dispatching equipment determines current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, and storing the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information.

Specifically, current position identification information and current position deviation information determined by the logistics transportation equipment are sent to the scheduling equipment, and the scheduling equipment determines the mapping relation between the current position identification information and the current system position coordinate information according to the relation between the current position of the logistics transportation equipment and the current system position coordinate information corresponding to the current position in a system map. And pre-storing the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information. The pre-stored location may be in a server, a database, or other storage media, which is not limited by the embodiment of the present invention.

For example, if the current location identifier information included in the current location identifier code is 100200, and the current system location coordinate information corresponding to the current location in the system map is 100100100100, the mapping information corresponding to the current system location coordinate information 100100100100 is the current location identifier information 100200.

It should be noted that, the logistics transportation equipment determines the current position deviation information of the current position identification code relative to the current ground reference position identification and stores the current position deviation information in advance only when the logistics transportation equipment runs to each target ground reference position identification for the first time after the construction work of all the target position identification codes in the warehouse is completed. When the logistics transportation equipment runs to the target ground reference position mark, only the position deviation information of the logistics transportation equipment relative to the target position mark needs to be determined and sent to the dispatching equipment, and the dispatching equipment can position the logistics transportation equipment according to the position deviation information of the logistics transportation equipment relative to the current position mark, the current system position coordinate information corresponding to the prestored current position mark information and the prestored current position deviation information of the current position mark relative to the current ground reference position mark. Therefore, even if the ground reference position mark is continuously worn over time, the positioning of the logistics transportation equipment cannot be influenced.

S240, shooting the target position identification code through a shooting device on the logistics transportation equipment; wherein the target location identification code is disposed at a target ground area.

And S250, determining target position identification information contained in the target position identification code, and determining position deviation information of the logistics transportation equipment relative to the target position identification code.

S260, the target position identification information and the position deviation information are sent to a dispatching device, so that the dispatching device determines target system position coordinate information corresponding to the target position identification information based on a mapping relation between pre-stored position identification information and system position coordinate information, determines actual position deviation information of the logistics transportation device relative to a target ground reference position identification according to the received position deviation information and the pre-stored position deviation information of the target position identification code relative to the target ground reference position identification, and positions the logistics transportation device according to the actual position deviation information and the target system position coordinate information.

Optionally, the method further includes:

after the current position identification code is determined to be damaged and a new position identification code is set at the current ground area, controlling the logistics transportation equipment to operate to the current ground area according to a scheduling instruction sent by the scheduling equipment;

shooting the new position identification code through a shooting device on the logistics transportation equipment; determining new position identification information contained in the new position identification code, determining new position deviation information of the new position identification code relative to a current ground reference position identification, and sending the new position identification information and the new position deviation information to the dispatching equipment, so that the dispatching equipment replaces the stored current position deviation information with the new position deviation information, and replaces the stored mapping relation between the current position identification information and current system position coordinate information with the mapping relation between the new position identification information and the current system position coordinate information.

In the prior art, when the current position identification code is generated, the current system position coordinate information needs to be stored in the current position identification code. Therefore, if the current position identification code is damaged and needs to be replaced, the coordinate information of the current system position must be stored in the current position identification code after replacement, and once the current position identification code after replacement is inconsistent with the coordinate information of the current system position in the current position identification code before replacement or the set position is inconsistent, the logistics transportation equipment can not run according to the planned route, and the later maintenance cost of the position identification code is increased.

In the embodiment of the invention, after the damage of the current position identification code is determined and a new position identification code is set at the current ground area, the new position identification code is not linked with the replaced position identification code, and the logistics transportation equipment is controlled to operate to the current ground area according to the dispatching instruction sent by the dispatching equipment, so that new position identification information contained in the new position identification code and new position deviation information of the new position identification code relative to the current ground reference position identification are determined. Sending the new position identification information and the new position deviation information to the dispatching equipment so that the dispatching equipment replaces the stored current position deviation information with the new position deviation information; and replacing the stored mapping relation between the current position identification information and the current system position coordinate information with the mapping relation between the new position identification information and the current system position coordinate information to realize the mapping between the new position identification code and the current system position coordinate information.

It should be noted that, since the current ground reference location identifier may be worn or even disappear, the ground reference location identifier needs to be reset at the current ground area before a new location identifier is set at the current ground area, so as to determine new location deviation information of the new location identifier with respect to the current ground reference location identifier. The ground is accurately marked on the ground by using a high-precision marking instrument, so that the resetting of the ground reference position mark can be ensured within a small error range.

According to the technical scheme of the embodiment, before the target position identification code shot by the shooting device on the logistics transportation equipment is obtained, the logistics transportation equipment is controlled to run along the path in the system map according to the scheduling instruction sent by the scheduling equipment, and when the logistics transportation equipment runs to each ground area, the shooting device on the logistics transportation equipment shoots the current position identification code arranged at the current ground area; determining current position identification information contained in the current position identification code, and determining current position deviation information of the current position identification code relative to the current ground reference position identification; sending the current position identification information and the current position deviation information to the dispatching equipment so that the dispatching equipment determines the current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, stores the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information, realizes position correction of the current position identification code, and maps the current system position coordinate information to the current position identification information, thereby realizing the effect of accurately positioning the logistics transportation equipment when the construction mode of the position identification code does not meet the precision requirement, namely the set position identification code has position deviation with the ground reference position identification, and because the position identification code can not be set according to the precision requirement, therefore, the construction mode when the position identification code is set can be simplified, the construction difficulty and cost are reduced, and the construction efficiency is improved.

