A cargo positioning method, device, system, storage medium and electronic device

Abstract

The present application discloses a method, device, system, storage medium and electronic device for locating goods. The present application obtains the position information of at least two positioning tags arranged on a transport vehicle and the relative position information between at least one of the positioning tags and a target point, and then obtains the position information of the target point based on the fact that the centers of each positioning tag of the at least two positioning tags are located on the same straight line and the target point is located on the straight line through the position information and relative position information of the at least two positioning tags, and determines the position information of the target point as the position information of the goods carried by the transport vehicle. That is, in the present application, it is not necessary to arrange positioning tags on the goods, but the position information of the goods carried by the transport vehicle is determined through the position information of at least two positioning tags arranged on the transport vehicle, so as to avoid the situation that the positioning tag signals on the goods are severely blocked due to the stacking or high density of the goods, resulting in large positioning errors or even signal loss.

Description

Technical Field

[0001] The present application relates to the field of automatic positioning technology, and in particular to a cargo positioning method, device, system, storage medium and electronic equipment. Background Art

[0002] As a transit station for goods, warehouses play an important role in the production and circulation of goods. Goods are usually placed on pallets, and pallets are picked up by forklifts to complete operations such as warehousing, transfer and outbound transportation. During the storage process, due to the large number of goods, in order to facilitate the management of goods, it is necessary to locate and track each piece of goods.

[0003] The existing method of cargo positioning is to use positioning tags fixed on the cargo and use wireless positioning technology to locate the cargo where the positioning tags are located. However, in warehouse application scenarios where the cargo is stored densely and stacked, the positioning tag signal is severely blocked, resulting in large positioning errors or even signal loss. Summary of the invention

[0004] In view of this, the present application provides a cargo positioning method, device, system, storage medium and electronic device, the main purpose of which is to solve at least one technical problem in the above-mentioned prior art.

[0005] According to one aspect of the present application, a method for locating cargo is provided, comprising:

[0006] Acquire position information of at least two positioning tags set on the transport vehicle and relative position information of at least one of the positioning tags and a target point, wherein the centers of each positioning tag of the at least two positioning tags are located on the same straight line, and the target point is located on the straight line;

[0007] Determine the location information of the target point according to the location information and relative location information of at least two positioning tags;

[0008] The location information of the target point is determined as the location information of the goods carried by the transport vehicle.

[0009] In one embodiment, the vertical projection point of the target point on the carrying surface of the cargo carrying part of the transport vehicle is the center point of the carrying surface.

[0010] In one embodiment, determining the location information of the target point according to the location information and relative location information of at least two positioning tags includes:

[0011] Determine the direction of the front of the transport vehicle according to the position information corresponding to any two positioning tags of the at least two positioning tags;

[0012] The position information of the target point is determined according to the vehicle head direction, the position information of at least one positioning tag and the relative position information.

[0013] In one embodiment, the position information includes first coordinate information in a first coordinate direction and second coordinate information in a second coordinate direction;

[0014] Determining the direction of the front of the transport vehicle according to the position information corresponding to any two positioning tags of at least two positioning tags, including:

[0015] Determine a first relationship, where the first relationship is a size relationship between first coordinate information corresponding to any two positioning tags;

[0016] Determine a second relationship, where the second relationship is a size relationship between second coordinate information corresponding to any two positioning tags;

[0017] Determine a third relationship, the third relationship including: 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;

[0018] The first absolute value information includes: the absolute value of the difference between the first coordinate information corresponding to any two positioning tags; the second absolute value information includes: the absolute value of the difference between the second coordinate information corresponding to any two positioning tags;

[0019] Based on the first relationship, the second relationship and the third relationship, the front direction of the transport vehicle is determined.

[0020] In one embodiment, determining the head direction of the forklift based on the first relationship, the second relationship, and the third relationship includes:

[0021] If x2>x1, x2-x1>L and |y1-y2|≤L, then it is determined that the head direction of the transport vehicle is opposite to the positive direction of the first coordinate direction;

[0022] If y1>y2, |x2-x1|≤L and y1-y2>L, then it is determined that the head direction of the transport vehicle is the same as the positive direction of the second coordinate direction;

[0023] If x1>x2, x1-x2>L and |y2-y1|≤L, then the direction of the head of the transport vehicle is determined to be the same as the positive direction of the first coordinate direction;

[0024] If y2>y1, |x1-x2|≤L and y2-y1>L, then it is determined that the direction of the front of the transport vehicle is opposite to the positive square of the second coordinate direction;

[0025] Among them, (x1, y1) and (x2, y2) are the position information corresponding to any two positioning tags respectively, x1 and x3 are the first coordinate information corresponding to any two positioning tags respectively, y1 and y2 are the second coordinate information corresponding to any two positioning tags respectively, and L is the preset threshold.

[0026] In one embodiment, determining the location information of the target point according to the vehicle head direction, the location information of at least one positioning tag, and the relative location information includes any of the following:

[0027] Determine estimated position information of the target point based on the vehicle head direction, relative position information of any one of the at least one positioning tag and the target point, and position information of any positioning tag, and determine the estimated position information of the target point as the position information of the target point;

[0028] Based on the vehicle head direction, the relative position information between at least two positioning tags and the target point, and the corresponding position information, the estimated position information corresponding to the target point is determined respectively, and the position information of the target point is determined based on the estimated position information corresponding to the target point.

[0029] In one embodiment, if the transport vehicle is a forklift, the estimated position information corresponding to the target point is determined based on the vehicle head orientation, the relative position information between any positioning tag and the target point, and the position information of the positioning tag, including:

[0030] The position information of the positioning tag is translated into the direction of the vehicle head and the relative position information of any positioning tag and the target point is translated;

[0031] The translated position information is determined as the estimated position information corresponding to the target point.

[0032] In one embodiment, the relative position information of any positioning tag and the target point is translated into the direction of the vehicle head; and the translated position information is determined as the estimated position information corresponding to the target point, including:

[0033] If the forklift's front direction is opposite to the positive direction of the first coordinate axis, the estimated position information corresponding to the target point is calculated according to the following formula:

[0034]

[0035] If the forklift's front direction is the same as the positive direction of the second coordinate axis, the estimated position information corresponding to the target point is calculated according to the following formula:

[0036]

[0037] If the forklift's front direction is the same as the positive direction of the first coordinate axis, the estimated position information corresponding to the target point is calculated according to the following formula:

[0038]

[0039] If the direction of the forklift's head 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:

[0040]

[0041] Among them, (x3, y3) is the estimated position information corresponding to the target point, (x k ,y k ) is the location information of positioning tag k, k = 1, 2..., N, N is the total number of positioning tags, d is the relative position information between positioning tag k and the target point transported by the forklift, and positioning tag k is any positioning tag.

[0042] 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;

[0043] When the positioning errors corresponding to at least two positioning tags are not the same, the preset threshold is not less than 2 times of the maximum positioning error, and the center distance between two adjacent positioning tags is greater than 4 times of the maximum positioning error;

[0044] The maximum positioning error is the largest positioning error among the positioning errors corresponding to at least two positioning tags.

[0045] In one embodiment, if the transport vehicle is provided with a reader / writer and the cargo carrying part is provided with an electronic tag, the method further comprises:

[0046] When the reader reads the tag information of the electronic tag for the first time, the transport vehicle information is bound to the cargo information matching the tag information;

[0047] When the reader reads the tag information of the electronic tag again, the transport vehicle information is unbound from the cargo information that matches the tag information;

[0048] Determine the location information of the cargo carried by the cargo carrying part when it is untied as the storage location information of the cargo;

[0049] Based on the storage location information of the goods and the cargo location information corresponding to each cargo location, the cargo location information of the cargo location where the goods are stored is determined.

[0050] In one embodiment, based on the storage location information of the goods and the storage location information corresponding to each storage location, the storage location of the goods is determined, and then the following is further included:

[0051] Based on the cargo location information of the cargo location where the cargo is stored, updating the association relationship between the stored cargo information and the cargo location information;

[0052] When a query request is detected, the cargo location information corresponding to the cargo information is found based on the cargo information carried in the query request and the association between the cargo information and the cargo location information.

[0053] In one embodiment, based on the storage location information of the goods and the cargo location information corresponding to each cargo location, the cargo location information of the cargo location where the goods are stored is determined, and then the following is further included:

[0054] The cargo information and cargo location information of the cargo are displayed at the corresponding position on the electronic map, and the corresponding position is the position corresponding to the cargo location of the cargo on the electronic map.

