CN114084851A

CN114084851A - Cargo positioning method, device and system, storage medium and electronic equipment

Info

Publication number: CN114084851A
Application number: CN202010766606.1A
Authority: CN
Inventors: 赵瑞祥; 李天航; 郑强
Original assignee: Tsingoal Beijing Technology Co ltd
Current assignee: Tsingoal Beijing Technology Co ltd
Priority date: 2020-08-03
Filing date: 2020-08-03
Publication date: 2022-02-25

Abstract

The application discloses a method, a device, a system, a storage medium and an electronic device for positioning goods, which can avoid goods stacking or high density by acquiring the position information of at least two positioning labels arranged on a transport vehicle and the relative position information of at least one positioning label and a target point, then based on the center of each positioning label of the at least two positioning labels being positioned on the same straight line, and the target point being positioned on the straight line, acquiring the position information of the target point by the position information and the relative position information of the at least two positioning labels, and determining the position information of the target point as the position information of the goods carried by the transport vehicle, i.e. in the application, the positioning label does not need to be arranged on the goods, but the position information of the goods carried by the transport vehicle is determined by the position information of the at least two positioning labels arranged on the transport vehicle, the positioning label signal on the goods is seriously shielded, so that the positioning error is large, and even the signal loss occurs.

Description

Cargo positioning method, device and system, storage medium and electronic equipment

Technical Field

The present disclosure relates to the field of automatic positioning technologies, and in particular, to a method, an apparatus, a system, a storage medium, and an electronic device for positioning goods.

Background

The warehouse is used as a transfer station of goods, plays an important role in the production and circulation of the goods, the goods are usually placed on the trays, and the operation of warehousing, moving, leaving and the like of the goods in the warehouse is completed by forking the trays through the forklift. In the process of warehousing goods, due to the large number of goods, in order to manage the goods, each piece of goods needs to be positioned and tracked.

The existing goods positioning method is to position the goods where the positioning labels are located by utilizing the positioning labels fixed on the goods and adopting a wireless positioning technology, but in the application scene of the stacked warehouses with high goods storage density, the signals of the positioning labels are seriously shielded, so that the positioning error is large, and even the signal loss occurs.

Disclosure of Invention

In view of the above, the present application provides a cargo positioning method, apparatus, system, storage medium and electronic device, and mainly aims to solve at least one technical problem in the prior art.

According to an aspect of the present application, there is provided a cargo positioning method, including:

acquiring position information of at least two positioning tags arranged on a transport vehicle and relative position information of at least one positioning tag and a target point, wherein the centers of the positioning tags in the at least two positioning tags are positioned on the same straight line, and the target point is positioned on the straight line;

determining the position information of a target point according to the position information and the relative position information of the at least two positioning labels;

and determining the position information of the target point as the position information of the goods carried by the transport vehicle.

In one embodiment, the point of the target point projected perpendicularly onto the bearing surface of the load-carrying part carried by the transport vehicle is the center point of the bearing surface.

In one embodiment, determining the position information of the target point according to the position information and the relative position information of at least two positioning tags includes:

determining the direction of the head of the transport vehicle according to the position information corresponding to any two positioning tags in the at least two positioning tags;

and determining the position information of the target point according to the direction of the vehicle head, the position information of at least one positioning label and the relative position information.

In one embodiment, the position information includes first coordinate information of a first coordinate direction and second coordinate information of a second coordinate direction;

according to the position information that two arbitrary location labels correspond respectively in two at least location labels, confirm the locomotive orientation of transport vechicle, include:

determining a first relation, wherein the first relation is a magnitude relation between first coordinate information corresponding to any two positioning labels respectively;

determining a second relation, wherein the second relation is a magnitude relation between second coordinate information corresponding to any two positioning labels respectively;

determining a third relationship, the third relationship comprising: a relationship between the first absolute value information and a preset threshold value and a relationship between the second absolute value information and the preset threshold value;

wherein the first absolute value information includes: absolute value of difference between the first coordinate information respectively corresponding to any two positioning labels; the second absolute value information includes: absolute value of difference between the second coordinate information respectively corresponding to any two positioning labels;

and determining the head orientation of the transport vehicle based on the first relation, the second relation and the third relation.

In one embodiment, determining a heading of the forklift based on the first relationship, the second relationship, and the third relationship comprises:

if x₂＞x₁，x₂－x₁> L and | y₁－y₂If the | is less than or equal to L, determining that the direction of the head of the transport vehicle is opposite to the positive direction of the first coordinate direction;

if y₁＞y₂，|x₂－x₁L and y are less than or equal to₁－y₂If the direction of the head of the transport vehicle is larger than L, the direction of the head of the transport vehicle is determined to be the same as the positive direction of the second coordinate direction;

if x₁＞x₂，x₁－x₂> L and | y₂－y₁If the | is less than or equal to L, determining that the direction of the head of the transport vehicle is the same as the positive direction of the first coordinate direction;

if y₂＞y₁，|x₁－x₂L and y are less than or equal to₂－y₁If the direction of the head of the transport vehicle is larger than L, determining that the direction of the head of the transport vehicle is opposite to the square of the second coordinate direction;

wherein (x)₁，y₁) And (x)₂，y₂) Position information, x, corresponding to any two position tags₁And x₃First coordinate information, y, corresponding to any two positioning tags₁And y₂And respectively corresponding second coordinate information for any two positioning labels, wherein L is a preset threshold value.

In one embodiment, the determining the position information of the target point according to the heading of the vehicle head, the position information of at least one positioning tag and the relative position information includes any one of the following:

determining the estimated position information of the target point based on the heading of the vehicle head, the relative position information of any one positioning tag and the target point in the relative position information of the at least one positioning tag and the target point and the position information of any one positioning tag, and determining the estimated position information of the target point as the position information of the target point;

based on the heading of the vehicle head, the relative position information of the at least two positioning labels and the target point respectively and the corresponding position information, respectively determining the pre-estimated position information corresponding to the target point respectively, and based on the pre-estimated position information corresponding to the target point respectively, determining the position information of the target point.

In one embodiment, if the transportation vehicle is a forklift, determining the estimated position information corresponding to the target point based on the heading of the vehicle head, the relative position information between any one of the positioning tags and the target point, and the position information of the positioning tag includes:

translating the position information of the positioning tag to the direction towards the locomotive by the relative position information of any positioning tag and the target point;

and determining the translated position information as the estimated position information corresponding to the target point.