EXAMPLE III

Fig. 3 is a flowchart of a positioning method for logistics transportation equipment in a third embodiment of the present invention, where this embodiment is applicable to a situation where the logistics transportation equipment in warehouse logistics is positioned based on a location identification code, and the method may be executed by a positioning device for logistics transportation equipment in the embodiment of the present invention, and the device may be implemented in a software and/or hardware manner, and may generally be integrated in the logistics transportation equipment. As shown in fig. 3, the method of this embodiment specifically includes the following steps:

and S310, controlling the logistics transportation equipment to run along a path in the system map according to the scheduling instruction sent by the scheduling equipment, and shooting the current position identification code arranged at the current ground area through a shooting device on the logistics transportation equipment when the logistics transportation equipment runs to each ground area.

Illustratively, after the construction work of all the target position identification codes in the warehouse is completed, the logistics transportation equipment is controlled to run along the path in the system map according to the scheduling instruction sent by the scheduling equipment, so that the logistics transportation equipment can pass through all the position identification codes, and then the target position identification information of each target position identification code is acquired. When the logistics transportation equipment runs to each target ground area, the shooting device on the logistics transportation equipment shoots the current position identification code arranged at the current ground area.

S320, determining current position identification information contained in the current position identification code, and determining current position deviation information of the current position identification code relative to the current ground reference position identification.

and determining the first transverse displacement value, the first longitudinal displacement value and the first angle deviation value as the current position deviation information of the current position identification code relative to the current ground reference position identification.

The center point of the current ground reference position mark is the intersection point of two mutually perpendicular ground reference position marks; the first transverse displacement value is a displacement value of the central point of the current position identification code relative to the central point of the current ground reference position identification in the X-axis direction of the system map; the first longitudinal displacement value is a displacement value of the central point of the current position identification code relative to the central point of the current ground reference position identification in the Y-axis direction of the system map.

For example, a first lateral displacement value of a center point of the current position identification code and a center point of the current ground reference position identification in an X-axis direction, a first longitudinal displacement value of the center point of the current position identification code and the center point of the current ground reference position identification in a Y-axis direction, and a first angle deviation value between a set direction coordinate axis of the current position identification code and a set direction coordinate axis of the current ground reference position identification are determined, and the first lateral displacement value, the first longitudinal displacement value, and the first angle deviation value are determined as current position deviation information of the current position identification code relative to the current ground reference position identification. The benefit of this arrangement is: the problem that the position identification code needs to be arranged at the ground reference position identification position according to strict precision requirements in the prior art is solved, the construction mode when the position identification code is arranged is simplified, the construction difficulty and cost are reduced, and the construction efficiency is improved.

S330, sending the current position identification information and the current position deviation information to the dispatching equipment so that the dispatching equipment determines current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, and storing the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information.

Specifically, current position identification information and current position deviation information determined by the logistics transportation equipment are sent to the scheduling equipment, and the scheduling equipment determines the mapping relation between the current position identification information and the current system position coordinate information according to the relation between the current position of the logistics transportation equipment and the current system position coordinate information corresponding to the current position in a system map. And pre-storing the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information. The pre-stored location may be in a server, a database, or other storage media, and the embodiment of the present invention is not limited thereto.

It should be noted that, the logistics transportation equipment determines the current position deviation information of the current position identification code relative to the current ground reference position identification and stores the current position deviation information in advance only when the logistics transportation equipment runs to each target ground reference position identification for the first time after the construction work of all the target position identification codes in the warehouse is completed. When the logistics transportation equipment runs to the target ground reference position mark, the position deviation information of the logistics transportation equipment relative to the target position mark is determined and sent to the dispatching equipment, and the dispatching equipment can position the logistics transportation equipment according to the position deviation information of the logistics transportation equipment relative to the current position mark, the current system position coordinate information corresponding to the prestored current position mark information and the prestored current position mark information relative to the current ground reference position mark. Therefore, even if the ground reference position mark is continuously worn out over time, the positioning of the logistics transportation equipment cannot be influenced.

Optionally, the method further includes:

According to the technical scheme of the embodiment, the logistics transportation equipment is controlled to run along a path in a system map according to a scheduling instruction sent by the scheduling equipment, and when the logistics transportation equipment runs to each ground area, a shooting device on the logistics transportation equipment shoots a current position identification code arranged at the current ground area; determining current position identification information contained in the current position identification code, and determining current position deviation information of the current position identification code relative to the current ground reference position identification; sending the current position identification information and the current position deviation information to the dispatching equipment so that the dispatching equipment determines the current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, stores the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information, realizes position correction of the current position identification code, and maps the current system position coordinate information to the current position identification information, thereby realizing the effect of accurately positioning the logistics transportation equipment when the construction mode of the position identification code does not meet the precision requirement, namely the set position identification code has position deviation with the ground reference position identification, and because the position identification code can not be set according to the precision requirement, therefore, the construction mode when the position identification code is set can be simplified, the construction difficulty and cost are reduced, and the construction efficiency is improved.

Example four

Fig. 4 is a flowchart of a method for positioning logistics transportation equipment according to a fourth embodiment of the present invention, where this embodiment is applicable to a situation where the logistics transportation equipment in warehouse logistics is positioned based on a location identification code, and the method may be executed by a positioning apparatus of the logistics transportation equipment in the embodiment of the present invention, and the apparatus may be implemented in a software and/or hardware manner, and may generally be integrated in a scheduling device. As shown in fig. 4, the method specifically includes the following steps:

s410, receiving target position identification information sent by logistics transportation equipment and position deviation information of the logistics transportation equipment relative to the target position identification code; the target position identification information is position identification information contained in the target position identification code shot by a shooting device on the logistics transportation equipment; the target position identification code is arranged at a target ground area.

