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A positioning method and terminal equipment for an indoor logistics trolley

A positioning method and technology of a trolley, applied in design optimization/simulation, computer-aided design, navigation through speed/acceleration measurement, etc.

Active Publication Date: 2020-11-17
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 provides an indoor logistics trolley positioning method and terminal equipment

Method used

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  • A positioning method and terminal equipment for an indoor logistics trolley
  • A positioning method and terminal equipment for an indoor logistics trolley
  • A positioning method and terminal equipment for an indoor logistics trolley

Examples

Experimental program
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Effect test

Embodiment 1

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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

[0130] 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.

[0131] 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 t...

Embodiment 3

[0136] 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 present invention provides a method for positioning an indoor logistics trolley and a terminal device. The method includes the following steps: the indoor logistics trolley runs on the basis of initializing the starting point position and sensor data and collects running data; the sensor includes a gyroscope, a speedometer and Odometer; build state model and measurement model; use Gaussian process regression algorithm to learn deviation, deviation is the deviation between the state model and the actual state, and the deviation between the measurement model and the actual measurement model; the learning relationship follows the Gaussian process The relationship between the input and output in the regression algorithm; the root mean square unscented Kalman filter algorithm is applied to the state model and the measurement model, and the deviation compensation is performed in the time update and measurement update stages to predict the indoor logistics trolley at the next moment s position. When the model of the research object system is inaccurate, the state estimation of the object system and the positioning accuracy of the object system can still be improved by learning the deviation 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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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/18G06F30/20
CPCG01C21/18G06F30/20
Inventor 张凯高玉龙戚铭尧张一
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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