In one embodiment, the position information of the positioning tag is translated to the direction towards the vehicle head by the relative position information of any positioning tag and the target point; determining the translated position information as the pre-estimated position information corresponding to the target point, wherein the pre-estimated position information comprises the following steps:

if the direction of the head of the forklift is opposite to the positive direction of the first coordinate direction axis, the estimated position information corresponding to the target point is obtained by calculation according to the following formula,

if the direction of the forklift head is the same as the positive direction of the second coordinate direction axis, the estimated position information corresponding to the target point is obtained by calculation according to the following formula,

if the direction of the forklift head is the same as the positive direction of the first coordinate direction axis, the estimated position information corresponding to the target point is obtained by calculation according to the following formula,

if the direction of the head of the forklift is opposite to the square of the second coordinate direction axis, the corresponding estimated position information of the target point is obtained by calculation according to the following formula,

wherein (x)₃，y₃) (x) estimated position information corresponding to the target point_k，y_k) In order to position the position information of the positioning label k, k is 1, 2 … … and N, N is the total number of the positioning labels, d is the relative position information of the positioning label k and the target point transported by the forklift, and the positioning label k isAny positioning tag.

In one embodiment, when the positioning errors corresponding to at least two positioning tags are the same, the preset threshold is not less than 2 times of the positioning error, and the center distance between two adjacent positioning tags is greater than 4 times of the positioning error;

when the positioning errors corresponding to at least two positioning labels are different, the preset threshold value is not less than 2 times of the maximum positioning error, and the central distance between two adjacent positioning labels is greater than 4 times of the maximum positioning error;

the maximum positioning error is the maximum positioning error in the positioning errors respectively corresponding to the at least two positioning labels.

In one embodiment, if the transporter is provided with a reader/writer and the cargo carrying portion is provided with an electronic tag, the method further comprises:

when the reader-writer reads the label information of the electronic label for the first time, the transport vehicle information is bound with the cargo information matched with the label information;

when the reader-writer reads the label information of the electronic label again, unbinding the cargo information matched with the transport vehicle information and the label information;

determining the position information of the goods carried by the goods carrying part when the goods are unbound as the storage position information of the goods;

and determining the goods position information of the goods position stored by the goods based on the storage position information of the goods and the goods position information corresponding to each goods position respectively.

In one embodiment, the method for determining the cargo space of the cargo based on the storage position information of the cargo and the cargo space information corresponding to each cargo space, further includes:

updating the stored association relation between the goods information and the goods position information based on the goods position information of the goods positions stored in the goods;

when the query request is detected, the goods position information corresponding to the goods information is found based on the goods information carried in the query request and the association relationship between the goods information and the goods position information.

In one embodiment, the method for determining the cargo space information of the cargo space where the cargo is stored based on the storage position information of the cargo and the cargo space information corresponding to each cargo space respectively further comprises the following steps:

and displaying the goods information of the goods and the goods position information of the goods at the corresponding position on the electronic map, wherein the corresponding position is the position of the goods on the electronic map.

According to another aspect of the present application, there is provided a positioning device for cargo, including:

the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the position information of at least two positioning tags arranged on a transport vehicle and the relative position information of at least one positioning tag and a target point, the centers of the positioning tags in the at least two positioning tags are positioned on the same straight line, and the target point is positioned on the straight line;

a target point position information determining module for determining the position information of the target point according to the position information and the relative position information of at least two positioning labels

And the cargo position information determining module is used for determining the position information of the target point as the position information of the cargo carried by the transport vehicle.

In one embodiment, the target point location information determining module comprises:

the head orientation determining unit is used for determining the head orientation of the forklift according to the position information corresponding to any two positioning tags in the at least two positioning tags respectively;

and the target point position information determining unit is used for determining the position information of the target point according to the direction of the vehicle head, the position information of at least one positioning label and the relative position information.

the vehicle head orientation determining unit includes:

the first relation determining subunit is used for determining a first relation, wherein the first relation is a magnitude relation between first coordinate information corresponding to any two positioning tags;

a second relation determining subunit, configured to determine a second relation, where the second relation is a magnitude relation between second coordinate information corresponding to any two positioning tags;

a third relationship determining subunit for determining a third relationship, the third relationship comprising: a relationship between the first absolute value information and a preset threshold value and a relationship between the second absolute value information and the preset threshold value;

and the orientation judging subunit is used for determining the head orientation of the forklift based on the first relation, the second relation and the third relation.

In one embodiment, the orientation determination subunit is specifically configured for when x₂＞x₁，x₂－x₁> L and | y₁－y₂When | ≦ L, determining that the direction of the head of the forklift is opposite to the positive direction of the first coordinate direction;

when y is₁＞y₂，|x₂－x₁L and y are less than or equal to₁－y₂When the direction of the head of the transport vehicle is larger than L, the positive direction of the head of the transport vehicle is determined to be the same as the positive direction of the second coordinate direction;

when x is₁＞x₂，x₁－x₂> L and | y₂－y₁When | ≦ L, determining that the direction of the head of the transport vehicle is the same as the positive direction of the first coordinate direction;

when y is₂＞y₁，|x₁－x₂L and y are less than or equal to₂－y₁When the current coordinate is larger than L, determining that the direction of the head of the transport vehicle is opposite to the square of the second coordinate direction;

wherein (x)₁，y₁) And (x)₂，y₂) Position information, x, corresponding to any two position tags₁And x₂First coordinate information, y, corresponding to any two positioning tags₁And y₂And respectively corresponding second coordinate information for any two positioning labels, wherein L is a preset threshold value.

In one embodiment, the target point location information determining unit is specifically configured to any one of:

In one embodiment, when the transportation vehicle is a forklift, the target point position information determining unit is further configured to:

translating the position information of the positioning tag to the direction towards the head of the vehicle, wherein the positioning tag is positioned on the front side of the vehicle;

In one embodiment, the target point position information determining unit is further specifically configured to calculate estimated position information corresponding to the target point according to the following formula when the direction of the head of the forklift is opposite to the positive direction of the first coordinate direction axis,

when the direction of the forklift head is the same as the positive direction of the second coordinate direction axis, the estimated position information corresponding to the target point is obtained by calculation according to the following formula,

when the direction of the forklift head is the same as the positive direction of the first coordinate direction axis, the estimated position information corresponding to the target point is obtained by calculation according to the following formula,

when the direction of the head of the forklift is opposite to the square of the second coordinate direction axis, the corresponding estimated position information of the target point is calculated according to the following formula,

wherein (x)₃，y₃) (x) estimated position information corresponding to the target point_k，y_k) In order to position the location tag k, k is 1, 2 … …, and N, N is the total number of location tags, d is the relative location information between the location tag k and the target point transported by the forklift, and the location tag k is any one of the location tags. .

In one embodiment, when the transport vehicle is provided with a reader/writer and the cargo carrying portion is provided with an electronic tag, the apparatus further comprises:

the binding module is used for binding the transport vehicle information with the cargo information matched with the tag information when the reader-writer reads the tag information of the electronic tag for the first time;

the unbinding module is used for unbinding the cargo information matched with the transport vehicle information and the tag information when the reader-writer reads the tag information of the electronic tag again;

the goods storage position information determining module is used for determining the position information of the goods carried by the goods carrying part when the goods are unbound as the storage position information of the goods;

and the goods position information determining module is used for determining the goods position information of the goods positions stored by the goods based on the storage position information of the goods and the goods position information corresponding to each goods position.