And the dispatching equipment receives target position identification information and position deviation information of the logistics transportation equipment relative to the target position identification code, which are sent when the logistics transportation equipment runs to each target ground area in real time.

S420, determining target system position coordinate information corresponding to the target position identification information based on a mapping relation between the pre-stored position identification information and the system position coordinate information.

After the target position identification code is arranged on a target position on the ground, determining and storing a mapping relation between target position identification information corresponding to the target position identification code and system position coordinate information of the target position. The mapping relationship between the location identifier information and the system location coordinate information may be stored in a server, a database, or other storage media in the form of a mapping table, which is not limited in this embodiment of the present invention.

And the scheduling equipment inquires the mapping relation between the pre-stored position identification information and the system position coordinate information according to the received target position identification information, and determines the target system position coordinate information corresponding to the target position identification information.

S430, determining actual position deviation information of the logistics transportation equipment relative to the target ground reference position mark according to the position deviation information of the logistics transportation equipment relative to the target position identification code and the pre-stored position deviation information of the target position identification code relative to the target ground reference position mark.

After the construction work of all target position identification codes in the warehouse is completed, when the dispatching logistics transportation equipment passes through the target position identification code for the first time, the position deviation information of the target position identification code relative to the target ground reference position identification is determined and stored. The pre-stored location may be in a server, a database, or other storage media, which is not limited by the embodiment of the present invention.

The dispatching equipment determines the actual position deviation information of the logistics transportation equipment relative to the target ground reference position identification according to the position deviation information of the received logistics transportation equipment relative to the target position identification and the prestored position deviation information of the target position identification relative to the target ground reference position identification, so that when the construction mode of the position identification code does not meet the precision requirement, the position deviation of the logistics transportation equipment can be corrected according to the prestored position deviation information of the target position identification relative to the target ground reference position identification, the construction mode when the position identification code is set is simplified, the construction difficulty and cost are reduced, and the construction efficiency is improved.

Optionally, the position deviation information of the target position identifier code relative to the target ground reference position identifier includes: a first lateral displacement value, a first longitudinal displacement value, and a first angle deviation value; the position deviation information of the logistics transportation equipment relative to the target position identification code comprises: a second lateral displacement value, a second longitudinal displacement value, and a second angular deviation value;

determining actual position deviation information of the logistics transportation equipment relative to the target ground reference position identifier according to position deviation information of the logistics transportation equipment relative to the target position identifier and pre-stored position deviation information of the target position identifier relative to the target ground reference position identifier, wherein the method comprises the following steps:

obtaining a compensation transverse displacement value according to the second transverse displacement value and the first transverse displacement value; specifically, the second lateral displacement value and the first lateral displacement value are subtracted to obtain a compensated lateral displacement value;

obtaining a compensation longitudinal displacement value according to the second longitudinal displacement value and the first longitudinal displacement value; specifically, the second longitudinal displacement value and the first longitudinal displacement value are subtracted to obtain a compensated longitudinal displacement value;

obtaining a compensation angle deviation value according to the second angle deviation value and the first angle deviation value; specifically, the second angle deviation value is subtracted from the first angle deviation value to obtain a compensated angle deviation value;

determining actual position deviation information of the logistics transportation equipment relative to the target ground reference position mark according to the compensation transverse displacement value, the compensation longitudinal displacement value and the compensation angle deviation value; specifically, the compensated lateral displacement value, the compensated longitudinal displacement value and the compensated angle deviation value can be directly determined as actual position deviation information of the logistics transportation equipment relative to the target ground reference position identifier.

The first transverse displacement value is a displacement value of the central point of the target position identification code relative to the central point of the target ground reference position identification in the X-axis direction of the system map; the first longitudinal displacement value is a displacement value of the central point of the target position identification code relative to the central point of the target ground reference position identification in the Y-axis direction of the system map; the first angle deviation value is an angle deviation value between a set direction coordinate axis of the target position identification code and a set direction coordinate axis of the current ground reference position identification. The set direction coordinate axis of the target position identification code can be an X-axis direction or a Y-axis direction.

The second transverse displacement value is a displacement value of the central point of the logistics transportation equipment relative to the central point of the target position identification code in the X-axis direction of the target position identification code; the second longitudinal displacement value is a displacement value of the central point of the logistics transportation equipment relative to the central point of the target position identification code in the Y-axis direction of the target position identification code. And the second angle deviation value is an angle deviation value between a set direction coordinate axis of the logistics transportation equipment and a set direction coordinate axis of the target position identification code. The set direction coordinate axis may be an X-axis direction or a Y-axis direction.

S440, positioning the logistics transportation equipment according to the actual position deviation information and the target system position coordinate information.

And the dispatching equipment determines the actual position coordinate of the logistics transportation equipment in the system map according to the actual position deviation information of the logistics transportation equipment relative to the target ground reference position identification and the target system position coordinate information corresponding to the target position identification information, so as to position the logistics transportation equipment.

According to the technical scheme of the embodiment, target position identification information sent by logistics transportation equipment and position deviation information of the logistics transportation equipment relative to the target position identification code are received; determining target system position coordinate information corresponding to the target position identification information based on a mapping relation between pre-stored position identification information and system position coordinate information; determining actual position deviation information of the logistics transportation equipment relative to a target ground reference position mark according to position deviation information of the logistics transportation equipment relative to the target position identification code and pre-stored position deviation information of the target position identification code relative to the target ground reference position mark; according to actual position deviation information with target system position coordinate information is right the commodity circulation transportation equipment is fixed a position to realized not reaching the required accuracy when the construction method of position identification code is located the position identification code that sets up promptly and ground benchmark position sign when there is position deviation, can carry out the effect of accurate location to commodity circulation transportation equipment, owing to adopt this scheme can not set up the position identification code according to the required accuracy, consequently can simplify the construction method when setting up the position identification code, reduce the construction degree of difficulty and cost, improve the efficiency of construction.