[0055] According to another aspect of the present application, a cargo positioning device is provided, comprising:

[0056] An acquisition module, used to acquire position information of at least two positioning tags arranged on the transport vehicle and relative position information of at least one of the positioning tags and a target point, wherein the centers of each positioning tag of the at least two positioning tags are located on the same straight line, and the target point is located on the straight line;

[0057] The target point location information determination module determines the location information of the target point based on the location information and relative location information of at least two positioning tags.

[0058] The cargo location information determination module determines the location information of the target point as the location information of the cargo carried by the transport vehicle.

[0059] In one embodiment, the vertical projection point of the target point on the carrying surface of the cargo carrying part of the transport vehicle is the center point of the carrying surface.

[0060] In one embodiment, the target point location information determination module includes:

[0061] A vehicle head direction determining unit, used to determine the vehicle head direction of the forklift according to the position information respectively corresponding to any two positioning tags of at least two positioning tags;

[0062] The target point position information determination unit is used to determine the position information of the target point according to the vehicle head direction, the position information of at least one positioning tag and the relative position information.

[0063] In one embodiment, the position information includes first coordinate information in a first coordinate direction and second coordinate information in a second coordinate direction;

[0064] The vehicle head direction determination unit includes:

[0065] A first relationship determination subunit, used to determine a first relationship, where the first relationship is a size relationship between first coordinate information corresponding to any two positioning tags;

[0066] A second relationship determination subunit, used to determine a second relationship, where the second relationship is a size relationship between second coordinate information corresponding to any two positioning tags;

[0067] A third relationship determination subunit, configured to determine a third relationship, the third relationship including: 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;

[0068] The first absolute value information includes: the absolute value of the difference between the first coordinate information corresponding to any two positioning tags; the second absolute value information includes: the absolute value of the difference between the second coordinate information corresponding to any two positioning tags;

[0069] The orientation determination subunit is used to determine the orientation of the front of the forklift based on the first relationship, the second relationship and the third relationship.

[0070] In one embodiment, the direction determination subunit is specifically used to determine that the head direction of the forklift is opposite to the positive direction of the first coordinate direction when x2>x1, x2-x1>L and |y1-y2|≤L;

[0071] When y1>y2, |x2-x1|≤L and y1-y2>L, it is determined that the head direction of the transport vehicle is the same as the positive direction of the second coordinate direction;

[0072] When x1>x2, x1-x2>L and |y2-y1|≤L, it is determined that the head direction of the transport vehicle is the same as the positive direction of the first coordinate direction;

[0073] When y2>y1, |x1-x2|≤L and y2-y1>L, it is determined that the direction of the front of the transport vehicle is opposite to the square of the second coordinate direction;

[0074] Among them, (x1, y1) and (x2, y2) are the position information corresponding to any two positioning tags respectively, x1 and x2 are the first coordinate information corresponding to any two positioning tags respectively, y1 and y2 are the second coordinate information corresponding to any two positioning tags respectively, and L is the preset threshold.

[0075] In one embodiment, the target point location information determination unit is specifically used for any of the following:

[0076] Determine estimated position information of the target point based on the vehicle head direction, relative position information of any one of the at least one positioning tag and the target point, and position information of any positioning tag, and determine the estimated position information of the target point as the position information of the target point;

[0077] Based on the vehicle head direction, the relative position information between at least two positioning tags and the target point, and the corresponding position information, the estimated position information corresponding to the target point is determined respectively, and the position information of the target point is determined based on the estimated position information corresponding to the target point.

[0078] In one embodiment, when the transport vehicle is a forklift, the target point position information determination unit is further configured to:

[0079] The position information of the positioning tag is translated in the direction of the vehicle head to obtain the relative position information of any positioning tag and the target point transported by the forklift;

[0080] The translated position information is determined as the estimated position information corresponding to the target point.

[0081] In one embodiment, the target point position information determining unit is further specifically configured to calculate the estimated position information corresponding to the target point according to the following formula when the forklift head is facing in the opposite direction to the positive direction of the first coordinate direction axis:

[0082]

[0083] When the forklift's front direction is the same as the positive direction of the second coordinate axis, the estimated position information corresponding to the target point is calculated according to the following formula:

[0084]

[0085] When the forklift's front direction is the same as the positive direction of the first coordinate axis, the estimated position information corresponding to the target point is calculated according to the following formula:

[0086]

[0087] When the forklift's front direction 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:

[0088]

[0089] Among them, (x3, y3) is the estimated position information corresponding to the target point, (x k ,y k) is the location information of positioning tag k, k = 1, 2..., N, N is the total number of positioning tags, d is the relative position information between positioning tag k and the target point transported by the forklift, and positioning tag k is any positioning tag.

[0090] 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;

[0091] When the positioning errors corresponding to at least two positioning tags are not the same, the preset threshold is not less than 2 times of the maximum positioning error, and the center distance between two adjacent positioning tags is greater than 4 times of the maximum positioning error;

[0092] The maximum positioning error is the largest positioning error among the positioning errors corresponding to at least two positioning tags.

[0093] In one embodiment, when the transport vehicle is provided with a reader / writer and the cargo carrying part is provided with an electronic tag, the device further comprises:

[0094] A binding module is used to bind the transport vehicle information with the cargo information matching the tag information when the reader reads the tag information of the electronic tag for the first time;

[0095] The unbinding module is used to unbind the cargo information that matches the transport vehicle information with the tag information when the reader reads the tag information of the electronic tag again;

[0096] A cargo storage location information determination module, used to determine the location information of the cargo carried by the cargo carrying part when it is untied as the cargo storage location information;

[0097] The cargo location information determination module is used to determine the cargo location information of the cargo location where the goods are stored based on the storage location information of the goods and the cargo location information corresponding to each cargo location.

[0098] In one embodiment, the apparatus further comprises:

[0099] An updating module, for updating the association between the stored cargo information and the cargo location information based on the cargo location information of the cargo location where the cargo is stored;

[0100] The search module is used to find the cargo location information corresponding to the cargo information based on the cargo information carried in the query request and the association between the cargo information and the cargo location information when a query request is detected.

[0101] In one embodiment, the apparatus further comprises:

[0102] The electronic map display module is used to display the cargo information and cargo location information of the cargo at the corresponding position on the electronic map, and the corresponding position is the corresponding position of the cargo location on the electronic map.

[0103] According to another aspect of the present application, there is provided a cargo positioning system, comprising a processor, and at least two positioning tags disposed on a transport vehicle, wherein the centers of each positioning tag of the at least two positioning tags are located on the same straight line;

[0104] Positioning tag, used for positioning;

[0105] A processor, configured to obtain position information of at least two positioning tags and relative position information of at least one of the positioning tags and a target point, wherein the target point is located on a straight line;

[0106] Determine the location information of the target point according to the location information and relative location information of at least two positioning tags;

[0107] The location information of the target point is determined as the location information of the goods carried by the transport vehicle.

[0108] According to another aspect of the present application, a storage medium is provided, in which at least one executable instruction is stored, and the executable instruction enables a processor to execute the above-mentioned cargo positioning method.

[0109] According to another aspect of the present application, there is provided an electronic device, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus;

[0110] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the above-mentioned cargo positioning method.

[0111] By means of the above technical solution, the technical solution provided by the embodiment of the present application has at least the following advantages:

[0112] The present application provides a cargo positioning method, device, system, storage medium and electronic device. Compared with the prior art for directly positioning cargo, the present application obtains the position information of at least two positioning tags set on a transport vehicle and the relative position information of at least one of the positioning tags and a target point, and then based on the fact that the centers of each of the at least two positioning tags are located on the same straight line and the target point is located on the straight line, the position information of the target point is obtained through the position information and relative position information of the at least two positioning tags, and the position information of the target point is determined as the position information of the cargo carried by the transport vehicle. That is, in the present application, there is no need to set a positioning tag on the cargo, but the position information of the cargo carried by the transport vehicle is determined through the position information of at least two positioning tags set on the transport vehicle. In this way, it can be avoided that the positioning tag signals on the cargo are severely blocked due to the stacking or high density of the cargo, resulting in large positioning errors or even signal loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0113] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0114] Figure 1 A flow chart of a method for locating goods provided in an embodiment of the present application is shown;

[0115] Figure 2 A position relationship diagram of a positioning tag, a cargo carrying part and a target point in an embodiment of the present application is shown;

[0116] Figure 3 A diagram showing the relationship between the positioning label and the cargo carrying portion in one embodiment of the present application is shown;

[0117] Figure 4 A diagram showing the position relationship between the positioning tag, the cargo carrying part, the reader / writer and the target point in one embodiment of the present application is shown;

[0118] Figure 5 A flow chart of a method for locating goods provided by another embodiment of the present application is shown;

[0119] Figure 6 A scene diagram showing another embodiment of the present application is shown;

[0120] Figure 7 Schematic diagram of the overlap of error regions of two positioning labels;

[0121] Figure 8 A schematic diagram showing the tangency of the error regions of two positioning tags in one embodiment of the present application is shown;

[0122] Fig. 9 A diagram showing the position relationship of two positioning tags in one embodiment of the present application is shown;

[0123] Fig.10 A schematic diagram showing a tangent error region of two positioning tags in another embodiment of the present application is shown;

[0124] Fig.11 A flow chart of a method for locating goods provided by another embodiment of the present application is shown;

[0125] Fig.12 A block diagram of a cargo positioning device provided by an embodiment of the present application is shown;

[0126] Fig.13 A schematic structural diagram of an electronic device provided in one embodiment of the present application is shown. DETAILED DESCRIPTION

[0127] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0128] The present application embodiment provides a method for locating goods, such as Figure 1 As shown, the method can be executed by an electronic device, which can be a terminal device, such as a mobile phone or a laptop, or a server. The method includes:

[0129] Step S101: obtaining the position information of at least two positioning tags set on the transport vehicle and the relative position information of at least one positioning tag and a target point, wherein the centers of the at least two positioning tags are located on the same straight line, and the target point is located on the straight line.