In one embodiment, the apparatus further comprises:

the updating module is used for updating the association relationship between the stored goods information and the goods position information based on the goods position information of the goods positions stored in the goods;

and the searching module is used for searching the goods position information corresponding to the goods information based on the goods information carried in the query request and the association relationship between the goods information and the goods position information when the query request is detected.

In one embodiment, the apparatus further comprises:

and the electronic map display module is used for displaying the goods information of the goods and the goods position information of the goods on the corresponding position on the electronic map, wherein the corresponding position is the position of the goods on the electronic map.

According to another aspect of the application, a positioning system for goods is provided, which comprises a processor, at least two positioning tags arranged on a transport vehicle, wherein the centers of the at least two positioning tags are positioned on the same straight line;

the positioning label is used for positioning;

the processor is used for acquiring the position information of at least two positioning labels and the relative position information of at least one positioning label and a target point, and the target point is positioned on a straight line;

According to another aspect of the present application, there is provided a storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to execute the method for locating an item as described above.

According to yet another aspect of the present application, there is provided an electronic device including: the processor, the memory and the communication interface complete mutual communication through the communication bus;

the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the positioning method of the goods.

By means of the technical scheme, the technical scheme provided by the embodiment of the application at least has the following advantages:

the application provides a cargo positioning method, a device, a system, a storage medium and an electronic device, compared with the prior art for directly positioning the cargo, the cargo positioning method, the device, the system, the storage medium and the electronic device can be used for obtaining the position information of a target point by obtaining the position information of at least two positioning labels arranged on a transport vehicle and the relative position information of at least one positioning label and the target point, then based on the fact that the centers of the positioning labels in the at least two positioning labels are positioned on the same straight line, and the target point is positioned on the straight line, obtaining the position information of the target point through the position information and the relative position information of the at least two positioning labels, and determining the position information of the cargo carried by the transport vehicle as the position information of the cargo carried by the transport vehicle, namely, the cargo does not need to be provided with the positioning labels on the cargo in the application, but determines the position information of the cargo carried by the transport vehicle through the position information of the at least two positioning labels arranged on the transport vehicle, therefore, the situation that the positioning label signals on the goods are seriously shielded due to the stacking of the goods or the high density of the goods, the positioning error is large, and even the signals are lost can be avoided.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a flowchart illustrating a cargo positioning method according to an embodiment of the present application;

FIG. 2 is a diagram illustrating the positioning of a locating tab, a cargo carrying portion, and a target point in one embodiment of the present application;

FIG. 3 illustrates a positioning tab and cargo position relationship diagram according to an embodiment of the present application;

FIG. 4 is a diagram illustrating the position relationship between the location tag, the cargo carrying portion, the reader/writer and the target point in one embodiment of the present application;

FIG. 5 is a flow chart illustrating a method for locating items according to another embodiment of the present application;

FIG. 6 illustrates a scene diagram implemented by another embodiment of the present application;

FIG. 7 is a schematic illustration of the overlap of the error zones of two positioning tags;

FIG. 8 is a schematic diagram illustrating the tangency of the error zones of two positioning tags in an embodiment of the present application;

FIG. 9 is a diagram illustrating the location of two location tags in one embodiment of the present application;

FIG. 10 is a schematic diagram illustrating the tangency of the error zones of two positioning tags in another embodiment of the present application;

FIG. 11 is a flow chart illustrating a method for locating items provided by another embodiment of the present application;

FIG. 12 is a block diagram illustrating an exemplary cargo positioning device according to the present disclosure;

fig. 13 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

An embodiment of the present application provides a cargo positioning method, as shown in fig. 1, where the method may be executed by an electronic device, and the electronic device may be a terminal device, such as a mobile phone or a notebook computer, or may be a server, and the method includes:

step S101: the method comprises the steps of obtaining position information of at least two positioning labels arranged on a transport vehicle and relative position information of at least one positioning label and a target point. The centers of all the positioning labels in the at least two positioning labels are positioned on the same straight line, and the target point is positioned on the straight line.

For the embodiments of the present application, the transportation vehicle is provided with a cargo carrying portion, and the cargo carrying portion may be a pallet or a container device capable of carrying cargo, such as a fork tray or a container. In the present embodiment, the position of the target point is determined as the position of the cargo carried on the transporter.

For the embodiment of the application, the number of the positioning tags arranged on the transport vehicle can be two, or can be more than two, and in the embodiment of the application, the centers corresponding to the positioning tags are located on the same straight line with the target point.

In a possible implementation manner in the embodiment of the present application, the target point may be preset.

Specifically, in the embodiment of the present application, the vertical projection point of the target point on the bearing surface of the cargo carrying part carried by the transportation vehicle is the center point of the bearing surface. That is, the intersection point between the plane of each positioning tag and the straight line perpendicular to the plane of the cargo carrying portion and at the center point of the overload cargo carrying portion is the target point. That is, after the target point is determined, each positioning tag is set based on the relationship that the target point and each center point of each positioning tag are located on the same straight line.

For example, as shown in fig. 2, the positioning tag 4 may be generally disposed on the roof of the forklift 1, i.e. the target point g is the intersection point between a straight line perpendicular to the loading portion 2 and the center point f of the overload loading portion 2 and the plane s of the roof. The target point g also generally coincides with the center point of the load 3 when the truck transports the load 3. f is the center point of the cargo carrying part, since fig. 2 is a two-dimensional plan view, i.e. point f in fig. 2 is only schematic.

In the embodiment of the present application, since the positioning tags are set in association with the target points, but the determination of the target points is associated with the positions of the center points of the cargo portions, the types of the cargo portions are different, the positions of the center points are also different, and the positions of the positioning tags are also different, the positions of the center points of the various types of cargo portions can be predetermined, and the position information of the positioning tags corresponding to the various types of cargo portions can be determined, for example, as shown in fig. 3, the position of the center point f of the cargo portion 2 is predetermined, and further, the positioning tag 4 can be determined by using a straight line n1 which is a vertical straight line n2 where the center point f is located and a straight line n2 which is perpendicular to a straight line n2 on the plane where the roof of the forklift 1 is located, and the straight line n1 generally coincides with the central axis of the roof. In the embodiments of the present application, the center point of the loading portion is referred to as the center point position corresponding to the loading portion when the loading portion is loaded to the transportation vehicle. For example, the center point of the load carrying portion concerned is the center point of the load carrying portion corresponding to the fork truck inserted into the load carrying portion.

In this embodiment, the obtaining manner of the position information of at least two positioning tags on the transportation vehicle may adopt a plurality of UWB (Ultra wide band) base stations arranged in the warehouse, and adopt a TDOA (Time Difference of Arrival) positioning algorithm, an AOA (Angle of Arrival) algorithm, or a TOF (Time of Flight) algorithm, etc. to achieve the measurement and calculation of the position information of the positioning tags, where the UWB base stations are disposed on the ceiling at the top of the warehouse, so that the signal of the UWB base station covers the warehouse, which not only saves space but also achieves the purpose of reducing signal interference, and of course, other existing manners, such as bluetooth positioning, may also be used to obtain the position information of the positioning tags, which is not strictly limited in this embodiment.