EXAMPLE five

Fig. 5 is a flowchart of a positioning method for logistics transportation equipment according to a fifth embodiment of the present invention, where the present embodiment is optimized based on the foregoing embodiment, and in the present embodiment, before receiving target location identification information sent by the logistics transportation equipment and location deviation information of the logistics transportation equipment relative to the target location identification code, the method further includes: sending a scheduling instruction to the logistics transportation equipment to control the logistics transportation equipment to run along a path in the system map; receiving current position identification information and current position deviation information sent by logistics transportation equipment when the logistics transportation equipment operates to a current ground area; the current position identification information is position identification information contained in a current position identification code arranged in the current ground area, and the current position deviation information is position deviation information of the current position identification code relative to the current ground reference position identification; and determining current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, and storing the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information.

And S510, sending a scheduling instruction to the logistics transportation equipment to control the logistics transportation equipment to run along a path in the system map.

After the construction work of all target position identification codes in the warehouse is completed, a dispatching instruction is sent to the logistics transportation equipment to control the logistics transportation equipment to run along a path in a system map, so that the logistics transportation equipment can pass through all the position identification codes, and then target position identification information of each target position identification code is collected.

S520, receiving the current position identification information and the current position deviation information sent by the logistics transportation equipment when the logistics transportation equipment operates to the current ground area.

The current position identification information is position identification information contained in a current position identification code arranged at the current ground area, the current position deviation information is position deviation information of the current position identification code relative to the current ground area, and the current ground reference position identification is arranged at the current ground area.

And in the operation process of the logistics transportation equipment, receiving current position identification information and current position deviation information which are sent when the logistics transportation equipment operates to the current ground area.

S530, determining current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, and storing the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information.

Establishing a mapping relation between the identification information of the logistics transportation equipment and the current system position coordinate information in the system map, and pre-storing the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information. The pre-stored location may be in a server, a database, or other storage media, and the embodiment of the present invention is not limited thereto.

S540, receiving target position identification information sent by the logistics transportation equipment and position deviation information of the logistics transportation equipment relative to the target position identification code; the target position identification information is position identification information contained in the target position identification code shot by a shooting device on the logistics transportation equipment; the target position identification code is arranged at a target ground area.

And S550, determining target system position coordinate information corresponding to the target position identification information based on a mapping relation between the pre-stored position identification information and the system position coordinate information.

And S560, determining the actual position deviation information of the logistics transportation equipment relative to the target ground reference position mark according to the position deviation information of the logistics transportation equipment relative to the target position mark and the pre-stored position deviation information of the target position mark relative to the target ground reference position mark.

S570, positioning the logistics transportation equipment according to the actual position deviation information and the target system position coordinate information.

Optionally, the method further includes:

after determining that the current position identification code is damaged and setting a new position identification code at the current ground area, sending a scheduling instruction to the logistics transportation equipment to control the logistics transportation equipment to operate to the current ground area;

receiving new position identification information and new position deviation information sent by logistics transportation equipment; the new position identification information is position identification information contained in the new position identification code shot by a shooting device on the logistics transportation equipment, and the new position deviation information is position deviation information of the new position identification code relative to the current ground reference position identification;

and replacing the stored current position deviation information with the new position deviation information, and replacing the mapping relation between the stored current position identification information and the current system position coordinate information with the mapping relation between the new position identification information and the current system position coordinate information.

After the current position identification code is determined to be damaged and a new position identification code is set at the current ground area, the new position identification code is not in any connection with the replaced position identification code, the logistics transportation equipment is controlled to operate to the current ground area by sending a scheduling instruction, new position identification information contained in the new position identification code is determined, and new position deviation information of the new position identification code relative to the current ground reference position identification is determined. Sending the new position identification information and the new position deviation information to the dispatching equipment so that the dispatching equipment replaces the stored current position deviation information with the new position deviation information; and replacing the stored mapping relation between the current position identification information and the current system position coordinate information with the mapping relation between the new position identification information and the current system position coordinate information to realize the mapping between the new position identification code and the current system position coordinate information.

The benefits of this are: the problem of among the prior art if the current position identification code damages when needing to be changed, must save current system position coordinate information in the current position identification code after the change, in case the current position identification code after the change is inconsistent with the current system position coordinate information in the current position identification code before the change or the setting position is inconsistent, then probably lead to the commodity circulation transportation equipment can't go according to the route of planning is solved, the later maintenance degree of difficulty and the maintenance cost of position identification code have been reduced.

According to the technical scheme of the embodiment, on the basis of the embodiment, before target position identification information sent by logistics transportation equipment and position deviation information of the logistics transportation equipment relative to the target position identification code are received, a scheduling instruction is sent to the logistics transportation equipment so as to control the logistics transportation equipment to run along a path in a system map; receiving current position identification information and current position deviation information sent by logistics transportation equipment when the logistics transportation equipment operates to a current ground area; confirm the current system position coordinate information that the current position of commodity circulation transportation equipment corresponds in the system map, the storage current position deviation information and current position identification information with the mapping relation between the current system position coordinate information realizes carrying out the position to the current position identification code and on mapping current system position coordinate information to current position identification information, thereby realized when the construction methods of position identification code has not reached the required precision and the position identification code that sets up promptly and ground reference position sign have the position deviation, can carry out the effect of accurate location to commodity circulation transportation equipment, because this scheme of adoption can not set up the position identification code according to the required precision, consequently can simplify the construction methods when setting up the position identification code, reduce the construction degree of difficulty and cost, improve the efficiency of construction.