[0130] For the embodiment of the present application, the transport vehicle is provided with a cargo carrying portion, which may be a pallet or container device capable of carrying cargo, such as a fork tray or a container, etc. In the embodiment of the present application, the position of the target point is determined as the position of the cargo carried on the transport vehicle.

[0131] For the embodiment of the present application, the number of positioning tags set on the transport vehicle can be two or more than two. In the embodiment of the present application, the center and target point corresponding to each positioning tag are on the same straight line.

[0132] In a possible implementation manner in the embodiment of the present application, the target point may be pre-set.

[0133] Specifically, in the embodiment of the present application, the vertical projection point of the target point on the load-bearing surface of the cargo part carried by the transport vehicle is the center point of the load-bearing surface. In other words, the intersection point between the plane where each positioning tag is located and the straight line passing through the center point of the cargo part and perpendicular to the plane of the cargo part is the target point. That is, after determining the target point, 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.

[0134] For example, Figure 2 As shown, taking a forklift as an example, the positioning tag 4 can generally be set on the roof of the forklift 1, that is, the target point g is the intersection of a straight line perpendicular to the cargo part 2 and passing through the center point f of the cargo part 2 and the plane s where the roof is located. When the forklift transports the cargo 3, the target point g usually coincides with the center point of the cargo 3. f is the center point of the cargo part, because Figure 2 is a two-dimensional plane graph, that is Figure 2 The point f is only schematic.

[0135] For the embodiment of the present application, since the setting of the positioning tag is related to the target point, but the determination of the target point is related to the position of the center point of the cargo carrying part, the types of cargo carrying parts are different, the positions of the center points are different, and thus the positions of the positioning tags are also different. Therefore, the positions of the center points of various types of cargo carrying parts can be determined in advance, and then the position information of the positioning tags corresponding to the various types of cargo carrying parts can be determined. For example, Figure 3 As shown, taking a forklift as an example, the position of the center point f of the cargo-carrying part 2 is determined in advance, and then the straight line n2 in the vertical direction where the center point f is located is used, and the straight line n1 on the plane where the roof of the forklift 1 is located, which can intersect with the straight line n2 and is perpendicular to the straight line n2, and the straight line n1 usually coincides with the central axis of the roof, so that it can be determined that the positioning tag 4 is set on the straight line n1. In the embodiment of the present application, the center point position of the cargo-carrying part involved is the center point position corresponding to the cargo-carrying part when it is carried to the transport vehicle. For example, the center point position of the cargo-carrying part involved is the center point position of the cargo-carrying part corresponding to the forklift after the forklift is inserted into the cargo-carrying part.

[0136] In this embodiment, the location information of at least two positioning tags on the transport vehicle can be obtained by setting up multiple UWB (Ultra Wideband) base stations in the warehouse, using TDOA (Time Difference of Arrival) positioning algorithm, AOA (Angle of Arrival) algorithm or TOF (Time of Flight) algorithm to realize the measurement of the location information of the positioning tags. Among them, the UWB base station is deployed on the ceiling of the warehouse, so that the signal of the UWB base station covers the warehouse, which saves space and reduces signal interference. Of course, other existing methods can also be used to obtain the location information of the positioning tags, such as Bluetooth positioning, etc., which is not strictly limited in this embodiment.

[0137] In this embodiment, the relative position information between a positioning tag and a target point is specifically the straight-line distance between the center of the positioning tag and the target point.

[0138] Specifically, the relative position information between any positioning tag and the target point can be obtained by pre-measurement or by calculation using the following formula (1). In the embodiment of the present application, any method for obtaining 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 thereto.

[0139]

[0140] Where d is the relative position information between any positioning tag and the target point, b1 is the width of the cargo compartment, b2 is the horizontal distance between any tag and the reader, and b3 is the distance between the reader and the long side of the cargo compartment. Figure 4 As shown, the relative position information between the positioning tag A and the target point g is d, the width of the cargo carrying portion 2 is b1, the horizontal distance between the positioning tag A and the reader 5 is b2, and the distance between the reader 5 and the long side m of the cargo carrying portion is b3.

[0141] Step S102: Determine the position information of the target point according to the position information and relative position information of at least two positioning tags.

[0142] Step S103: determining the location information of the target point as the location information of the goods carried by the transport vehicle.

[0143] The cargo positioning method provided in the present embodiment is compared with the direct cargo positioning in the prior art. In the present embodiment, the position information of at least two positioning tags set on the transport vehicle and the relative position information of at least one of the positioning tags and the target point are obtained. Then, based on the fact that the centers of each of the at least two positioning tags are located on the same straight line and the target point is located on the straight line, the position information of the target point is obtained through the position information and the relative position information of the at least two positioning tags, and the position information of the target point is determined as the position information of the cargo carried by the transport vehicle. That is, in the present application, there is no need to set positioning tags on the cargo. Instead, the position information of the cargo carried by the transport vehicle is determined through the position information of at least two positioning tags set on the transport vehicle. This can avoid the situation where the positioning tag signals on the cargo are severely blocked due to the stacking or high density of the cargo, resulting in large positioning errors or even signal loss.

[0144] Further, as a refinement and 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 this embodiment, a method for locating goods is provided, such as Figure 5 As shown, the method specifically comprises the following steps:

[0145] Step S501: Obtaining the position information of at least two positioning tags set on the transport vehicle and the relative position information of at least one positioning tag and a target point, wherein the centers of the at least two positioning tags are located on the same straight line, and the target point is located on the straight line.

[0146] For the embodiment of the present application, the location information includes first coordinate information in a first coordinate direction and second coordinate information in a second coordinate direction. Among them, the first coordinate direction and the second coordinate direction are two coordinate directions in the warehouse coordinate system, respectively. Specifically, an XY coordinate system is established in the warehouse, and the XY coordinate system is the 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 can be set to the direction indicated by the arrow of the x-axis, and the north direction can be set to the direction indicated by the arrow of the y-axis. Of course, other directions can also be set to the directions indicated by the arrows of the x-axis and the y-axis, and this embodiment is not strictly limited. 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.

[0147] Step S502: Determine the direction of the front of the transport vehicle according to the position information corresponding to any two positioning tags among the at least two positioning tags.

[0148] Any two positioning tags among the at least two positioning tags are any two selected from all positioning tags, that is, the selected two positioning tags may be two adjacent positioning tags or two non-adjacent positioning tags. Specifically, in an exemplary application scenario, Figure 6 As shown, positioning tag a, positioning tag b, and positioning tag c are sequentially arranged on the forklift from the front to the rear. Any two of the three positioning tags can be selected, that is, positioning tag a and positioning tag b, positioning tag a and positioning tag c, or positioning tag b and positioning tag c.

[0149] In a possible implementation, step S502 may specifically include the following steps:

[0150] Step S5021 (not shown in the figure): determine a first relationship, where the first relationship is a size relationship between first coordinate information corresponding to any two positioning tags.

[0151] For example, in Figure 6 In the scenario shown, taking positioning tag a and positioning tag b as an example, assuming that the location information of positioning tag a is (10, 15), and the location information of positioning tag b is (9, 8), the first coordinate information of positioning tag a is 10, and the first coordinate information of positioning tag b is 9. The first coordinate information 10 of positioning tag a is greater than the first coordinate information 9 of the second positioning tag b, thereby determining the first relationship.

[0152] Step S5022 (not shown in the figure): determine the second relationship, where the second relationship is the size relationship between the second coordinate information corresponding to any two positioning tags.