In this embodiment, the relative position information of one positioning tag and the target point is specifically a straight-line distance between the center of the positioning tag and the target point.

Specifically, the relative position information of any positioning tag and the target point may be obtained by measurement in advance, or may be obtained by calculation according to the following formula (1). In the embodiment of the present application, any manner that can obtain the relative position information between the positioning tag and the target point is within the protection scope of the present application, and is not limited.

Wherein d is the relative position information of any positioning label and the target point, b₁Width of the cargo carrying part, b₂Is the horizontal distance between any tag and the reader/writer, b₃The distance between the card reader and the long side of the loading part. Specifically, as shown in fig. 4, the relative position information between the positioning tag a and the target point g is d, and the width of the cargo carrying portion 2 is b₁The horizontal distance between the positioning tag A and the reader/writer 5 is b₂The distance between the card reader 5 and the long side m of the cargo carrying part is b₃。

Step S102: and determining the position information of the target point according to the position information and the relative position information of the at least two positioning labels.

Step S103: and determining the position information of the target point as the position information of the goods carried by the transport vehicle.

Compared with the prior art of directly positioning the goods, the method for positioning the goods provided by this embodiment obtains the position information of at least two positioning tags arranged on the transportation vehicle and the relative position information of at least one positioning tag and the target point, then obtains the position information of the target point based on the center of each positioning tag of the at least two positioning tags being located on the same straight line, and determines the position information of the target point as the position information of the goods carried by the transportation vehicle, that is, in this application, the positioning tag does not need to be arranged on the goods, but the position information of the goods carried by the transportation vehicle is determined by the position information of the at least two positioning tags arranged on the transportation vehicle, so as to avoid stacking or having a high density of the goods, the positioning label signal on the goods is seriously shielded, so that the positioning error is large, and even the signal loss occurs.

Further, as a refinement and an extension of the specific implementation of the above embodiment, in another embodiment of the present application, in order to fully illustrate the implementation process of the embodiment, a method for positioning a cargo is provided, as shown in fig. 5, the method specifically includes the following steps:

step S501: the method comprises the steps of obtaining position information of at least two positioning labels arranged on a transport vehicle and relative position information of at least one positioning label and a target point. The centers of all the positioning labels in the at least two positioning labels are positioned on the same straight line, and the target point is positioned on the straight line.

For the embodiment of the present application, the position information includes first coordinate information in a first coordinate direction and second coordinate information in a second coordinate direction. The first coordinate direction and the second coordinate direction are two coordinate directions in a warehouse coordinate system respectively. Specifically, an XY coordinate system is established in the warehouse, the XY coordinate system is a warehouse coordinate system, the first coordinate direction is the direction of the x axis, the second coordinate direction is the direction of the y axis, the positive direction of the first coordinate direction is the direction indicated by the arrow of the x axis, and the positive direction of the second coordinate direction is the direction indicated by the arrow of the y axis. In this embodiment, the east direction may be set as the direction indicated by the arrow of the x-axis, the north direction may be set as the direction indicated by the arrow of the y-axis, and of course, other directions may also be set as the directions indicated by the arrows of the x-axis and the y-axis, and this embodiment is not limited strictly. The first coordinate information is a value corresponding to an x-axis in an XY coordinate system, and the second coordinate information is a value corresponding to a y-axis in the XY coordinate system.

Step S502: and determining the direction of the head of the transport vehicle according to the position information corresponding to any two positioning tags in the at least two positioning tags.

Any two of the at least two positioning tags are two of all the positioning tags selected at will, that is, the two selected positioning tags may be two adjacent positioning tags or two non-adjacent positioning tags. Specifically, in an exemplary application scenario, as shown in fig. 6, a positioning tag a, a positioning tag b, and a positioning tag c are sequentially arranged on the forklift from the front to the rear, and any two tags are selected from the three positioning tags, that is, the positioning tag a and the positioning tag b, the positioning tag a and the positioning tag c, or the positioning tag b and the positioning tag c can be selected.

In a possible implementation manner, step S502 may specifically include the following steps:

step S5021 (not shown in the figure): and determining a first relation, wherein the first relation is a magnitude relation between first coordinate information corresponding to any two positioning labels respectively.

For example, in the scenario shown in fig. 6, taking the selection of the positioning tag a and the positioning tag b as an example, assuming that the position information of the positioning tag a is (10,15), and the position information of the positioning tag b is (9,8), such that the first coordinate information of the positioning tag a is 10, the first coordinate information of the positioning tag b is 9, and the first coordinate information 10 of the positioning tag a is greater than the first coordinate information 9 of the second positioning tag b, thereby determining the first relationship.

Step S5022 (not shown in the figure): and determining a second relation, wherein the second relation is a magnitude relation between second coordinate information respectively corresponding to any two positioning labels.

Continuing to adopt the above example, the second coordinate information of the positioning tag a is 15, the second coordinate information of the positioning tag b is 8, and the second coordinate information 15 of the positioning tag a is greater than the second coordinate information 8 of the positioning tag b, so that the second relationship is determined.

Step S5023 (not shown in the figure): determining a third relationship, the third relationship comprising: a relationship between the first absolute value information and a preset threshold value and a relationship between the second absolute value information and the preset threshold value.

Wherein the first absolute value information includes: absolute value of difference between the first coordinate information respectively corresponding to any two positioning labels; the second absolute value information includes: and the absolute value of the difference between the second coordinate information corresponding to any two positioning labels respectively.

Continuing to adopt the above example, assuming that the preset threshold is 4, the absolute value of the difference between the first coordinate information respectively corresponding to the positioning tag a and the positioning tag b is 1, that is, the first absolute value information is 1; the absolute value of the difference between the second coordinate information corresponding to the positioning tag a and the positioning tag b is 7, that is, the second absolute value information is 7, the first absolute value information 1 is smaller than the preset threshold 4, and the second absolute value information 7 is larger than the preset threshold 4, so as to determine the third relationship. In the embodiment of the present application, step S5021, step S5022 and step S5023 may be executed simultaneously or not, where the execution sequence of step S5021, step S5022 and step S5023 is not limited, and any possible execution sequence is within the protection scope of the present application.

Because the positioning tags have certain positioning errors, the position information obtained based on each positioning tag is not necessarily the position information of the center of the positioning tag, and may fall into an error area defined by taking the center of the positioning tag as the center and the radius of the positioning error, therefore, the error areas defined by the respective positioning errors of the two adjacent positioning tags cannot be overlapped, so as to ensure that the position information determined by the two positioning tags is different, and avoid the problem that the head orientation of the transport vehicle cannot be determined subsequently as the position information F obtained by the two positioning tags shown in fig. 7 is the same, thereby improving the accuracy of determining the head orientation of the transport vehicle.