Example six

Fig. 6 is a flowchart of a positioning method for logistics transportation equipment according to a sixth embodiment of the present invention, where this embodiment is applicable to a situation where the logistics transportation equipment in warehouse logistics is positioned based on a location identification code, and this method may be executed by a positioning device for logistics transportation equipment in the embodiment of the present invention, and this positioning device may be implemented in a software and/or hardware manner, and may generally be integrated in a scheduling device.

And S610, sending a scheduling instruction to the logistics transportation equipment to control the logistics transportation equipment to run along a path in the system map.

And S620, receiving the current position identification information and the current position deviation information which are sent when the logistics transportation equipment operates to the current ground area.

The current position identification information is position identification information contained in a current position identification code arranged in the current ground area, the current position deviation information is position deviation information of the current position identification code relative to the current ground reference position identification, and the current ground reference position identification is arranged in the current ground area.

S630, determining the current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, and storing the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information.

Establishing a mapping relation between the identification information of the logistics transportation equipment and the current system position coordinate information in a system map, and pre-storing the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information. The pre-stored location may be in a server, a database, or other storage media, and the embodiment of the present invention is not limited thereto.

Optionally, the method further includes:

After the current position identification code is determined to be damaged and a new position identification code is set in the current ground area, the new position identification code is not in any connection with the replaced position identification code, the logistics transportation equipment is controlled to operate to the current ground area by sending a scheduling instruction, new position identification information contained in the new position identification code is determined, and new position deviation information of the new position identification code relative to the current ground reference position identification is determined. Sending the new position identification information and the new position deviation information to the dispatching equipment so that the dispatching equipment replaces the stored current position deviation information with the new position deviation information; and replacing the stored mapping relation between the current position identification information and the current system position coordinate information with the mapping relation between the new position identification information and the current system position coordinate information to realize the mapping between the new position identification code and the current system position coordinate information.

The benefits of this are: the problem of among the prior art if the current position identification code damages when needing to be changed, must save current system position coordinate information in the current position identification code after the change, in case the current position identification code after the change is inconsistent with the current system position coordinate information in the current position identification code before the change or the setting position is inconsistent, then probably lead to the commodity circulation transportation equipment can't go according to planning the route is solved, the later maintenance degree of difficulty and the maintenance cost of position identification code have been reduced.

According to the technical scheme of the embodiment, a scheduling instruction is sent to the logistics transportation equipment to control the logistics transportation equipment to run along a path in a system map; receiving current position identification information and current position deviation information which are sent when the logistics transportation equipment runs to the current ground reference position identification; confirm the current system position coordinate information that the current position of commodity circulation transportation equipment corresponds in the system map, the storage current position deviation information and current position identification information with the mapping relation between the current system position coordinate information realizes carrying out the position to the current position identification code and on mapping current system position coordinate information to current position identification information, thereby realized when the construction methods of position identification code has not reached the required precision and the position identification code that sets up promptly and ground reference position sign have the position deviation, can carry out the effect of accurate location to commodity circulation transportation equipment, because this scheme of adoption can not set up the position identification code according to the required precision, consequently can simplify the construction methods when setting up the position identification code, reduce the construction degree of difficulty and cost, improve the efficiency of construction.

EXAMPLE seven

Fig. 7 is a schematic structural diagram of a positioning device of logistics transportation equipment according to a seventh embodiment of the present invention. The embodiment can be applied to the situation that the logistics transportation equipment is positioned based on the position identification code in the warehouse logistics, the device can be implemented in a software and/or hardware manner, and the device can be integrated in any equipment providing the positioning function of the logistics transportation equipment, as shown in fig. 7, the positioning device of the logistics transportation equipment specifically comprises: a first photographing module 710, a first determining module 720, and a first transmitting module 730.

The first shooting module 710 is used for shooting the target position identification code through a shooting device on the logistics transportation equipment; wherein the target location identification code is disposed at a target ground area;

a first determining module 720, configured to determine target location identification information included in the target location identification code, and determine location deviation information of the logistics transportation equipment relative to the target location identification code;

the first sending module 730 is configured to send the target position identification information and the position deviation information to a dispatching device, so that the dispatching device determines target system position coordinate information corresponding to the target position identification information based on a mapping relationship between pre-stored position identification information and system position coordinate information, determines actual position deviation information of the logistics transportation device relative to the target ground reference position identification according to the received position deviation information and pre-stored position deviation information of the target position identification code relative to the target ground reference position identification, and locates the logistics transportation device according to the actual position deviation information and the target system position coordinate information; wherein the target ground reference location indicator is disposed at the target ground area.

Optionally, the apparatus further comprises:

the third shooting module is used for controlling the logistics transportation equipment to run along a path in a system map according to the scheduling instruction sent by the scheduling equipment, and shooting the current position identification code arranged at the current ground area through a shooting device on the logistics transportation equipment when the logistics transportation equipment runs to each ground area;

a fifth determining module, configured to determine current location identification information included in the current location identification code, and determine current location deviation information of the current location identification code relative to a current ground reference location identification, where the current ground reference location identification is located in the current ground area;

and the fourth sending module is used for sending the current position identification information and the current position deviation information to the dispatching equipment so that the dispatching equipment determines current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, and stores the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information.

Optionally, the fifth determining module is specifically configured to:

Optionally, the apparatus further comprises:

the first control module is used for controlling the logistics transportation equipment to operate to the current ground area according to a scheduling instruction sent by the scheduling equipment after determining that the current position identification code is damaged and setting a new position identification code in the current ground area;

the first replacement module is used for shooting the new position identification code through a shooting device on the logistics transportation equipment; determining new position identification information contained in the new position identification code, determining new position deviation information of the new position identification code relative to a current ground reference position identification, and sending the new position identification information and the new position deviation information to the dispatching equipment, so that the dispatching equipment replaces the stored current position deviation information with the new position deviation information, and replaces the stored mapping relation between the current position identification information and current system position coordinate information with the mapping relation between the new position identification information and the current system position coordinate information.