[0153] Continuing with the above example, the second coordinate information of positioning tag a is 15, and the second coordinate information of positioning tag b is 8. The second coordinate information 15 of positioning tag a is greater than the second coordinate information 8 of positioning tag b, thereby determining the second relationship.

[0154] Step S5023 (not shown in the figure): determine a third relationship, the third relationship including: a relationship between the first absolute value information and a preset threshold and a relationship between the second absolute value information and the preset threshold.

[0155] The first absolute value information includes: the absolute value of the difference between the first coordinate information corresponding to any two positioning tags; the second absolute value information includes: the absolute value of the difference between the second coordinate information corresponding to any two positioning tags.

[0156] Continuing with the above example, assuming that the preset threshold is 4, the absolute value of the difference between the first coordinate information corresponding to positioning tag a and 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 positioning tag a and positioning tag b is 7, that is, the second absolute value information is 7, the first absolute value information 1 is less than the preset threshold 4, and the second absolute value information 7 is greater than the preset threshold 4, thereby determining the third relationship. In the embodiment of the present application, step S5021, step S5022 and step S5023 can be executed simultaneously or not simultaneously, wherein, when step S5021, step S5022 and step S5023 are not executed simultaneously, the execution order of the three is not limited, and any possible execution order is within the protection scope of the present application.

[0157] Since all 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, but may fall into the error area surrounded by the center of the positioning tag and the positioning error as the radius. Therefore, the error areas surrounded by the positioning errors of two adjacent positioning tags cannot overlap, so as to ensure that the position information determined by the two positioning tags is different, avoiding the following problems: Figure 7 If the position information F obtained by the two positioning tags shown is the same, the problem of the direction of the front of the transport vehicle cannot be determined subsequently, which improves the accuracy of determining the direction of the front of the transport vehicle.

[0158] Since the positioning labels used may not necessarily be from the same batch, the positioning errors of all the positioning labels may be the same, or the positioning errors of at least one of the positioning labels may be different from those of the other positioning labels.

[0159] When the positioning errors corresponding to at least two positioning tags are the same, the preset threshold is not less than 2 times the positioning error, and the center distance between two adjacent positioning tags is greater than 4 times the positioning error. Specifically, when the positioning errors of all positioning tags on the forklift are the same, in order to ensure that the error areas surrounded by their respective positioning errors of two adjacent positioning tags cannot overlap, it is necessary to ensure that the first absolute value information between any point in the error area of ​​one positioning tag and any point in the error area of ​​an adjacent positioning tag is greater than the maximum value of the first coordinate information difference between the tangent point and the point in the error area when the two areas are tangent, that is, 2 times the positioning error, that is, the center distance between two adjacent positioning tags is greater than 4 times the positioning error. Taking positioning tag a and positioning tag b, with a positioning error of r as an example, in order to ensure that the error areas surrounded by their respective positioning errors of positioning tag a and positioning tag b cannot overlap, it is necessary to ensure that the first absolute value between any point in the error area surrounded by the positioning error of positioning tag a and any point in the error area of ​​positioning tag b is greater than Figure 8When the two regions shown are tangent, the difference between the first coordinate information of the tangent point P and point a1 or point b1, that is, 2r, that is, the distance between the center o1 of the positioning tag a and the center o2 of the positioning tag b is greater than 4r, as shown in Fig. 9 As shown. Based on the first absolute value between any point of the error zone of a positioning tag and any point of the error zone of an adjacent positioning tag being greater than 2 times of the positioning error, the preset threshold value is not less than 2 times of the positioning error.

[0160] When the positioning errors corresponding to at least two positioning tags are not uniformly the same, the preset threshold is not less than 2 times the maximum positioning error, and the center distance between two adjacent positioning tags is greater than 4 times the maximum positioning error; wherein the maximum positioning error is the largest positioning error among the positioning errors corresponding to at least two positioning tags. In the case where the positioning errors corresponding to at least two positioning tags on the transport vehicle are not uniformly the same, in order to ensure that the error areas surrounded by their respective positioning errors of two adjacent positioning tags do not overlap, it is necessary to ensure that the first absolute value between any point of the error area of ​​one positioning tag and any point of the error area of ​​the adjacent positioning tag is greater than the maximum value of the first coordinate information difference between the tangent point and the point on the error area when the two areas are tangent, that is, 2 times the maximum positioning error, so that the center distance between two adjacent positioning tags is set to be greater than 4 times the maximum positioning error. Taking positioning tag a and positioning tag b, the positioning error of positioning tag a is r1, the positioning error of positioning tag b is r2, and r1>r2 as an example, in order to ensure that the error regions of positioning tag a and positioning tag b do not overlap, it is necessary to ensure that the first absolute value information between any point in the error region of positioning tag a and any point in the error region of positioning tag b is greater than Fig.10 When the two areas shown are tangent, the difference in the first coordinate information between the tangent point P and point a2 is 2r1; thus, the distance between the center o1 of positioning tag a and the center o2 of positioning tag b is greater than 4r1. Based on the absolute value information between any point in the error area of ​​a positioning tag and any point in the error area of ​​an adjacent positioning tag being greater than 2 times of the maximum positioning error, the preset threshold value shall be no less than 2 times of the maximum positioning error.

[0161] Step S5024 (not shown): Based on the first relationship, the second relationship and the third relationship, determine the direction of the front of the transport vehicle.

[0162] Specifically, if x2>x1, x2-x1>L and |y1-y2|≤L, it is determined that the head direction of the transport vehicle is opposite to the positive direction of the first coordinate direction;

[0163] If y1>y2, |x2-x1|≤L and y1-y2>L, then it is determined that the head direction of the transport vehicle is the same as the positive direction of the second coordinate direction;

[0164] If x1>x2, x1-x2>L and |y2-y1|≤L, then the direction of the head of the transport vehicle is determined to be the same as the positive direction of the first coordinate direction;

[0165] If y2>y1, |x1-x2|≤L and y2-y1>L, then it is determined that the head direction of the transport vehicle is opposite to the positive direction of the second coordinate direction;

[0166] Among them, (x1, y1) and (x2, y2) are the position information corresponding to any two positioning tags respectively, x1 and x3 are the first coordinate information corresponding to any two positioning tags respectively, y1 and y2 are the second coordinate information corresponding to any two positioning tags respectively, and L is the preset threshold.

[0167] Continuing with the above example, positioning tag a and positioning tag b are selected, the location information (x1, y1) of positioning tag a is (10, 15), and the location information (x2, y2) of positioning tag b is (9, 8). If the preset threshold L is 4, the first coordinate direction is the direction of the x-axis in the XY coordinate system, and 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, and the positive direction of the second coordinate is the direction indicated by the arrow of the y-axis. The east direction is set to the direction indicated by the arrow of the x-axis, and the north direction is set to 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. In this way, through the above judgment conditions, y2>y1, |x1-x2|≤L and y2-y1>L are satisfied, then it is determined that the direction of the front of the transport vehicle is the same as the direction indicated by the arrow of the y-axis, that is, the front of the vehicle is facing north. Other combinations and comparison methods for selecting positioning tags may adopt the methods exemplified above, which will not be described in detail in this embodiment.

[0168] Step S503: Determine the location information of the target point according to the vehicle head direction, the location information and the relative location information of at least one positioning tag, and determine the location information of the target point as the location information of the goods carried by the transport vehicle.

[0169] The position information and relative position information of at least one positioning tag may be the position information and relative position information of any one positioning tag among all the tags, or the position information and respective relative position information of at least two positioning tags among all the positioning tags, or the position information and respective relative information of all the positioning tags, for example, Figure 6As shown, a forklift is provided with a positioning tag a, a positioning tag b and a positioning tag c, wherein the position information and relative position information of at least one positioning tag may be the position information of one of the positioning tags and the relative position information between the positioning tag and a target point, such as the position information of positioning tag a and the relative position information between positioning tag a and the target point, or the position information of any two of the positioning tags and their respective corresponding relative position information, such as the position information of positioning tag a and the relative position information between positioning tag a and the target point and the position information of positioning tag b and the relative position information between positioning tag b and the target point, or all the positioning tags, namely, the position information of positioning tag a and the relative position information between positioning tag a and the target point, the position information of positioning tag b and the relative position information between positioning tag b and the target point, and the position information of positioning tag c and the relative position information between positioning tag c and the target point.

[0170] In an optional embodiment, the position information of the target point is determined according to the vehicle head orientation, including the position information and relative position information of at least one positioning tag. Specifically, it can include: determining the estimated position information of the target point based on the vehicle head orientation, the relative position information of at least one positioning tag and the target point, and the position information of any positioning tag, and determining the estimated position information of the target point as the position information of the target point.