Since the positioning labels used are not necessarily products of the same batch, the positioning errors of all the positioning labels may be the same, or at least one of the positioning labels may be different from the positioning errors of the other positioning labels.

When the positioning errors corresponding to at least two positioning labels are the same, the preset threshold value is not less than 2 times of the positioning errors, and the center distance between two adjacent positioning labels is greater than 4 times of the positioning errors. In particular, in the case where the positioning errors of all the positioning tags on the forklift are the same, in order to ensure that they are adjacent to each otherWhen the first absolute value information between any point of the error area of one positioning label and any point of the error area of the adjacent positioning label is larger than the tangency of the two areas, the maximum value of the difference value of the first coordinate information between the tangency point and the point of the error area is 2 times of the positioning error, namely the central distance between the two adjacent positioning labels is larger than 4 times of the positioning error. Taking the positioning tag a and the positioning tag b, where the positioning error is r, for example, in order to ensure that the error regions respectively defined by the positioning errors of the positioning tag a and the positioning tag b cannot coincide with each other, it is required to ensure that when the first absolute value between any point of the error region defined by the positioning error of the positioning tag a and any point of the error region of the positioning tag b is greater than the two regions shown in fig. 8, the tangent point P and the point a are tangent to each other₁Or point b₁The difference between the first coordinate information, i.e., 2r, that is, the center o of the positioning tag a₁And center o of positioning tag b₂The distance therebetween is greater than 4r as shown in particular in fig. 9. Based on that a first absolute value between any point of an error area of one positioning label and any point of an error area of an adjacent positioning label is greater than 2 times of the positioning error, the preset threshold value is not less than 2 times of the positioning error.

When the positioning errors corresponding to at least two positioning labels are different, the preset threshold value is not less than 2 times of the maximum positioning error, and the central distance between two adjacent positioning labels is greater than 4 times of the maximum positioning error; the maximum positioning error is the maximum positioning error in the positioning errors respectively corresponding to the at least two positioning labels. Under the condition that the positioning errors corresponding to at least two positioning labels on a transport vehicle are different, in order to ensure that error areas defined by the respective positioning errors of the two adjacent positioning labels cannot coincide, when a first absolute value between any point of the error area of one positioning label and any point of the error area of the adjacent positioning label is larger than that of the two areas, the maximum value of a first coordinate information difference between a tangent point and a point on the error area is 2 times of the maximum positioning error, so that the two adjacent positioning labels are positionedThe center distance is set to be greater than 4 times the maximum positioning error. Using a positioning label a and a positioning label b, wherein the positioning error of the positioning label a is r₁The positioning error of the positioning label b is r₂And r is₁＞r₂For example, in order to ensure that the positioning labels a and b cannot be overlapped by their respective error regions, if the first absolute value information between any point on the error region of the positioning label a and any point on the error region of the positioning label b is greater than the first absolute value information between the two regions shown in fig. 10, the tangent point P is tangent to the point a₂The difference between the first coordinate information, i.e. 2r₁(ii) a Thus locating the center o of tag a₁And center o of positioning tag b₂Is greater than 4r₁. And based on that the absolute value information between any point of the error area of one positioning label and any point of the error area of the adjacent positioning label is greater than 2 times of the maximum positioning error, the preset threshold value is not less than 2 times of the maximum positioning error.

Step S5024 (not shown in the figure): and determining the head orientation of the transport vehicle based on the first relation, the second relation and the third relation.

In particular, if x₂＞x₁，x₂－x₁> L and | y₁－y₂If the | is less than or equal to L, determining that the direction of the head of the transport vehicle is opposite to the positive direction of the first coordinate direction;

if y₂＞y₁，|x₁－x₂L and y are less than or equal to₂－y₁If the direction of the head of the transport vehicle is larger than L, the positive direction of the head of the transport vehicle is opposite to the positive direction of the second coordinate direction;

Continuing with the above example, selecting the location label a and the location label b, and the location information (x) of the location label a₁，y₁) To (10,15), position information (x) of the tag b is located₂，y₂) To (9,8), if the preset threshold value L is 4, the first coordinate direction is the direction of the x-axis in the XY coordinate system, the second coordinate direction is the direction of the y-axis in the XY coordinate system, the positive direction of the first coordinate direction is the direction indicated by the arrow of the x-axis, the positive direction of the second coordinate is the direction indicated by the arrow of the y-axis, the east direction is the direction indicated by the arrow of the x-axis, the north direction is the direction indicated by the arrow of the y-axis, the first coordinate information is the value corresponding to the x-axis in the XY coordinate system, and the second coordinate information is the value corresponding to the y-axis in the XY coordinate system, so that the y-axis is satisfied by the above-mentioned determination conditions₂＞y₁，|x₁－x₂L and y are less than or equal to₂－y₁If the direction is more than L, the direction of the head of the transport vehicle is determined to be the same as the direction pointed by the arrow of the y axis, namely the head faces north. Other combinations and comparison manners of selecting the positioning tags may adopt the manners illustrated above, and the details are not described in this embodiment.

Step S503: and determining the position information of the target point according to the orientation of the vehicle head, the position information and the relative position information of at least one positioning label, and determining the position information of the target point as the position information of the goods carried by the transport vehicle.

The position information and the relative position information of at least one positioning tag may be the position information and the relative position information of any one of all the tags, may also be the position information and the respective corresponding relative position information of at least two positioning tags of all the positioning tags, and may also be the position information and the respective corresponding relative information of all the positioning tags, for example, as shown in fig. 6, a positioning tag a, a positioning tag b and a positioning tag c are provided in a forklift, wherein the position information and the relative position information of at least one positioning tag may be the position information of one positioning tag and the relative position information between the positioning tag and a target point, such as the position information of a positioning tag a and the relative position information between a positioning tag a and a target point, or the position information and the respective corresponding relative position information of any two positioning tags, for example, the position information of the positioning tag a, the relative position information between the positioning tag a and the target point, the position information of the positioning tag b, and the relative position information between the positioning tag b and the target point may be all the positioning tags, that is, the position information of the positioning tag a, the relative position information between the positioning tag a and the target point, the position information of the positioning tag b, the relative position information between the positioning tag b and the target point, the position information of the positioning tag c, and the relative position information between the positioning tag c and the target point.

In an optional embodiment, determining the position information of the target point according to the heading of the vehicle head and the position information and the relative position information of at least one positioning tag may specifically include: and determining the estimated position information of the target point based on the vehicle head orientation, the relative position information of any one positioning tag and the target point in the relative position information of the at least one positioning tag and the target point and the position information of any one positioning tag, and determining the estimated position information of the target point as the position information of the target point.

Further, the determined position information of the target point is determined as the position information of the goods where the transport vehicle is located.

For the embodiment of the present application, any positioning tag related to the relative position information between any positioning tag and the target point and the position information of any positioning tag is the same positioning tag.