Optionally, the first determining module is specifically configured to:

The product can execute the positioning method of the logistics transportation equipment provided by the first embodiment or the second embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Example eight

Fig. 8 is a schematic structural diagram of a positioning device of logistics transportation equipment according to an eighth embodiment of the present invention. This embodiment can be applicable to the condition that the logistics transportation equipment was fixed a position based on the position identification code in the storage commodity circulation, and the device can adopt the mode of software and/or hardware to realize, and the device can be integrated in any equipment that provides the locate function of logistics transportation equipment, as shown in fig. 8, the positioner of logistics transportation equipment specifically includes: a second photographing module 810, a second determining module 820, and a second transmitting module 830.

The second shooting module 810 is configured to control the logistics transportation equipment to run along a path in the system map according to the scheduling instruction sent by the scheduling equipment, and shoot the current position identification code arranged in the current ground area through a shooting device on the logistics transportation equipment when the logistics transportation equipment runs to each ground area;

a second determining module 820, configured to determine current location identification information included in the current location identification code, and determine current location deviation information of the current location identification code relative to a current ground reference location identification, where the current ground reference location identification is located in the current ground area;

a second sending module 830, configured to send the current location identifier information and the current location deviation information to the scheduling device, so that the scheduling device determines current system location coordinate information corresponding to the current location of the logistics transportation device in a system map, and stores the current location deviation information and a mapping relationship between the current location identifier information and the current system location coordinate information.

Optionally, the second determining module 820 is specifically configured to:

Optionally, the apparatus further comprises:

the second control module is used for controlling the logistics transportation equipment to operate to the current ground area according to the scheduling instruction sent by the scheduling equipment after the current position identification code is determined to be damaged and a new position identification code is set at the current ground area;

the second replacement module is used for shooting the new position identification code through a shooting device on the logistics transportation equipment; determining new position identification information contained in the new position identification code, determining new position deviation information of the new position identification code relative to a current ground reference position identification, and sending the new position identification information and the new position deviation information to the dispatching equipment, so that the dispatching equipment replaces the stored current position deviation information with the new position deviation information, and replaces the stored mapping relation between the current position identification information and current system position coordinate information with the mapping relation between the new position identification information and the current system position coordinate information.

The product can execute the positioning method of the logistics transportation equipment provided by the third embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Example nine

Fig. 9 is a schematic structural diagram of a positioning device of logistics transportation equipment according to a ninth embodiment of the present invention. The embodiment can be applied to the situation that the logistics transportation equipment in the warehouse logistics is positioned based on the position identification code, the device can be implemented in a software and/or hardware manner, the device can be integrated in any equipment providing the positioning function of the logistics transportation equipment, as shown in fig. 9, the positioning device of the logistics transportation equipment specifically comprises: a first receiving module 910, a third determining module 920, a fourth determining module 930, and a first positioning module 940.

A first receiving module 910, configured to receive target location identification information sent by a logistics transportation device and location deviation information of the logistics transportation device relative to a target location identification code; the target position identification information is position identification information contained in the target position identification code shot by a shooting device on the logistics transportation equipment; the target position identification code is arranged at a target ground area;

a third determining module 920, configured to determine, based on a mapping relationship between pre-stored location identification information and system location coordinate information, target system location coordinate information corresponding to the target location identification information;

a fourth determining module 930, configured to determine actual position deviation information of the logistics transportation equipment relative to a target ground reference position identifier according to position deviation information of the logistics transportation equipment relative to the target position identifier and pre-stored position deviation information of the target position identifier relative to the target ground reference position identifier, where the target ground reference position identifier is located at the target ground area;

and a first positioning module 940, configured to position the logistics transportation device according to the actual position deviation information and the target system position coordinate information.

correspondingly, the fourth determining module 930 is specifically configured to:

obtaining a compensation transverse displacement value according to the second transverse displacement value and the first transverse displacement value;

obtaining a compensation longitudinal displacement value according to the second longitudinal displacement value and the first longitudinal displacement value;

obtaining a compensation angle deviation value according to the second angle deviation value and the first angle deviation value;

and determining actual position deviation information of the logistics transportation equipment relative to the target ground reference position mark according to the compensated transverse displacement value, the compensated longitudinal displacement value and the compensated angle deviation value.

Optionally, the apparatus further comprises:

the fourth sending module is used for sending a scheduling instruction to the logistics transportation equipment to control the logistics transportation equipment to run along a path in the system map before receiving the target position identification information sent by the logistics transportation equipment and the position deviation information of the logistics transportation equipment relative to the target position identification code;

the third receiving module is used for receiving current position identification information and current position deviation information which are sent when the logistics transportation equipment runs to the current ground area; the current position identification information is position identification information contained in a current position identification code arranged in the current ground area, and the current position deviation information is position deviation information of the current position identification code relative to the current ground reference position identification;

and the second storage module is used for determining current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, and storing the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information.

Optionally, the apparatus further comprises:

the fifth sending module is used for sending a scheduling instruction to the logistics transportation equipment to control the logistics transportation equipment to operate to the current ground area after determining that the current position identification code is damaged and setting a new position identification code in the current ground area;

the fourth receiving module is used for receiving new position identification information and new position deviation information sent by the logistics transportation equipment; the new position identification information is position identification information contained in the new position identification code shot by a shooting device on the logistics transportation equipment, and the new position deviation information is position deviation information of the new position identification code relative to the current ground reference position identification;

and the third replacement module is used for replacing the stored current position deviation information with the new position deviation information and replacing the mapping relationship between the stored current position identification information and the current system position coordinate information with the mapping relationship between the new position identification information and the current system position coordinate information.