[0171] Furthermore, the position information of the target point determined above is determined as the position information of the goods where the transport vehicle is located.

[0172] For the embodiment of the present application, any relative position information between any positioning tag and the target point and any positioning tag involved in the position information of any positioning tag are the same positioning tag.

[0173] Continuing with the above example, the relative position information of at least one positioning tag and the target point, the relative position information of any positioning tag and the target point, and the position information of any positioning tag are the relative position information between positioning tag a and the target point and the position information of positioning tag a, or the relative position information between positioning tag b and the target point and the position information of positioning tag b, or the relative position information between positioning tag c and the target point and the position information of positioning tag c.

[0174] A possible implementation method of an embodiment of the present application is to determine the estimated position information of the target point based on the vehicle head orientation, the relative position information of at least one positioning tag and the target point, and the position information of any positioning tag. Specifically, it may include: if the setting direction of the cargo carrying part of the transport vehicle is opposite to the vehicle head orientation, then the position information of the positioning tag is translated in the direction opposite to the vehicle head orientation and 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.

[0175] Another possible implementation of the embodiment of the present application, if the transport vehicle is a forklift, the estimated position information of the target point is determined based on the vehicle head orientation, the relative position information of any one of the at least one positioning tag and the target point, and the position information of any positioning tag, which may specifically include the following:

[0176] Step 1: The position information of the positioning tag is translated in the direction of the vehicle head, and the relative position information of any positioning tag and the target point is translated.

[0177] Step 2: Determine the translated position information as the estimated position information corresponding to the target point.

[0178] Specifically, if the forklift's front direction 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:

[0179]

[0180] If the forklift's front direction is the same as the positive direction of the second coordinate axis, the estimated position information corresponding to the target point is calculated according to the following formula:

[0181]

[0182] If the forklift's front direction is the same as the positive direction of the first coordinate axis, the estimated position information corresponding to the target point is calculated according to the following formula:

[0183]

[0184] If the direction of the forklift's head 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:

[0185]

[0186] Among them, (x3, y3) is the estimated position information corresponding to the target point, (x k ,y k) is the location information of positioning tag k, k = 1, 2..., N, N is the total number of positioning tags, d is the relative position information between positioning tag k and the target point, and positioning tag k is any positioning tag.

[0187] Furthermore, in the above embodiment, the position information of the target point is determined, thereby obtaining 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 target point determined above.

[0188] Continuing with the above example, positioning tag a and positioning tag b are selected. The location information of positioning tag a is (10, 15), and the location information of 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, and 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, and the positive direction of the second coordinate is the direction indicated by the arrow of the y-axis. The east direction is set to the direction indicated by the arrow of the x-axis, and the north direction is set to 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. In this way, it is determined that the direction of the forklift's head is the same as the direction indicated by the arrow of the y-axis, that is, the head of the forklift is facing north. Then, any one positioning tag is selected from positioning tag a, positioning tag b, and positioning tag c. Taking positioning tag a and the corresponding relative position information d of positioning tag a and the target point as 5 as an example, according to the head direction and the following corresponding formula,

[0189]

[0190] The estimated position information corresponding to the target point is x3=10, y3=15+5=20, so the estimated position information corresponding to the target point is (10, 20).

[0191] In this implementation, by the orientation of the vehicle head, the position information of one of the positioning tags is translated along the orientation direction of the vehicle head by the corresponding relative position information, and the position information of the target point can be obtained, which not only avoids the cumbersome positioning algorithm, but also ensures the accurate positioning of the goods.

[0192] In another optional embodiment, the position information of the target point is determined according to the vehicle head orientation, including the position information and relative position information of at least one positioning tag. Specifically, it may include: determining the estimated position information corresponding to the target point based on the vehicle head orientation, the relative position information of at least two positioning tags and the target point, and their respective corresponding position information; and determining the position information of the target point based on the estimated position information corresponding to the target point.

[0193] Further, after the location information of the target point is determined, the location information of the target point is determined as the location information of the goods.

[0194] For the embodiment of the present application, the calculation method for determining the estimated position information corresponding to the target point based on the vehicle head direction, the relative position information between any positioning tag and the target point, and the position information of the positioning tag is detailed in the method for determining the estimated position information corresponding to the target point recorded above and will not be repeated here.

[0195] Continuing with the above example, we select any two positioning tags from positioning tag a, positioning tag b and positioning tag c as an example. Specifically, we select positioning tag a and positioning tag b. The position information of positioning tag a is (10, 15), and the position information of positioning tag b is (9, 8). Assuming that the relative position information of positioning tag a and the target point is 5, and the relative position information of positioning tag b and the target point is 10, then according to the above formula, the estimated position information determined by positioning tag a is (10, 20), and the estimated position information determined by positioning tag b is (9, 18). Then, the average value of the first coordinate information and the second coordinate information of the two estimated position information is obtained as (9.5, 19), and the average value is determined as the position information of the target point. In this way, the position information of the target point is further corrected by summing and averaging multiple estimated position information to improve the accuracy of positioning. In the embodiment of the present application, when determining the position information of the target point based on the estimated position information corresponding to the target point, it is not limited to the method of calculating the average value. Any method of determining the position information of the target point based on the estimated position information corresponding to the target point is within the protection scope of the embodiment of the present application.

[0196] Further, as a refinement and expansion of the specific implementation of the above embodiment, in another embodiment of the present application, a reader is provided on the transport vehicle, and an electronic tag is provided on the cargo carrying part, such as Fig.11 As shown, the method specifically also includes the following steps:

[0197] Step S1101: When the reader reads the tag information of the electronic tag for the first time, the transport vehicle information is bound with the cargo information matching the tag information.

[0198] The cargo information includes but is not limited to the name of the cargo and the time of entry into the warehouse, and the forklift information includes but is not limited to the forklift number and model.

[0199] For the embodiment of the present application, the cargo carrying part carries cargo. When the transport vehicle is loaded with cargo, the reader / writer arranged on the transport vehicle reads the electronic tag arranged on the cargo carrying part for the first time to bind the transport vehicle with the cargo information matching the tag information.

[0200] A possible implementation method of the embodiment of the present application is that if the transport vehicle is a forklift, the reader / writer can be set on the upper surface of the fork of the forklift, and the electronic tag can be set on the track of the cargo loading part, so that during the process of the fork being inserted into the track, after the reader / writer contacts the electronic tag, the label information of the electronic tag can be read, and the label information is the ID number of the cargo loading part, and the ID number of each cargo loading part matches the cargo information of the cargo currently carried by it; and when the reader / writer reads the label information of the electronic tag, the forklift information is bound to the cargo information matching the label information, so that the staff can understand the usage of each forklift and the cargo transported by each forklift in the transport state, which is convenient for the dispatch of forklifts and improves the work efficiency of the staff.

[0201] Step S1102: When the reader reads the tag information of the electronic tag again, the transport vehicle information is unbound from the cargo information that matches the tag information.

[0202] For the embodiment of the present application, when the transport vehicle unloads the goods, the reader / writer on the transport vehicle is set to overlap with the electronic tag on the cargo, so that the label information of the electronic tag can be read again. At this time, the cargo information that matches the transport vehicle information and the label information can be untied.

[0203] Taking a forklift as an example, after the forklift delivers the goods to the designated cargo location, the fork of the forklift is pulled out from the track of the cargo loading part. During the pulling-out process, the reader / writer contacts the electronic tag again and can read the tag information of the electronic tag again. When the reader / writer reads the tag information of the electronic tag again, the forklift information is untied from the cargo information that matches the tag information. In this way, after the forklift completes the transportation task, the corresponding relationship between the forklift and the corresponding transported goods is automatically released without manual operation, thus reducing the workload of the staff.

[0204] Step S1103: determining the location information of the cargo carried by the cargo carrying part when it is untied as the storage location information of the cargo.

[0205] Step S1104: Based on the storage location information of the goods and the storage location information corresponding to each storage location, determine the storage location information of the storage location where the goods are stored.

[0206] The cargo location information of each cargo location includes but is not limited to cargo location information and cargo location number, etc. The storage location information of the goods is compared with the cargo location information, and the cargo location information of the cargo location closest to the storage location information of the goods is used to determine the cargo location information of the cargo location where the goods are stored, so that the staff can understand the cargo location of each cargo location, or the goods stored in each cargo location, which is convenient for the management of the cargo location and the search of the goods.

[0207] Step S1105: Based on the cargo location information of the cargo location where the cargo is stored, the association relationship between the stored cargo information and the cargo location information is updated.

[0208] Updating the association relationship between the stored cargo information and cargo location information includes but is not limited to replacing the original association relationship between the cargo information and cargo location information and adding a new association relationship between the cargo information and cargo location information.