Continuing to adopt the above example, the relative position information between any one of the positioning tags and the target point and the position information of any one of the positioning tags in the relative position information between at least one of the positioning tags and the target point are the relative position information between the positioning tag a and the target point and the position information of the positioning tag a, or the relative position information between the positioning tag b and the target point and the position information of the positioning tag b, or the relative position information between the positioning tag c and the target point and the position information of the positioning tag c.

A possible implementation manner of the embodiment of the application, determining the estimated position information of the target point based on the relative position information of any one of the vehicle head orientation, the relative position information of the at least one positioning tag and the target point, and the position information of any one of the positioning tags, may specifically include: if the direction of the arrangement of the cargo carrying part of the transport vehicle is opposite to the direction of the head of the transport vehicle, translating the position information of the positioning tag to the direction opposite to the direction of the head of the transport vehicle according to the relative position information of the positioning tag and the target point; and the translated position information is used as the estimated position information of the target point.

In another possible implementation manner of the embodiment of the application, if the transport vehicle is a forklift, determining the estimated position information of the target point based on the relative position information of any one of the head orientation, the relative position information of the at least one positioning tag and the target point, and the position information of any one of the positioning tags, may specifically include the following:

the method comprises the following steps: and translating the position information of the positioning tag to the direction towards the locomotive by the relative position information of any positioning tag and the target point.

Step two: and determining the translated position information as the estimated position information corresponding to the target point.

Specifically, if the direction of the head of the forklift is opposite to the positive direction of the first coordinate direction axis, the estimated position information corresponding to the target point is calculated according to the following formula,

wherein (x)₃，y₃) (x) estimated position information corresponding to the target point_k，y_k) In order to obtain the position information of the positioning tag k, k is 1, 2 … …, and N, N is the total number of the positioning tags, d is the relative position information of the positioning tag k and the target point, and the positioning tag k is any one of the positioning tags.

Further, the position information of the target point is determined in the above embodiment, so as to obtain the position information of the goods transported by the forklift, that is, the position information of the goods transported by the forklift is the position information of the determined target point.

Continuing to adopt the above example, selecting a positioning tag a and a positioning tag b, where the position information of the positioning tag a is (10,15), the position information of the positioning tag b is (9,8), the preset threshold L is 4, the first coordinate direction is the direction of the x-axis in the XY coordinate system, the second coordinate direction is the direction of the y-axis in the XY coordinate system, the positive direction of the first coordinate direction is the direction indicated by the arrow of the x-axis, the positive direction of the second coordinate is the direction indicated by the arrow of the y-axis, the east direction is set as the direction indicated by the arrow of the x-axis, the north direction is set as the direction indicated by the arrow of the y-axis, the first coordinate information is the value corresponding to the x-axis in the XY coordinate system, and the second coordinate information is the value corresponding to the y-axis in the XY coordinate system, so as to determine that the direction indicated by the arrow of the forklift is the same as the direction indicated by the y-axis, that the forklift is in the north direction, and then, the positioning tag a, b, and b, then the positioning tag a, b, c, Selecting any one of the positioning tags b and c, taking the selected positioning tag a and the corresponding relative position information d of the positioning tag a and the target point as 5 as an example, according to the direction of the vehicle head and the following corresponding formula,

estimated position information x corresponding to target point₃＝10，y₃And 15+ 5-20, the estimated position information (10,20) corresponding to the target point.

In the implementation mode, through the orientation of the vehicle head, the position information of one of the positioning tags is translated to the corresponding relative position information along the orientation direction of the vehicle head, so that the position information of the target point can be obtained, a complex positioning algorithm is avoided, and the positioning accuracy of the goods is also ensured.

In another optional embodiment, determining the position information of the target point according to the heading of the vehicle head and the position information and the relative position information of at least one positioning tag may specifically include: based on the heading of the vehicle head, the relative position information of the at least two positioning labels and the target point respectively and the corresponding position information, respectively determining the pre-estimated position information corresponding to the target point respectively, and based on the pre-estimated position information corresponding to the target point respectively, determining the position information of the target point.

Further, after determining the position information of the target point, the position information of the target point is determined as the position information of the cargo.

For the embodiment of the present application, based on the heading of the vehicle head, the relative position information between any one of the positioning tags and the target point, and the position information of the positioning tag, the calculation manner of determining the estimated position information corresponding to the target point is described in detail in the above-mentioned determination manner of the estimated position information corresponding to the target point, and is not described herein again.

Continuing to adopt the above example, taking the example of selecting any two positioning tags from the positioning tags a, b and c, specifically selecting the positioning tags a and b, the position information of the positioning tags a is (10,15), the position information of the positioning tags b is (9,8), assuming that the relative position information of the positioning tags a and the target point is 5, and the relative position information of the positioning tags b and the target point is 10, respectively obtaining the estimated position information determined by the positioning tags a as (10,20), the estimated position information determined by the positioning tags b as (9,18) according to the above formula, then respectively obtaining the average value of the first coordinate information and the second coordinate information of the two estimated position information as (9.5,19), determining the average value as the position information of the target point, thus using the mode of summing and averaging the plurality of estimated position information, and further correcting the position information of the target point, and improving the positioning accuracy. In the embodiment of the present application, when determining the position information of the target point based on the estimated position information respectively corresponding to the target point, the method is not limited to an averaging method, and any method for determining the position information of the target point based on the estimated position information respectively corresponding to the target point is within the protection scope of the embodiment of the present application.

Further, as a refinement and an extension of the specific implementation of the above embodiment, in another embodiment of the present application, a reader/writer is disposed on the transportation vehicle, and the cargo carrying portion is disposed with an electronic tag, as shown in fig. 11, the method specifically includes the following steps:

step S1101: when the reader-writer reads the label information of the electronic label for the first time, the transport vehicle information and the cargo information matched with the label information are bound.

The goods information includes, but is not limited to, the name of the goods, the warehousing time and the like, and the forklift information includes, but is not limited to, the serial number of the forklift, the model of the forklift and the like.

To this application embodiment, carry and bear the goods on the portion of carrying cargo, when haulage vehicle loaded the goods, the electronic tags that this portion of carrying cargo set up was read for the first time to the read write line that sets up on the haulage vehicle to the realization is bound haulage vehicle and the goods information that the label information matches.

In a possible implementation manner of the embodiment of the application, if the transport vehicle is a forklift, the reader-writer can be arranged on the upper surface of a fork of the forklift, and the electronic tag can be arranged on a track of the cargo carrying part, so that in the process that the fork is inserted into the track, the reader-writer is contacted with the electronic tag and can read tag information of the electronic tag, wherein the tag information is an ID (identity) number of the cargo carrying part, and the ID number of each cargo carrying part is matched with the cargo information of the currently loaded cargo; and when the reader-writer reads the tag information of the electronic tag, the forklift information is bound with the goods information matched with the tag information, so that the working personnel can master the use condition of each forklift and the goods conveyed by each forklift in the transportation state, the forklift is convenient to dispatch, and the working efficiency of the working personnel is improved.