The product can execute the positioning method of the logistics transportation equipment provided by the fourth embodiment or the fifth embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

Example ten

Fig. 10 is a schematic structural diagram of a positioning device of logistics transportation equipment according to a tenth embodiment of the present invention. The embodiment is applicable to the positioning of the logistics transportation equipment in the warehouse logistics based on the position identification code, the device can be implemented in a software and/or hardware manner, the device can be integrated in any equipment providing the positioning function of the logistics transportation equipment, as shown in fig. 10, and the positioning device of the logistics transportation equipment specifically includes: a third transmitting module 1010, a second receiving module 1020, and a first storing module 1030.

The third sending module 1010 is configured to send a scheduling instruction to the logistics transportation device to control the logistics transportation device to run along a path in the system map before receiving the target location identification information sent by the logistics transportation device and the location deviation information of the logistics transportation device relative to the target location identification code;

a second receiving module 1020, configured to receive current position identification information and current position deviation information sent by the logistics transportation device when the logistics transportation device operates to the current ground area; the current position identification information is position identification information contained in a current position identification code arranged in the current ground area, and the current position deviation information is position deviation information of the current position identification code relative to the current ground reference position identification;

a first storage module 1030, configured to determine current system position coordinate information corresponding to the current position of the logistics transportation device in a system map, and store the current position deviation information and a mapping relationship between the current position identification information and the current system position coordinate information.

Optionally, the apparatus further comprises:

the sixth sending module is used for sending a scheduling instruction to the logistics transportation equipment to control the logistics transportation equipment to run to the current ground area after determining that the current position identification code is damaged and setting a new position identification code at the current ground area;

the fifth receiving module is used for receiving new position identification information and new position deviation information sent by the logistics transportation equipment; the new position identification information is position identification information contained in the new position identification code shot by a shooting device on the logistics transportation equipment, and the new position deviation information is position deviation information of the new position identification code relative to the current ground reference position identification;

and the fourth replacement module is used for replacing the stored current position deviation information with the new position deviation information and replacing the mapping relationship between the stored current position identification information and the current system position coordinate information with the mapping relationship between the new position identification information and the current system position coordinate information.

The product can execute the positioning method of the logistics transportation equipment provided by the sixth embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

EXAMPLE eleven

Fig. 11 is a schematic structural diagram of a logistics transportation apparatus according to an eleventh embodiment of the present invention, and as shown in fig. 11, the logistics transportation apparatus includes a vehicle body 1110, a processor 1120, a memory 1130, and a camera 1140; the number of the processors 1120 in the terminal can be one or more, and one processor 1120 is taken as an example in fig. 11; the processor 1120, the memory 1130, and the camera 1140 in the terminal may be connected by a bus or other means, and the bus connection is exemplified in fig. 11.

The memory 1130 is a computer-readable storage medium, which can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the method for positioning a logistics transportation equipment in the embodiment of the present invention (for example, the first photographing module 710, the first determining module 720, and the first sending module 730 of the positioning device of the logistics transportation equipment, or the second photographing module 810, the second determining module 820, and the second sending module 830 of the positioning device of the logistics transportation equipment). The processor 1120 executes software programs, instructions and modules stored in the memory 1130 to execute various functional applications and data processing of the logistics transportation device, that is, to implement the positioning method of the logistics transportation device, for example, the positioning method of the logistics transportation device provided in any one of the first to third embodiments.

The memory 1130 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. In addition, the memory 1130 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 1130 may further include memory located remotely from the processor 1120, which may be connected to a server over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The camera 1140 is installed at the center of the vehicle body and used for capturing images.

Example twelve

Fig. 12 is a schematic structural diagram of a scheduling apparatus according to a twelfth embodiment of the present invention, as shown in fig. 12, the scheduling apparatus includes a processor 1210 and a memory 1220; the number of the processors 1210 in the scheduling device may be one or more, and one processor 1210 is taken as an example in fig. 12; the processor 1210 and the memory 1220 in the scheduling device may be connected by a bus or other means, and the bus connection is taken as an example in fig. 12.

The memory 1220 is used as a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the positioning method of the logistics transportation equipment in the embodiment of the present invention (for example, the first receiving module 910, the first determining module 920, and the second determining module 930, and the first positioning module 940 of the positioning device of the logistics transportation equipment, or the third sending module 1010, the second receiving module 1020, and the storage module 1030 of the positioning device of the logistics transportation equipment). The processor 1210 executes various functional applications and data processing of the dispatching device by running the software programs, instructions and modules stored in the memory 1220, so as to implement the above-mentioned positioning method for the logistics transportation device, for example, the positioning method for the logistics transportation device provided in any one of the fourth to fifth embodiments.

The memory 1220 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the scheduling apparatus, and the like. Further, the memory 1220 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 1220 can further include memory located remotely from the processor 1210, which can be connected to a server over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

EXAMPLE thirteen

An embodiment thirteen of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for positioning a logistics transportation device, where the method includes:

sending the target position identification information and the position deviation information to a dispatching device, so that the dispatching device determines target system position coordinate information corresponding to the target position identification information based on a mapping relation between pre-stored position identification information and system position coordinate information, determines actual position deviation information of the logistics transportation device relative to a target ground reference position identification according to the received position deviation information and pre-stored position deviation information of the target position identification code relative to the target ground reference position identification, and positions the logistics transportation device according to the actual position deviation information and the target system position coordinate information; wherein the target ground reference location indicator is disposed at the target ground area.