[0209] Exemplarily, in one example, the association relationship between the cargo information of cargo A and the cargo location information of cargo location A is pre-stored in the electronic device. Assuming that cargo A has been shipped out of the warehouse, that is, cargo A has left cargo location A, and then cargo B is in cargo location A, it is necessary to establish the association relationship between the cargo information of cargo B and the cargo location information of cargo location A, and replace the previously stored cargo information of cargo A and cargo location information of cargo location A, that is, update the association relationship between the stored cargo information and cargo location information.

[0210] In another example, cargo location A is an empty cargo location, that is, there is no association relationship between the cargo location information of cargo location A and the cargo information of existing cargo. When cargo location A stores cargo B, a new association relationship between the cargo information of cargo B and the cargo location information of cargo location A is created and stored.

[0211] In this embodiment, the association relationship between the cargo information and the cargo location information is updated, thereby ensuring the accuracy of the correspondence relationship between the cargo information and the cargo location information.

[0212] Furthermore, there is no strict execution order between step S1105 and step S1101 to step S1104, and any possible execution order is within the protection scope of this application.

[0213] Step S1106: When a query request is detected, based on the cargo information carried in the query request and the association between the cargo information and the cargo location information, the cargo location information corresponding to the cargo information is found.

[0214] By using the cargo information carried in the query request and the association between the cargo information and the cargo location information, the staff can query the cargo location where the cargo is located, which makes it convenient for the staff to quickly find the required cargo.

[0215] Furthermore, there is no strict execution order between step S1106 and step S1101 to step S1105, and any possible execution order is within the protection scope of this application.

[0216] Step S1107: displaying cargo information and cargo location information of the cargo at a corresponding position on the electronic map, where the corresponding position is the position corresponding to the cargo location of the cargo on the electronic map.

[0217] For example, cargo A is placed on cargo location A, and cargo information of cargo A includes cargo name A and cargo entry time of cargo A as October 11, 2012, etc., and cargo A weighs 100 kg. The cargo location information of cargo location A includes position information of cargo location A, number 5 of cargo location A, etc. In this way, the position corresponding to the position information of cargo location A on the electronic map is marked with cargo location information of cargo location A (that is, cargo name A and cargo entry time of cargo A as October 11, 2012, etc., and cargo A weighs 100 kg, etc.) and cargo information of cargo A (that is, position information of cargo location A, number 5 of cargo location A, etc.).

[0218] The electronic maps include, but are not limited to, GIS (Geographic Information System) maps, GPS (Global Positioning System) maps, and the like.

[0219] In this embodiment, the cargo location information of each cargo and its location are displayed at the corresponding position on the electronic map, so that the staff can more intuitively view the cargo location and location of each cargo, and through the electronic map, they can find the cargo location of each cargo more quickly, which further facilitates the staff to quickly find the required goods and understand the usage status of each cargo location.

[0220] Furthermore, there is no strict execution order between step S1107 and step S1101 to step S1106, and any possible execution order is within the protection scope of this application.

[0221] The description of any of the above embodiments may be applicable to each embodiment.

[0222] Furthermore, as an implementation of the above method, the present application embodiment provides a cargo positioning device, such as Fig.12 As shown, the device comprises:

[0223] The acquisition module 1201 is used to acquire the position information of at least two positioning tags set on the transport vehicle and the relative position information of at least one of the positioning tags and the target point, wherein the centers of each positioning tag of the at least two positioning tags are located on the same straight line, and the target point is located on the straight line;

[0224] The target point location information determination module 1202 is used to determine the location information of the target point based on the location information and relative location information of at least two positioning tags.

[0225] The cargo position information determining module 1203 is used to determine the position information of the target point as the position information of the cargo carried by the transport vehicle.

[0226] Furthermore, the vertical projection point of the target point on the bearing surface of the cargo carrying part of the transport vehicle is the center point of the bearing surface.

[0227] In a specific application scenario, the target point location information determination module 1202 includes:

[0228] A vehicle head direction determining unit, used to determine the vehicle head direction of the forklift according to the position information respectively corresponding to any two positioning tags of at least two positioning tags;

[0229] The target point position information determination unit is used to determine the position information of the target point according to the vehicle head direction, the position information of at least one positioning tag and the relative position information.

[0230] In a specific application scenario, the position information includes first coordinate information in a first coordinate direction and second coordinate information in a second coordinate direction; and the vehicle head direction determination unit includes:

[0231] A first relationship determination subunit, used to determine a first relationship, where the first relationship is a size relationship between first coordinate information corresponding to any two positioning tags;

[0232] A second relationship determination subunit, used to determine a second relationship, where the second relationship is a size relationship between second coordinate information corresponding to any two positioning tags;

[0233] A third relationship determination subunit, configured to determine a third relationship, the third relationship including: 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;

[0234] The first absolute value information includes: the absolute value of the difference between the first coordinate information corresponding to any two positioning tags; the second absolute value information includes: the absolute value of the difference between the second coordinate information corresponding to any two positioning tags;

[0235] The orientation determination subunit is used to determine the orientation of the front of the forklift based on the first relationship, the second relationship and the third relationship.

[0236] In a specific application scenario, the direction determination subunit is specifically used to determine that the head direction of the forklift is opposite to the positive direction of the first coordinate direction when x2>x1, x2-x1>L and |y1-y2|≤L;

[0237] When y1>y2, |x2-x1|≤L and y1-y2>L, it is determined that the head direction of the transport vehicle is the same as the positive direction of the second coordinate direction;

[0238] When x1>x2, x1-x2>L and |y2-y1|≤L, it is determined that the head direction of the transport vehicle is the same as the positive direction of the first coordinate direction;

[0239] When y2>y1, |x1-x2|≤L and y2-y1>L, it is determined that the direction of the front of the transport vehicle is opposite to the square of the second coordinate direction;

[0240] Among them, (x1, y1 ) and (x2, y2) are the position information corresponding to any two positioning tags respectively, x1 and x2 are the first coordinate information corresponding to any two positioning tags respectively, y1 and y2 are the second coordinate information corresponding to any two positioning tags respectively, and L is the preset threshold.

[0241] In a specific application scenario, the target point location information determination unit is specifically used for any of the following:

[0242] Determine estimated position information of the target point based on the vehicle head direction, relative position information of any one of the at least one positioning tag and the target point, and position information of any positioning tag, and determine the estimated position information of the target point as the position information of the target point;

[0243] Based on the vehicle head direction, the relative position information between at least two positioning tags and the target point, and the corresponding position information, the estimated position information corresponding to the target point is determined respectively, and the position information of the target point is determined based on the estimated position information corresponding to the target point.

[0244] In a specific application scenario, when the transport vehicle is a forklift, the target point position information determination unit is further used to:

[0245] The position information of the positioning tag is translated in the direction of the vehicle head to obtain the relative position information of any positioning tag and the target point transported by the forklift;

[0246] The translated position information is determined as the estimated position information corresponding to the target point.

[0247] In a specific application scenario, the target point position information determining unit further specifically calculates the estimated position information corresponding to the target point according to the following formula when the front direction of the forklift is opposite to the positive direction of the first coordinate direction axis:

[0248]

[0249] When the forklift's front direction is the same as the positive direction of the second coordinate axis, the estimated position information corresponding to the target point is calculated according to the following formula:

[0250]

[0251] When the forklift's front direction is the same as the positive direction of the first coordinate axis, the estimated position information corresponding to the target point is calculated according to the following formula:

[0252]

[0253] When the forklift's front direction 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:

[0254]

[0255] Among them, (x3, y3) is the estimated position information corresponding to the target point, (x k ,y k ) is the location information of positioning tag k, k = 1, 2..., N, N is the total number of positioning tags, d is the relative position information between positioning tag k and the target point, and positioning tag k is any positioning tag.

[0256] Furthermore, when the positioning errors corresponding to at least two positioning tags are the same, the preset threshold is not less than twice the positioning error, and the center distance between two adjacent positioning tags is greater than four times the positioning error; when the positioning errors corresponding to at least two positioning tags are not the same, the preset threshold is not less than twice the maximum positioning error, and the center distance between two adjacent positioning tags is greater than four times the maximum positioning error; wherein the maximum positioning error is the largest positioning error among the positioning errors corresponding to at least two positioning tags.

[0257] It should be noted that, for other corresponding descriptions of the functional units involved in the cargo positioning device provided in this embodiment, reference can be made to the corresponding descriptions in the above embodiments, which will not be repeated here.