Step S1102: and when the reader-writer reads the label information of the electronic label again, unbinding the cargo information matched with the transport vehicle information and the label information.

For the embodiment of the application, when the transport vehicle unloads the goods, the reader-writer arranged on the transport vehicle is overlapped with the electronic tag on the goods, so that the tag information of the electronic tag is read again, and at the moment, the goods information matched with the transport vehicle information and the tag information can be unbound.

Taking a forklift as an example, after the forklift transports goods to a specified goods position, the goods fork of the forklift is drawn out from the track of the goods loading part, in the drawing process, after the reader-writer is contacted with the electronic tag again, the tag information of the electronic tag can be read again, and when the reader-writer reads the tag information of the electronic tag again, the goods information matched with the tag information is unbound, so that after the transportation task of the forklift is completed, the corresponding relation between the forklift and the corresponding transported goods is automatically removed, manual operation is not needed, and the workload of workers is reduced.

Step S1103: and determining the position information of the goods carried by the goods carrying part when the goods are unbound as the storage position information of the goods.

Step S1104: and determining the goods position information of the goods position stored by the goods based on the storage position information of the goods and the goods position information corresponding to each goods position respectively.

The cargo space information of each cargo space includes, but is not limited to, cargo space position information, cargo space number, and the like. The storage position information of the goods is compared with the goods position information, the goods position information of the goods position stored by the goods is determined according to the goods position information of the goods position closest to the storage position information of the goods, so that a worker can master the goods position where each goods position is located or the goods stored in each goods position, and the management of the goods positions and the search of the goods are facilitated.

Step S1105: and updating the association relation between the stored goods information and the goods position information based on the goods position information of the goods positions stored in the goods.

Updating the stored association relationship between the cargo information and the cargo space information includes, but is not limited to, replacing the association relationship between the original cargo information and the cargo space information and the association relationship between the newly added cargo information and the cargo space information.

Illustratively, in an example, the association relationship between the cargo information of the cargo a and the cargo space information of the cargo space a is stored in the electronic device in advance, and assuming that the cargo a has been delivered out of the warehouse, that is, the cargo a has left the cargo space a, and then the cargo B exists on the cargo space a, the association relationship between the cargo information of the cargo B and the cargo space information of the cargo space a is established, and the previously stored cargo information of the cargo a and the cargo space information of the cargo space a are replaced, that is, the stored association relationship between the cargo information and the cargo space information is updated.

In another example, the cargo space a is an empty cargo space, that is, the cargo space information of the cargo space a does not have an association relationship with the cargo information of the existing cargo. When the goods B are stored in the goods space A, an association relationship between the goods information of the goods B and the goods space information of the goods space A is newly established, and the association relationship is stored.

In this embodiment, the incidence relation between the goods information and the goods location information is updated, and the accuracy of the corresponding relation between the goods information and the goods location information is ensured.

Further, step S1105 and steps S1101-S1104 do not have a strict execution sequence, and any possible execution sequence is within the protection scope of the present application.

Step S1106: when the query request is detected, the goods position information corresponding to the goods information is found based on the goods information carried in the query request and the association relationship between the goods information and the goods position information.

By utilizing the cargo information carried in the query request and the incidence relation between the cargo information and the cargo position information, the worker can query the cargo position of the cargo, so that the worker can conveniently and quickly find the required cargo.

Further, step S1106 does not have a strict execution sequence from step S1101 to step S1105, and any possible execution sequence is within the scope of the present application.

Step S1107: and displaying the goods information of the goods and the goods position information of the goods at the corresponding position on the electronic map, wherein the corresponding position is the position of the goods on the electronic map.

Illustratively, goods a are placed on a goods yard a, the goods information of the goods a includes a goods name a and warehousing time of the goods a is 2012, 10 and 11 days, etc., the weight of the goods a is 100kg, the goods yard information of the goods yard a includes position information of the goods yard a, a number 5 of the goods yard a, etc., so that the goods yard information of the goods a (i.e., the goods name a and warehousing time of the goods a is 2012, 10 and 11 days, etc., the weight of the goods a is 100kg, etc.) and the goods information of the goods a (i.e., the position information of the goods yard a, the number 5 of the goods yard a, etc.) are marked at a position on the electronic map corresponding to the position information of the goods yard a.

The electronic map includes, but is not limited to, a GIS (Geographic Information System) map, a GPS (Global Positioning System) map, and the like.

In this embodiment, the goods location information of each goods and the goods location information where the goods are located are displayed at the corresponding positions on the electronic map, so that the staff can more visually check the goods locations where the goods are located and the positions of the goods, and the goods locations where the goods are located can be found more quickly through the electronic map, thereby further facilitating the staff to quickly find the needed goods and master the use conditions of the goods locations.

Further, step S1107 has no strict execution sequence from step S1101 to step S1106, and any possible execution sequence is within the protection scope of the present application.

The description of any of the embodiments above may be applicable to various embodiments.

Further, as an implementation of the foregoing method, an embodiment of the present application provides a positioning device for a cargo, as shown in fig. 12, the device includes:

an obtaining module 1201, configured to obtain position information of at least two positioning tags disposed on a transport vehicle and relative position information of at least one positioning tag and a target point, where centers of the at least two positioning tags are located on a same straight line, and the target point is located on the straight line;

a target point position information determining module 1202, configured to determine position information of a target point according to position information and relative position information of at least two positioning tags

And a cargo position information determining module 1203, configured to determine the position information of the target point as position information of the cargo carried by the transport vehicle.

Further, the vertical projection point of the target point on the bearing surface of the loading part carried by the transport vehicle is the central point of the bearing surface.

In a specific application scenario, the target point location information determining module 1202 includes:

In a specific application scene, the position information comprises first coordinate information in a first coordinate direction and second coordinate information in a second coordinate direction; the vehicle head orientation determining unit includes:

In a specific application scenario, the orientation determination subunit is specifically used for x₂＞x₁，x₂－x₁> L and | y₁－y₂When | ≦ L, determining that the direction of the head of the forklift is opposite to the positive direction of the first coordinate direction;

wherein (x)₁，_y1) And (x)₂，y₂) Position information, x, corresponding to any two position tags₁And x₂First coordinate information, y, corresponding to any two positioning tags₁And y₂Second coordinate information respectively corresponding to any two positioning labelsAnd L is a preset threshold value.

In a specific application scenario, the target point location information determining unit is specifically configured to any one of:

In a specific application scenario, when the transport vehicle is a forklift, the target point position information determining unit is further specifically configured to:

In a specific application scene, the target point position information determining unit calculates estimated position information corresponding to the target point according to the following formula when the direction of the head of the forklift is opposite to the positive direction of the first coordinate direction axis,

Further, when the positioning errors corresponding to at least two positioning labels are the same, the preset threshold is not less than 2 times of the positioning error, and the center distance between two adjacent positioning labels is greater than 4 times of the positioning error; when the positioning errors corresponding to at least two positioning labels are different, the preset threshold value is not less than 2 times of the maximum positioning error, and the central distance between two adjacent positioning labels is greater than 4 times of the maximum positioning error; the maximum positioning error is the maximum positioning error in the positioning errors respectively corresponding to the at least two positioning labels.