Or, the program is executed by a processor to implement the positioning method of the logistics transportation equipment provided by all the inventive embodiments of this application, and the method includes:

and sending the current position identification information and the current position deviation information to the dispatching equipment so as to enable the dispatching equipment to determine current system position coordinate information corresponding to the current position of the logistics transportation equipment in a system map, and storing the current position deviation information and the mapping relation between the current position identification information and the current system position coordinate information.

Or, when executed by the processor, the program implements a method for positioning a logistics transportation device, which includes:

receiving current position identification information and current position deviation information which are sent when the logistics transportation equipment runs to the current ground reference position identification; the current position identification information is position identification information contained in a current position identification code arranged at the current ground reference position identification, and the current position deviation information is position deviation information of the current position identification code relative to the current ground reference position identification;

Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer 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 computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, 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. In the context of this document, a computer 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.

A computer readable signal medium may include a propagated data signal with computer 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 computer readable signal medium may also be any computer readable medium that is not a computer 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 computer 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.

Computer 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, Smalltalk, 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 computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A positioning method of logistics transportation equipment is characterized by comprising the following steps:

2. The method of claim 1, wherein before acquiring the target location identification code photographed by the photographing device on the logistics transportation equipment, the method further comprises:

controlling the logistics transportation equipment to run along a path in a system map according to the scheduling instruction sent by the scheduling equipment, and when the logistics transportation equipment runs to each ground area: shooting a current position identification code of an area arranged on the current ground by a shooting device on the logistics transportation equipment;

3. The method of claim 2, wherein determining current position deviation information for the current position identification code relative to a current ground reference position identification comprises:

4. The method of claim 2, further comprising:

shooting the new position identification code through a shooting device on the logistics transportation equipment; determining new position identification information contained in the new position identification code, determining new position deviation information of the new position identification code relative to a current ground reference position identification, sending the new position identification information and the new position deviation information to the dispatching equipment, so that the dispatching equipment replaces the stored current position deviation information with the new position deviation information, and replaces the mapping relation between the stored current position identification information and current system position coordinate information with the mapping relation between the new position identification information and the current system position coordinate information.

5. The method of claim 1, wherein determining the positional deviation information of the logistics transportation device relative to the target location identification code comprises:

6. A positioning method of logistics transportation equipment is characterized by comprising the following steps:

7. The method of claim 6, wherein determining current position deviation information for the current position identification code relative to a current ground reference position identification comprises:

8. The method of claim 6, further comprising:

shooting the new position identification code through a shooting device on the logistics transportation equipment; determining new position identification information contained in the new position identification code, determining new position deviation information of the new position identification code relative to the current ground reference position identification, and sending the new position identification information and the new position deviation information to the dispatching equipment, so that the dispatching equipment replaces the stored current position deviation information with the new position deviation information, and replaces the stored mapping relation between the current position identification information and the current system position coordinate information with the mapping relation between the new position identification information and the current system position coordinate information.

9. A positioning method of logistics transportation equipment is characterized by comprising the following steps:

10. The method of claim 9, wherein the positional deviation information of the target location identification code relative to the target ground reference location identification comprises: a first lateral displacement value, a first longitudinal displacement value, and a first angle deviation value; the position deviation information of the logistics transportation equipment relative to the target position identification code comprises the following steps: a second lateral displacement value, a second longitudinal displacement value, and a second angular deviation value;

determining actual position deviation information of the logistics transportation equipment relative to a target ground reference position mark according to position deviation information of the logistics transportation equipment relative to the target position identification code and pre-stored position deviation information of the target position identification code relative to the target ground reference position mark, wherein the method comprises the following steps:

11. The method of claim 9, wherein before receiving the target location identification information sent by the logistics transportation device and the location deviation information of the logistics transportation device relative to the target location identification code, the method further comprises:

receiving current position identification information and current position deviation information sent by logistics transportation equipment when the logistics transportation equipment operates to a current ground area; the current position identification information is position identification information contained in a current position identification code arranged in the current ground area, and the current position deviation information is position deviation information of the current position identification code relative to the current ground reference position identification;

12. The method of claim 11, further comprising:

13. A positioning method of logistics transportation equipment is characterized by comprising the following steps:

14. The method of claim 13, further comprising:

15. A positioner of commodity circulation transportation equipment, characterized in that includes:

the first sending module is used for sending the target position identification information and the position deviation information to a dispatching device so that the dispatching device determines target system position coordinate information corresponding to the target position identification information based on a mapping relation between pre-stored position identification information and system position coordinate information, determines actual position deviation information of the logistics transportation device relative to a target ground reference position identification according to the received position deviation information and the pre-stored position deviation information of the target position identification code relative to the target ground reference position identification, and positions the logistics transportation device according to the actual position deviation information and the target system position coordinate information, wherein the target ground reference position identification is arranged at the target ground area.

16. A positioner of commodity circulation transportation equipment, characterized in that includes:

17. A positioner of commodity circulation transportation equipment, characterized in that includes:

18. A positioner of commodity circulation transportation equipment, characterized in that includes:

19. A logistics transportation equipment, includes the automobile body, its characterized in that, equipment still includes:

a shooting device arranged at the center of the vehicle body;

one or more processors;

a memory for storing one or more programs,

when executed by the one or more processors, cause the one or more processors to implement the method of locating a logistics transportation apparatus of any one of claims 1 to 8.

20. A scheduling apparatus, characterized in that the scheduling apparatus comprises:

one or more processors;

a memory for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the method of locating a logistics transportation apparatus of any of claims 9-14.

21. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the method for locating a logistics transportation apparatus of any one of claims 1-8 or 9-14.