Indoor logistics trolley positioning method and terminal equipment

A positioning method and trolley technology, applied in the field of logistics

Active Publication Date: 2019-07-05
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the existing problems, the present invention prov

Method used

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  • Indoor logistics trolley positioning method and terminal equipment
  • Indoor logistics trolley positioning method and terminal equipment
  • Indoor logistics trolley positioning method and terminal equipment

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0074] Such as figure 1 As shown, this embodiment specifically illustrates how to use the method of the present invention to accurately predict the positioning of the indoor logistics trolley.

[0075] S1: The indoor logistics car runs and collects running data on the basis of the initial position of the starting point and the data initialization of the sensor; the sensor includes a gyroscope, a speedometer and an odometer.

[0076] Through the above method, the data of the odometer, speedometer and gyroscope of the indoor logistics car on the path from the starting point to the end point are collected. Relying on the data collected by the gyroscope, the status information of the turning of the indoor logistics car can be evaluated.

[0077] S2: Based on the data collected by the gyroscope and the speedometer, use a fitting algorithm to respectively fit the state models of the gyroscope and the speedometer; based on the displacement collected by the odometer and the speed col...

Embodiment 2

[0125] Such as Figure 4 As shown, it is a schematic diagram of a terminal device for positioning an indoor logistics vehicle provided by an embodiment of the present invention. The terminal device for positioning an indoor logistics vehicle in this embodiment includes: a processor, a memory, and a computer program stored in the memory and operable on the processor, such as a data processing program. When the processor executes the computer program, the steps in the above-mentioned method embodiments for the positioning of each indoor logistics vehicle are realized, for example figure 1 Steps S1-S4 are shown.

[0126]Exemplarily, the computer program may be divided into one or more units, and the one or more units are stored in the memory and executed by the processor to implement the present invention. The one or more units may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe ...

Embodiment 3

[0131] If the integrated modules / units of the terminal equipment for indoor logistics vehicle positioning are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recordi...

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Abstract

The invention provides an indoor logistics trolley positioning method and terminal equipment. The method includes the following steps: operating an indoor logistics trolley on the basis of a startingpoint position and the data initialization of a sensor, and collecting operating data, the sensor including a gyroscope, a speedometer and an odometer; constructing a state model and a measuring model; utilizing a gaussian process regression algorithm to learn deviation, the deviation being the deviation of the state model and the measuring model from the actual state and the measuring model; obeying, by a learning relation, the input and output relation in the gaussian process regression algorithm; and applying a root-mean-square unscented Kalman filter algorithm to the state model and the measuring model, performing deviation compensation at time update and measurement update phases, and predicting the position of the indoor logistics trolley at a next moment. In the case of inaccurate research object system models, the state estimation and positioning precision of object systems can still be enhanced through a mode of learning and compensating the deviation.

Description

technical field [0001] The invention relates to the technical field of logistics, in particular to an indoor logistics trolley positioning method and terminal equipment. Background technique [0002] In recent years, the rapid development and innovation of science and technology have driven the transformation of various industries. The field of logistics has also rapidly undergone subversive changes compared with traditional forms, especially the wide application of logistics cars in logistics warehouses. This kind of car has the functions of autonomously transporting shelves, charging, multi-vehicle cooperative work, and navigation. Unlike the higher-cost magnetic navigation, this kind of car relies on each QR code at a certain distance on the ground to navigate. Positioning this kind of indoor logistics trolley becomes one of the necessary conditions to ensure that these trolleys work together efficiently. [0003] In a nonlinear system, for the state estimation and trac...

Claims

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Application Information

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IPC IPC(8): G01C21/18G06F17/50
CPCG01C21/18G06F30/20
Inventor 张凯高玉龙戚铭尧张一
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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