[0258] Further, as an implementation of the above method, another possible implementation of the embodiment of the present application is that if the transport vehicle is provided with a reader / writer and the cargo carrying part is provided with an electronic tag, the device further includes:

[0259] A binding module is used to bind the transport vehicle information with the cargo information matching the tag information when the reader reads the tag information of the electronic tag for the first time;

[0260] The unbinding module is used to unbind the cargo information that matches the transport vehicle information with the tag information when the reader reads the tag information of the electronic tag again;

[0261] A cargo storage location information determination module, used to determine the location information of the cargo carried by the cargo carrying part when it is untied as the cargo storage location information;

[0262] A cargo location information determination module, used to determine the cargo location information of the cargo location where the cargo is stored based on the storage location information of the cargo and the cargo location information corresponding to each cargo location;

[0263] An updating module, for updating the association between the stored cargo information and the cargo location information based on the cargo location information of the cargo location where the cargo is stored;

[0264] A search module, for searching, when a query request is detected, the cargo location information corresponding to the cargo information based on the cargo information carried in the query request and the association between the cargo information and the cargo location information;

[0265] The electronic map display module is used to display the cargo information and cargo location information of the cargo at the corresponding position on the electronic map, and the corresponding position is the corresponding position of the cargo location on the electronic map.

[0266] It should be noted that, for other corresponding descriptions of the functional units involved in the cargo positioning device provided in this embodiment, reference can be made to the corresponding descriptions in the above embodiments, which will not be repeated here.

[0267] Further, as an implementation of the above method, an embodiment of the present application provides a cargo positioning system, comprising a processor and at least two positioning tags arranged on a transport vehicle, wherein the centers of each positioning tag of the at least two positioning tags are located on the same straight line;

[0268] Positioning tag, used for positioning;

[0269] A processor, configured to obtain position information of at least two positioning tags and relative position information of at least one of the positioning tags and a target point, wherein the target point is located on a straight line;

[0270] Determine the location information of the target point according to the location information and relative location information of at least two positioning tags;

[0271] The location information of the target point is determined as the location information of the goods carried by the transport vehicle.

[0272] It should be noted that, for the corresponding descriptions involved in the cargo positioning system provided in this embodiment, reference can be made to the corresponding descriptions in the above embodiments, and will not be repeated here.

[0273] According to one embodiment of the present application, a storage medium is provided, wherein the storage medium stores at least one executable instruction, and the computer executable instruction can execute the cargo positioning method in any of the above method embodiments.

[0274] According to one embodiment of the present application, Fig.13 A schematic diagram of the structure of an electronic device is shown, and the specific embodiments of the present application do not limit the specific implementation of the electronic device.

[0275] like Fig.13As shown, the electronic device may include: a processor 1301 , a communications interface 1302 , a memory 1303 , and a communications bus 1305 . The processor 1301 , the communications interface 1302 , and the memory 1303 communicate with each other via the communications bus 1305 .

[0276] The communication interface 1302 is used to communicate with other devices such as clients or other servers.

[0277] The processor 1301 is used to execute the program 1304, and specifically can execute the above-mentioned cargo positioning method.

[0278] Specifically, the program 1304 may include program codes, which include computer operation instructions.

[0279] 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 the embodiments of the present application. The one or more processors included in the electronic device may be processors of the same type, such as one or more CPUs; or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0280] The memory 1303 is used to store programs. The memory 1303 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0281] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0282] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. 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 for positioning goods, characterized in that: include: Acquire position information of at least two positioning tags arranged on the transport vehicle and relative position information of at least one of the positioning tags and a target point, wherein the centers of each positioning tag of the at least two positioning tags are located on the same straight line, and the target point is located on the straight line; 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; Determine the location information of the target point as the location information of the goods carried by the transport vehicle; 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 includes: Determining the direction of the front of the transport vehicle according to the position information corresponding to any two positioning tags of the at least two positioning tags; Determine the position information of the target point according to the vehicle head direction, the position information of at least one of the positioning tags and the relative position information; The position information includes first coordinate information in a first coordinate direction and second coordinate information in a second coordinate direction; The determining the head direction of the transport vehicle according to the position information respectively corresponding to any two positioning tags among the at least two positioning tags comprises: Determine a first relationship, where the first relationship is a size relationship between first coordinate information corresponding to any two positioning tags; Determine a second relationship, where the second relationship is a size relationship between the second coordinate information respectively corresponding to the any two positioning tags; Determine a third relationship, the third relationship comprising: a relationship between the first absolute value information and a preset threshold and a relationship between the second absolute value information and the preset threshold; The first absolute value information includes: the absolute value of the difference between the first coordinate information corresponding to the two positioning tags; the second absolute value information includes: the absolute value of the difference between the second coordinate information corresponding to the two positioning tags; Based on the first relationship, the second relationship, and the third relationship, the front direction of the transport vehicle is determined.

2. The method according to claim 1, characterized in that The vertical projection point of the target point on the carrying surface of the cargo carrying part of the transport vehicle is the center point of the carrying surface.

3. The method according to claim 1, characterized in that The determining the head direction of the transport vehicle based on the first relationship, the second relationship, and the third relationship includes: like x2 > x1 , x2 - x1 >L and| y1 - y2 |≤L, it is determined that the head direction of the transport vehicle is opposite to the positive direction of the first coordinate direction; like y1 > y2 ,| x2 - x1 |≤L and y1 - y2 >L, it is determined that the head direction of the transport vehicle is the same as the positive direction of the second coordinate direction; like x1 > x2 , x1 - x2 >L and| y2 - y1 |≤L, it is determined that the head direction of the transport vehicle is the same as the positive direction of the first coordinate direction; like y2 > y1 ,| x1 - x2 |≤L and y2 - y1 >L, it is determined that the direction of the front of the transport vehicle is opposite to the positive direction of the second coordinate direction; in,( x1 , y1 )as well as( x2 , y2 ) is the position information corresponding to any two positioning tags respectively, x1 as well as x2 is the first coordinate information corresponding to any two positioning tags respectively, y1 as well as y2 is the second coordinate information corresponding to any two positioning tags respectively, and L is the preset threshold.

4. The method according to claim 1, characterized in that: Determining the position information of the target point according to the vehicle head direction, the position information of at least one of the positioning tags and the relative position information includes any one of the following: Determine the estimated position information of the target point based on the vehicle head direction, the relative position information of any one of the at least one positioning tag and the target point, and the position information of any one of the positioning tags, and determine the estimated position information of the target point as the position information of the target point; Based on the vehicle head direction, the relative position information between at least two positioning tags and the target point, and their respective corresponding position information, the estimated position information corresponding to the target point is determined respectively, and the position information of the target point is determined based on the estimated position information corresponding to the target point.

5. The method according to claim 4, characterized in that If the transport vehicle is a forklift, the estimated position information corresponding to the target point is determined based on the vehicle head orientation, the relative position information between any one of the positioning tags and the target point, and the position information of the positioning tag, including: The position information of the positioning tag is translated into the direction of the vehicle head, and the relative position information of any of the positioning tags and the target point is translated; The translated position information is determined as the estimated position information corresponding to the target point.

6. The method according to claim 5, characterized in that The relative position information of any one of the positioning tags and the target point is translated into the direction of the vehicle head; Determining the translated position information as the estimated position information corresponding to the target point includes: If the forklift's front direction 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: If the front direction of the forklift is the same as the positive direction of the second coordinate direction axis, the estimated position information corresponding to the target point is calculated according to the following formula: If the front direction of the forklift is the same as 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: If the front direction 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: in,( x3 , y2 ) is the estimated position information corresponding to the target point, ( xk , yk ) is the position information of positioning tag k, k=1, 2..., N, N is the total number of positioning tags, d is the relative position information between the positioning tag k and the target point, and the positioning tag k is any of the positioning tags.

7. The method according to claim 1, characterized in that When the positioning errors respectively corresponding to the 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 the at least two positioning tags are not the same, the preset threshold is not less than 2 times of the maximum positioning error, and the center distance between two adjacent positioning tags is greater than 4 times of the maximum positioning error; The maximum positioning error is the largest positioning error among the positioning errors respectively corresponding to the at least two positioning tags.

8. The method according to claim 1, characterized in that If the transport vehicle is provided with a reader / writer and the cargo carrying part is provided with an electronic tag, the method further comprises: When the reader reads the tag information of the electronic tag for the first time, the transport vehicle information is bound to the cargo information matching the tag information; When the reader reads the tag information of the electronic tag again, the transport vehicle information is unbound from the cargo information matching the tag information; Determining the position information of the cargo carried by the cargo carrying part when it is untied as the storage position information of the cargo; Based on the storage location information of the goods and the cargo location information corresponding to each cargo location, the cargo location information of the cargo location where the goods are stored is determined.