It should be noted that other corresponding descriptions of the functional units related to the positioning device for goods provided in this embodiment may refer to the corresponding descriptions in the foregoing embodiments, and are not described herein again.

Further, as an implementation of the foregoing method, in another possible implementation manner of the embodiment of the application, if the transport vehicle is provided with a reader/writer, and the cargo-carrying portion is provided with an electronic tag, the apparatus further includes:

the goods position information determining module is used for determining the goods position information of the goods positions stored by the goods based on the storage position information of the goods and the goods position information corresponding to each goods position;

the searching module is used for searching the goods position information corresponding to the goods information based on the goods information carried in the query request and the incidence relation between the goods information and the goods position information when the query request is detected;

Further, as an implementation of the above method, an embodiment of the present application provides a cargo positioning system, which includes a processor and at least two positioning tags disposed on a transport vehicle, where centers of the at least two positioning tags are located on a same straight line;

the positioning label is used for positioning;

It should be noted that, for the corresponding description related to the cargo positioning system provided in this embodiment, reference may be made to the corresponding description in the foregoing embodiment, and details are not repeated here.

According to an embodiment of the present application, there is provided a storage medium storing at least one executable instruction, where the computer executable instruction may execute the method for positioning the cargo in any of the above method embodiments.

According to an embodiment of the present application, as shown in fig. 13, a schematic structural diagram of an electronic device is shown, and a specific embodiment of the present application does not limit a specific implementation of the electronic device.

As shown in fig. 13, the electronic device may include: a processor (processor)1301, a Communications Interface (Communications Interface)1302, a memory (memory)1303, and a Communications bus 1305. Wherein: the processor 1301, the communication interface 1302, and the memory 1303 communicate with each other via a communication bus 1305.

A communication interface 1302 for communicating with network elements of other devices, such as clients or other servers.

The processor 1301 is configured to execute the program 1304, and may specifically execute the cargo positioning method.

In particular, the program 1304 may include program code comprising computer operational instructions.

The processor 1301 may be a central processing unit CPU, or an application Specific Integrated circuit asic, or one or more Integrated circuits configured to implement embodiments of the present application. The electronic device comprises one or more processors, which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.

And a memory 1303 for storing programs. The memory 1303 may comprise a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

It will be apparent to those skilled in the art that the modules or steps of the present application described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of locating cargo, comprising:

determining the position information of the target point according to the position information of the at least two positioning labels and the relative position information;

2. The method of claim 1, wherein the vertically projected point of the target point on the bearing surface of the load carrying part carried by the transporter is a center point of the bearing surface.

3. The method according to claim 1 or 2, wherein the determining the position information of the target point according to the position information of the at least two positioning tags and the relative position information comprises:

determining the direction of the head of the transport vehicle according to the position information corresponding to any two positioning tags in the at least two positioning tags respectively;

and determining the position information of the target point according to the heading of the vehicle head, the position information of the at least one positioning tag and the relative position information.

4. The method of claim 3, wherein the position information comprises first coordinate information of a first coordinate direction and second coordinate information of a second coordinate direction;

determining the head orientation of the transport vehicle according to the position information corresponding to any two positioning tags in the at least two positioning tags respectively, comprising:

determining a second relationship, wherein the second relationship is a magnitude relationship between second coordinate information corresponding to any two positioning tags respectively;

determining a third relationship, the third relationship comprising: the relation between the first absolute value information and a preset threshold value and the relation between the second absolute value information and the preset threshold value;

wherein the first absolute value information includes: the absolute value of the difference between the first coordinate information corresponding to any two positioning labels respectively; the second absolute value information includes: the absolute value of the difference between the second coordinate information respectively corresponding to any two positioning labels;

determining a heading of the transport vehicle based on the first relationship, the second relationship, and the third relationship.

5. The method of claim 4, wherein determining the heading of the transporter based on the first, second, and third relationships comprises:

if x₂＞x₁，x₂-x₁> L and | y₁-y₂If the | is less than or equal to L, determining that the direction of the head of the transport vehicle is opposite to the positive direction of the first coordinate direction;

if y₁＞y₂，|x₂-x₁L and y are less than or equal to₁-y₂If the direction of the head of the transport vehicle is larger than L, the positive direction of the head of the transport vehicle is determined to be the same as the positive direction of the second coordinate direction;

if x₁＞x₂，x₁-x₂> L and | y₂-y₁If the | is less than or equal to L, determining that the direction of the head of the transport vehicle is the same as the positive direction of the first coordinate direction;

if y₂＞y₁，|x₁-x₂L and y are less than or equal to₂-y₁If the direction of the head of the transport vehicle is larger than L, determining that the direction of the head of the transport vehicle is opposite to the square of the second coordinate direction;

wherein (x)₁，y₁) And (x)₂，y₂) Position information, x, corresponding to any two of the positioning tags, respectively₁And x₂First coordinate information, y, corresponding to the arbitrary two positioning tags, respectively₁And y₂And respectively corresponding second coordinate information to any two positioning labels, wherein L is the preset threshold value.

6. The method according to claim 3, wherein the determining the position information of the target point according to the heading of the vehicle, the position information of the at least one of the positioning tags, and the relative position information comprises any one of:

determining the estimated position information of the target point based on the heading of the vehicle head, the relative position information between any one of the positioning tags and the target point and the position information of any one of the positioning tags, and determining the estimated position information of the target point as the position information of the target point;

based on the heading of the vehicle head, the relative position information of the at least two positioning tags and the target point and the corresponding position information, respectively determining the pre-estimated position information corresponding to the target point respectively, and based on the pre-estimated position information corresponding to the target point respectively, determining the position information of the target point.

7. A device for locating cargo, comprising:

the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the position information of at least two positioning tags arranged on a transport vehicle and the relative position information of at least one positioning tag and a target point, the centers of the positioning tags are positioned on the same straight line, and the target point is positioned on the straight line;

a target point position information determining module for determining the position information of the target point according to the position information of the at least two positioning tags and the relative position information

8. The cargo positioning system is characterized by comprising a processor and at least two positioning labels arranged on a transport vehicle, wherein the centers of the positioning labels in the at least two positioning labels are positioned on the same straight line;

the positioning label is used for positioning;

the processor is configured to obtain position information of the at least two positioning tags and relative position information of at least one of the positioning tags and a target point, where the target point is located on the straight line;

9. A storage medium having stored therein at least one executable instruction causing a processor to perform a method of locating an item as claimed in any one of claims 1 to 6.

10. An electronic device, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;

the memory is used for storing at least one executable instruction which causes the processor to execute the positioning method of the goods according to any one of claims 1-6.