9. The method according to claim 8, characterized in that The step of determining the cargo location information of the cargo location where the cargo is stored based on the storage location information of the cargo and the cargo location information corresponding to each cargo location, further comprising: Based on the cargo location information of the cargo location where the cargo is stored, updating the association relationship between the stored cargo information and the cargo location information; When a query request is detected, the cargo location information corresponding to the cargo information is found based on the cargo information carried in the query request and the association between the cargo information and the cargo location information.

10. The method according to claim 8 or 9, characterized in that: The step of determining the cargo location information of the cargo location where the cargo is stored based on the storage location information of the cargo and the cargo location information corresponding to each cargo location, further comprising: The cargo information of the cargo and the cargo location information of the cargo are displayed at a corresponding position on the electronic map, and the corresponding position is the position corresponding to the cargo location of the cargo on the electronic map.

11. A cargo positioning device, characterized in that: include: An acquisition module, used to acquire position information of at least two positioning tags arranged on the transport vehicle and relative position information of at least one of the positioning tags and a target point, wherein the centers of each positioning tag of the at least two positioning tags are located on the same straight line, and the target point is located on the straight line; A target point position information determination module, used to determine the position information of the target point according to the position information of the at least two positioning tags and the relative position information; A cargo location information determination module, used to determine the location information of the target point as the location information of the cargo carried by the transport vehicle; The target point location information determination module includes: A vehicle head direction determining unit, used to determine the vehicle head direction of the transport vehicle according to the position information respectively corresponding to any two positioning tags of the at least two positioning tags; A target point position information determining unit, configured to determine the position information of the target point according to the vehicle head direction, the position information of at least one of the positioning tags and the relative position information; The position information includes first coordinate information in a first coordinate direction and second coordinate information in a second coordinate direction; The vehicle head direction determination unit comprises: A first relationship determination subunit, used to determine a first relationship, where the first relationship is a size relationship between first coordinate information corresponding to any two positioning tags; A second relationship determination subunit, used to determine a second relationship, where the second relationship is a size relationship between the second coordinate information corresponding to the any two positioning tags; A third relationship determination subunit, configured to determine a third relationship, wherein the third relationship includes: 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; The first absolute value information includes: the absolute value of the difference between the first coordinate information corresponding to the two positioning tags; the second absolute value information includes: the absolute value of the difference between the second coordinate information corresponding to the two positioning tags; The orientation determination subunit is used to determine the orientation of the front of the transport vehicle based on the first relationship, the second relationship and the third relationship.

12. The device according to claim 11, characterized in that The vertical projection point of the target point on the carrying surface of the cargo carrying part of the transport vehicle is the center point of the carrying surface.

13. The device according to claim 11, characterized in that The direction determination subunit is specifically used when x2 > x1 , x2 - x1 >L and| y1 - y2 |≤L, determining that the front direction of the transport vehicle is opposite to the positive direction of the first coordinate direction; when y1 > y2 ,| x2 - x1 |≤L and y1 - y2 >L, determine that the front direction of the transport vehicle is the same as the positive direction of the second coordinate direction; when x1 > x2 , x1 - x2 >L and| y2 - y1 |≤L, determining that the front direction of the transport vehicle is the same as the positive direction of the first coordinate direction; when y2 > y1 ,| x1 - x2 |≤L and y2 - y1 >L, it is determined that the direction of the front of the transport vehicle is opposite to the positive direction of the second coordinate direction; in,( x1 , y1 )as well as( x2 , y2 ) is the position information corresponding to any two positioning tags respectively, x1 as well as x2 is the first coordinate information corresponding to any two positioning tags respectively, y1 as well as y2 is the second coordinate information corresponding to any two positioning tags respectively, and L is the preset threshold.

14. The device according to claim 13, characterized in that The target point location information determination unit is specifically used for any of the following: Determine the estimated position information of the target point based on the vehicle head direction, the relative position information of any one of the at least one positioning tag and the target point, and the position information of any one of the positioning tags, and determine the estimated position information of the target point as the position information of the target point; Based on the vehicle head direction, the relative position information between at least two positioning tags and the target point, and their respective corresponding position information, the estimated position information corresponding to the target point is determined respectively, and the position information of the target point is determined based on the estimated position information corresponding to the target point.

15. The device according to claim 14, characterized in that When the transport vehicle is a forklift, The target point position information determination unit is further configured to: The position information of the positioning tag is translated toward the direction of the vehicle head to obtain the relative position information of any of the positioning tags and the target point transported by the forklift; The translated position information is determined as the estimated position information corresponding to the target point.

16. The device according to claim 15, characterized in that The target point position information determining unit is further configured to calculate the estimated position information corresponding to the target point according to the following formula when the forklift's front direction is opposite to the positive direction of the first coordinate direction axis: When the front direction of the forklift is the same as the positive direction of the second coordinate direction axis, the estimated position information corresponding to the target point is calculated according to the following formula: When the front direction of the forklift is the same as 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: When the front direction 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: in,( x3 , y3 ) is the estimated position information corresponding to the target point, ( xk , yk ) is the position information of positioning tag k, k=1, 2..., N, N is the total number of positioning tags, d is the relative position information between the positioning tag k and the target point transported by the forklift, and the positioning tag k is any of the positioning tags.

17. The device according to claim 11, characterized in that When the positioning errors respectively corresponding to the 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 the at least two positioning tags are not the same, the preset threshold is not less than 2 times of the maximum positioning error, and the center distance between two adjacent positioning tags is greater than 4 times of the maximum positioning error; The maximum positioning error is the largest positioning error among the positioning errors respectively corresponding to the at least two positioning tags.

18. The device according to claim 11, characterized in that When the transport vehicle is provided with a reader / writer and the cargo carrying part is provided with an electronic tag, the device further comprises: A binding module, used for binding the transport vehicle information with the cargo information matching the tag information when the reader reads the tag information of the electronic tag for the first time; An unbinding module, used for unbinding the transport vehicle information from the cargo information matching the tag information when the reader reads the tag information of the electronic tag again; A cargo storage location information determination module, used to determine the location information of the cargo carried by the cargo carrying part when it is untied as the cargo storage location information; The cargo location information determination module is used to determine the cargo location information of the cargo location where the cargo is stored based on the storage location information of the cargo and the cargo location information corresponding to each cargo location.

19. The device according to claim 18, characterized in that The device also includes: An updating module, used for updating the association relationship between the stored cargo information and the cargo location information based on the cargo location information of the cargo location where the cargo is stored; The search module is used to search for the cargo location information corresponding to the cargo information based on the cargo information carried in the query request and the association between the cargo information and the cargo location information when a query request is detected.

20. The device according to claim 18 or 19, characterized in that The device also includes: The electronic map display module is used to display the cargo information of the cargo and the cargo location information of the cargo at a corresponding position on the electronic map, wherein the corresponding position is the position corresponding to the cargo location of the cargo on the electronic map.

21. A cargo positioning system, characterized in that: It includes a processor and at least two positioning tags arranged on a transport vehicle, wherein the centers of each positioning tag of the at least two positioning tags are located on the same straight line; The positioning tag is used for positioning; The processor is used to obtain the position information of the at least two positioning tags and the relative position information of at least one of the positioning tags and a target point, wherein the target point is located on the straight line; 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; Determine the location information of the target point as the location information of the goods carried by the transport vehicle; 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 includes: Determining the direction of the front of the transport vehicle according to the position information corresponding to any two positioning tags of the at least two positioning tags; Determine the position information of the target point according to the vehicle head direction, the position information of at least one of the positioning tags and the relative position information; The position information includes first coordinate information in a first coordinate direction and second coordinate information in a second coordinate direction; The determining the head direction of the transport vehicle according to the position information respectively corresponding to any two positioning tags among the at least two positioning tags comprises: Determine a first relationship, where the first relationship is a size relationship between first coordinate information corresponding to any two positioning tags; Determine a second relationship, where the second relationship is a size relationship between the second coordinate information respectively corresponding to the any two positioning tags; Determine a third relationship, the third relationship comprising: a relationship between the first absolute value information and a preset threshold and a relationship between the second absolute value information and the preset threshold; The first absolute value information includes: the absolute value of the difference between the first coordinate information corresponding to the two positioning tags; the second absolute value information includes: the absolute value of the difference between the second coordinate information corresponding to the two positioning tags; Based on the first relationship, the second relationship, and the third relationship, the front direction of the transport vehicle is determined.

22. A storage medium storing at least one executable instruction, wherein the executable instruction enables a processor to execute the cargo positioning method according to any one of claims 1 to 10.

23. An electronic device, comprising: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the cargo positioning method according to any one of claims 1-10.

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